Fevzi YAZGAN
MODIFIED BY FEVZI YAZGAN BOUDRATE AND IMAGESIZE FUNCTION ADDED ALSO IT SENDS THE IMAGE AT ONE TIME TO THE MBED. SO IT IS FASTER TO SEND IMAGE AT A ONE TIME:)
Dependents: 10_Camera_LS_Y201_TestProgram
Camera_LS_Y201.cpp@0:92b7ae8bc9f5, 2011-03-02 (annotated)
- Committer:
- fyazgan
- Date:
- Wed Mar 02 05:43:09 2011 +0000
- Revision:
- 0:92b7ae8bc9f5
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| fyazgan | 0:92b7ae8bc9f5 | 1 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 2 | * ============================================================================= |
| fyazgan | 0:92b7ae8bc9f5 | 3 | * LS-Y201 device driver class (Version 0.0.1) |
| fyazgan | 0:92b7ae8bc9f5 | 4 | * Reference documents: LinkSprite JPEG Color Camera Serial UART Interface |
| fyazgan | 0:92b7ae8bc9f5 | 5 | * January 2010 |
| fyazgan | 0:92b7ae8bc9f5 | 6 | * ============================================================================= |
| fyazgan | 0:92b7ae8bc9f5 | 7 | * Copyright (c) 2010 Shinichiro Nakamura (CuBeatSystems) |
| fyazgan | 0:92b7ae8bc9f5 | 8 | * |
| fyazgan | 0:92b7ae8bc9f5 | 9 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
| fyazgan | 0:92b7ae8bc9f5 | 10 | * of this software and associated documentation files (the "Software"), to deal |
| fyazgan | 0:92b7ae8bc9f5 | 11 | * in the Software without restriction, including without limitation the rights |
| fyazgan | 0:92b7ae8bc9f5 | 12 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
| fyazgan | 0:92b7ae8bc9f5 | 13 | * copies of the Software, and to permit persons to whom the Software is |
| fyazgan | 0:92b7ae8bc9f5 | 14 | * furnished to do so, subject to the following conditions: |
| fyazgan | 0:92b7ae8bc9f5 | 15 | * |
| fyazgan | 0:92b7ae8bc9f5 | 16 | * The above copyright notice and this permission notice shall be included in |
| fyazgan | 0:92b7ae8bc9f5 | 17 | * all copies or substantial portions of the Software. |
| fyazgan | 0:92b7ae8bc9f5 | 18 | * |
| fyazgan | 0:92b7ae8bc9f5 | 19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
| fyazgan | 0:92b7ae8bc9f5 | 20 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
| fyazgan | 0:92b7ae8bc9f5 | 21 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
| fyazgan | 0:92b7ae8bc9f5 | 22 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
| fyazgan | 0:92b7ae8bc9f5 | 23 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
| fyazgan | 0:92b7ae8bc9f5 | 24 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
| fyazgan | 0:92b7ae8bc9f5 | 25 | * THE SOFTWARE. |
| fyazgan | 0:92b7ae8bc9f5 | 26 | * ============================================================================= |
| fyazgan | 0:92b7ae8bc9f5 | 27 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 28 | |
| fyazgan | 0:92b7ae8bc9f5 | 29 | #include "Camera_LS_Y201.h" |
| fyazgan | 0:92b7ae8bc9f5 | 30 | |
| fyazgan | 0:92b7ae8bc9f5 | 31 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 32 | * Create. |
| fyazgan | 0:92b7ae8bc9f5 | 33 | * |
| fyazgan | 0:92b7ae8bc9f5 | 34 | * @param tx Transmitter. |
| fyazgan | 0:92b7ae8bc9f5 | 35 | * @param rx Receiver. |
| fyazgan | 0:92b7ae8bc9f5 | 36 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 37 | Camera_LS_Y201::Camera_LS_Y201(PinName tx, PinName rx,Bauds bs) : serial(tx, rx) { |
| fyazgan | 0:92b7ae8bc9f5 | 38 | switch (bs) { |
| fyazgan | 0:92b7ae8bc9f5 | 39 | case Default: |
| fyazgan | 0:92b7ae8bc9f5 | 40 | serial.baud(38400); |
| fyazgan | 0:92b7ae8bc9f5 | 41 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 42 | case Bauds57600: |
| fyazgan | 0:92b7ae8bc9f5 | 43 | serial.baud(57600); |
| fyazgan | 0:92b7ae8bc9f5 | 44 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 45 | case Bauds115200: |
| fyazgan | 0:92b7ae8bc9f5 | 46 | serial.baud(115200); |
| fyazgan | 0:92b7ae8bc9f5 | 47 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 48 | case Bauds1228800: |
| fyazgan | 0:92b7ae8bc9f5 | 49 | serial.baud(1228800); |
| fyazgan | 0:92b7ae8bc9f5 | 50 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 51 | } |
| fyazgan | 0:92b7ae8bc9f5 | 52 | } |
| fyazgan | 0:92b7ae8bc9f5 | 53 | |
| fyazgan | 0:92b7ae8bc9f5 | 54 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 55 | * Dispose. |
| fyazgan | 0:92b7ae8bc9f5 | 56 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 57 | Camera_LS_Y201::~Camera_LS_Y201() { |
| fyazgan | 0:92b7ae8bc9f5 | 58 | } |
| fyazgan | 0:92b7ae8bc9f5 | 59 | |
| fyazgan | 0:92b7ae8bc9f5 | 60 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 61 | * Reset module. |
| fyazgan | 0:92b7ae8bc9f5 | 62 | * |
| fyazgan | 0:92b7ae8bc9f5 | 63 | * @return Error code. |
| fyazgan | 0:92b7ae8bc9f5 | 64 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 65 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::reset() { |
| fyazgan | 0:92b7ae8bc9f5 | 66 | uint8_t send[4] = { |
| fyazgan | 0:92b7ae8bc9f5 | 67 | 0x56, |
| fyazgan | 0:92b7ae8bc9f5 | 68 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 69 | 0x26, |
| fyazgan | 0:92b7ae8bc9f5 | 70 | 0x00 |
| fyazgan | 0:92b7ae8bc9f5 | 71 | }; |
| fyazgan | 0:92b7ae8bc9f5 | 72 | uint8_t recv[4]; |
| fyazgan | 0:92b7ae8bc9f5 | 73 | |
| fyazgan | 0:92b7ae8bc9f5 | 74 | waitIdle(); |
| fyazgan | 0:92b7ae8bc9f5 | 75 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 76 | return SendError; |
| fyazgan | 0:92b7ae8bc9f5 | 77 | } |
| fyazgan | 0:92b7ae8bc9f5 | 78 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 79 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 80 | } |
| fyazgan | 0:92b7ae8bc9f5 | 81 | if ((recv[0] == 0x76) |
| fyazgan | 0:92b7ae8bc9f5 | 82 | && (recv[1] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 83 | && (recv[2] == 0x26) |
| fyazgan | 0:92b7ae8bc9f5 | 84 | && (recv[3] == 0x00)) { |
| fyazgan | 0:92b7ae8bc9f5 | 85 | ErrorCode r = waitInitEnd(); |
| fyazgan | 0:92b7ae8bc9f5 | 86 | if (r != NoError) { |
| fyazgan | 0:92b7ae8bc9f5 | 87 | return r; |
| fyazgan | 0:92b7ae8bc9f5 | 88 | } |
| fyazgan | 0:92b7ae8bc9f5 | 89 | wait(4); |
| fyazgan | 0:92b7ae8bc9f5 | 90 | return NoError; |
| fyazgan | 0:92b7ae8bc9f5 | 91 | } else { |
| fyazgan | 0:92b7ae8bc9f5 | 92 | return UnexpectedReply; |
| fyazgan | 0:92b7ae8bc9f5 | 93 | } |
| fyazgan | 0:92b7ae8bc9f5 | 94 | } |
| fyazgan | 0:92b7ae8bc9f5 | 95 | |
| fyazgan | 0:92b7ae8bc9f5 | 96 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 97 | * Set image size. |
| fyazgan | 0:92b7ae8bc9f5 | 98 | * |
| fyazgan | 0:92b7ae8bc9f5 | 99 | * @param is Image size. |
| fyazgan | 0:92b7ae8bc9f5 | 100 | * @return Error code. |
| fyazgan | 0:92b7ae8bc9f5 | 101 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 102 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::setImageSize(ImageSize is) { |
| fyazgan | 0:92b7ae8bc9f5 | 103 | uint8_t send[9] = { |
| fyazgan | 0:92b7ae8bc9f5 | 104 | 0x56, |
| fyazgan | 0:92b7ae8bc9f5 | 105 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 106 | 0x31, |
| fyazgan | 0:92b7ae8bc9f5 | 107 | 0x05, |
| fyazgan | 0:92b7ae8bc9f5 | 108 | 0x04, |
| fyazgan | 0:92b7ae8bc9f5 | 109 | 0x01, |
| fyazgan | 0:92b7ae8bc9f5 | 110 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 111 | 0x19, |
| fyazgan | 0:92b7ae8bc9f5 | 112 | 0x00 // 0x11:320x240, 0x00:640x480, 0x22:160x120 |
| fyazgan | 0:92b7ae8bc9f5 | 113 | }; |
| fyazgan | 0:92b7ae8bc9f5 | 114 | uint8_t recv[5]; |
| fyazgan | 0:92b7ae8bc9f5 | 115 | switch (is) { |
| fyazgan | 0:92b7ae8bc9f5 | 116 | case ImageSize160x120: |
| fyazgan | 0:92b7ae8bc9f5 | 117 | send[8] = 0x22; |
| fyazgan | 0:92b7ae8bc9f5 | 118 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 119 | case ImageSize320x280: |
| fyazgan | 0:92b7ae8bc9f5 | 120 | send[8] = 0x11; |
| fyazgan | 0:92b7ae8bc9f5 | 121 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 122 | case ImageSize640x480: |
| fyazgan | 0:92b7ae8bc9f5 | 123 | send[8] = 0x00; |
| fyazgan | 0:92b7ae8bc9f5 | 124 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 125 | default: |
| fyazgan | 0:92b7ae8bc9f5 | 126 | return InvalidArguments; |
| fyazgan | 0:92b7ae8bc9f5 | 127 | } |
| fyazgan | 0:92b7ae8bc9f5 | 128 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 129 | return SendError; |
| fyazgan | 0:92b7ae8bc9f5 | 130 | } |
| fyazgan | 0:92b7ae8bc9f5 | 131 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 132 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 133 | } |
| fyazgan | 0:92b7ae8bc9f5 | 134 | if ((recv[0] == 0x76) |
| fyazgan | 0:92b7ae8bc9f5 | 135 | && (recv[1] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 136 | && (recv[2] == 0x31) |
| fyazgan | 0:92b7ae8bc9f5 | 137 | && (recv[3] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 138 | && (recv[4] == 0x00)) { |
| fyazgan | 0:92b7ae8bc9f5 | 139 | wait(1); |
| fyazgan | 0:92b7ae8bc9f5 | 140 | return reset(); |
| fyazgan | 0:92b7ae8bc9f5 | 141 | } else { |
| fyazgan | 0:92b7ae8bc9f5 | 142 | return UnexpectedReply; |
| fyazgan | 0:92b7ae8bc9f5 | 143 | } |
| fyazgan | 0:92b7ae8bc9f5 | 144 | } |
| fyazgan | 0:92b7ae8bc9f5 | 145 | |
| fyazgan | 0:92b7ae8bc9f5 | 146 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 147 | * Take picture. |
| fyazgan | 0:92b7ae8bc9f5 | 148 | * |
| fyazgan | 0:92b7ae8bc9f5 | 149 | * @return Error code. |
| fyazgan | 0:92b7ae8bc9f5 | 150 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 151 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::takePicture() { |
| fyazgan | 0:92b7ae8bc9f5 | 152 | uint8_t send[5] = { |
| fyazgan | 0:92b7ae8bc9f5 | 153 | 0x56, |
| fyazgan | 0:92b7ae8bc9f5 | 154 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 155 | 0x36, |
| fyazgan | 0:92b7ae8bc9f5 | 156 | 0x01, |
| fyazgan | 0:92b7ae8bc9f5 | 157 | 0x00 |
| fyazgan | 0:92b7ae8bc9f5 | 158 | }; |
| fyazgan | 0:92b7ae8bc9f5 | 159 | uint8_t recv[5]; |
| fyazgan | 0:92b7ae8bc9f5 | 160 | |
| fyazgan | 0:92b7ae8bc9f5 | 161 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 162 | return SendError; |
| fyazgan | 0:92b7ae8bc9f5 | 163 | } |
| fyazgan | 0:92b7ae8bc9f5 | 164 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 165 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 166 | } |
| fyazgan | 0:92b7ae8bc9f5 | 167 | |
| fyazgan | 0:92b7ae8bc9f5 | 168 | if ((recv[0] == 0x76) |
| fyazgan | 0:92b7ae8bc9f5 | 169 | && (recv[1] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 170 | && (recv[2] == 0x36) |
| fyazgan | 0:92b7ae8bc9f5 | 171 | && (recv[3] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 172 | && (recv[4] == 0x00)) { |
| fyazgan | 0:92b7ae8bc9f5 | 173 | /* |
| fyazgan | 0:92b7ae8bc9f5 | 174 | * I think the camera need a time for operating. |
| fyazgan | 0:92b7ae8bc9f5 | 175 | * But there is no any comments on the documents. |
| fyazgan | 0:92b7ae8bc9f5 | 176 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 177 | wait_ms(100); |
| fyazgan | 0:92b7ae8bc9f5 | 178 | return NoError; |
| fyazgan | 0:92b7ae8bc9f5 | 179 | } else { |
| fyazgan | 0:92b7ae8bc9f5 | 180 | return UnexpectedReply; |
| fyazgan | 0:92b7ae8bc9f5 | 181 | } |
| fyazgan | 0:92b7ae8bc9f5 | 182 | } |
| fyazgan | 0:92b7ae8bc9f5 | 183 | |
| fyazgan | 0:92b7ae8bc9f5 | 184 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 185 | * Read jpeg file size. |
| fyazgan | 0:92b7ae8bc9f5 | 186 | * |
| fyazgan | 0:92b7ae8bc9f5 | 187 | * @param fileSize File size. |
| fyazgan | 0:92b7ae8bc9f5 | 188 | * @return Error code. |
| fyazgan | 0:92b7ae8bc9f5 | 189 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 190 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileSize(int *fileSize) { |
| fyazgan | 0:92b7ae8bc9f5 | 191 | uint8_t send[5] = { |
| fyazgan | 0:92b7ae8bc9f5 | 192 | 0x56, |
| fyazgan | 0:92b7ae8bc9f5 | 193 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 194 | 0x34, |
| fyazgan | 0:92b7ae8bc9f5 | 195 | 0x01, |
| fyazgan | 0:92b7ae8bc9f5 | 196 | 0x00 |
| fyazgan | 0:92b7ae8bc9f5 | 197 | }; |
| fyazgan | 0:92b7ae8bc9f5 | 198 | uint8_t recv[9]; |
| fyazgan | 0:92b7ae8bc9f5 | 199 | |
| fyazgan | 0:92b7ae8bc9f5 | 200 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 201 | return SendError; |
| fyazgan | 0:92b7ae8bc9f5 | 202 | } |
| fyazgan | 0:92b7ae8bc9f5 | 203 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 204 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 205 | } |
| fyazgan | 0:92b7ae8bc9f5 | 206 | |
| fyazgan | 0:92b7ae8bc9f5 | 207 | if ((recv[0] == 0x76) |
| fyazgan | 0:92b7ae8bc9f5 | 208 | && (recv[1] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 209 | && (recv[2] == 0x34) |
| fyazgan | 0:92b7ae8bc9f5 | 210 | && (recv[3] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 211 | && (recv[4] == 0x04) |
| fyazgan | 0:92b7ae8bc9f5 | 212 | && (recv[5] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 213 | && (recv[6] == 0x00)) { |
| fyazgan | 0:92b7ae8bc9f5 | 214 | *fileSize = ((recv[7] & 0x00ff) << 8) |
| fyazgan | 0:92b7ae8bc9f5 | 215 | | ((recv[8] & 0x00ff) << 0); |
| fyazgan | 0:92b7ae8bc9f5 | 216 | return NoError; |
| fyazgan | 0:92b7ae8bc9f5 | 217 | } else { |
| fyazgan | 0:92b7ae8bc9f5 | 218 | return UnexpectedReply; |
| fyazgan | 0:92b7ae8bc9f5 | 219 | } |
| fyazgan | 0:92b7ae8bc9f5 | 220 | } |
| fyazgan | 0:92b7ae8bc9f5 | 221 | |
| fyazgan | 0:92b7ae8bc9f5 | 222 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 223 | * Read jpeg file content. |
| fyazgan | 0:92b7ae8bc9f5 | 224 | * |
| fyazgan | 0:92b7ae8bc9f5 | 225 | * @param func A pointer to a call back function. |
| fyazgan | 0:92b7ae8bc9f5 | 226 | * @return Error code. |
| fyazgan | 0:92b7ae8bc9f5 | 227 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 228 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileContent(void (*func)( int total, uint8_t *buf, size_t siz)) { |
| fyazgan | 0:92b7ae8bc9f5 | 229 | uint8_t send[16] = { |
| fyazgan | 0:92b7ae8bc9f5 | 230 | 0x56, |
| fyazgan | 0:92b7ae8bc9f5 | 231 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 232 | 0x32, |
| fyazgan | 0:92b7ae8bc9f5 | 233 | 0x0C, |
| fyazgan | 0:92b7ae8bc9f5 | 234 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 235 | 0x0A, |
| fyazgan | 0:92b7ae8bc9f5 | 236 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 237 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 238 | 0x00, // MH |
| fyazgan | 0:92b7ae8bc9f5 | 239 | 0x00, // ML |
| fyazgan | 0:92b7ae8bc9f5 | 240 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 241 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 242 | 0x00, // KH |
| fyazgan | 0:92b7ae8bc9f5 | 243 | 0x00, // KL |
| fyazgan | 0:92b7ae8bc9f5 | 244 | 0x00, // XX |
| fyazgan | 0:92b7ae8bc9f5 | 245 | 0x00 // XX |
| fyazgan | 0:92b7ae8bc9f5 | 246 | }; |
| fyazgan | 0:92b7ae8bc9f5 | 247 | |
| fyazgan | 0:92b7ae8bc9f5 | 248 | /* |
| fyazgan | 0:92b7ae8bc9f5 | 249 | * Get the data size. |
| fyazgan | 0:92b7ae8bc9f5 | 250 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 251 | int siz_total = 0; |
| fyazgan | 0:92b7ae8bc9f5 | 252 | ErrorCode r = readJpegFileSize(&siz_total); |
| fyazgan | 0:92b7ae8bc9f5 | 253 | if (r != NoError) { |
| fyazgan | 0:92b7ae8bc9f5 | 254 | return r; |
| fyazgan | 0:92b7ae8bc9f5 | 255 | } |
| fyazgan | 0:92b7ae8bc9f5 | 256 | |
| fyazgan | 0:92b7ae8bc9f5 | 257 | int pac=(((siz_total/8))+1)*8; |
| fyazgan | 0:92b7ae8bc9f5 | 258 | uint8_t body[pac]; |
| fyazgan | 0:92b7ae8bc9f5 | 259 | uint16_t m = 0; // Staring address. |
| fyazgan | 0:92b7ae8bc9f5 | 260 | uint16_t k = sizeof(body); // Packet size. |
| fyazgan | 0:92b7ae8bc9f5 | 261 | uint16_t x = 10; // Interval time. XX XX * 0.01m[sec] |
| fyazgan | 0:92b7ae8bc9f5 | 262 | bool end = false; |
| fyazgan | 0:92b7ae8bc9f5 | 263 | |
| fyazgan | 0:92b7ae8bc9f5 | 264 | do { |
| fyazgan | 0:92b7ae8bc9f5 | 265 | send[8] = (m >> 8) & 0xff; |
| fyazgan | 0:92b7ae8bc9f5 | 266 | send[9] = (m >> 0) & 0xff; |
| fyazgan | 0:92b7ae8bc9f5 | 267 | send[12] = (k >> 8) & 0xff; |
| fyazgan | 0:92b7ae8bc9f5 | 268 | send[13] = (k >> 0) & 0xff; |
| fyazgan | 0:92b7ae8bc9f5 | 269 | send[14] = (x >> 8) & 0xff; |
| fyazgan | 0:92b7ae8bc9f5 | 270 | send[15] = (x >> 0) & 0xff; |
| fyazgan | 0:92b7ae8bc9f5 | 271 | /* |
| fyazgan | 0:92b7ae8bc9f5 | 272 | * Send a command. |
| fyazgan | 0:92b7ae8bc9f5 | 273 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 274 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 275 | return SendError; |
| fyazgan | 0:92b7ae8bc9f5 | 276 | } |
| fyazgan | 0:92b7ae8bc9f5 | 277 | /* |
| fyazgan | 0:92b7ae8bc9f5 | 278 | * Read the header of the response. |
| fyazgan | 0:92b7ae8bc9f5 | 279 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 280 | uint8_t header[5]; |
| fyazgan | 0:92b7ae8bc9f5 | 281 | if (!recvBytes(header, sizeof(header), 2 * 1000 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 282 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 283 | } |
| fyazgan | 0:92b7ae8bc9f5 | 284 | /* |
| fyazgan | 0:92b7ae8bc9f5 | 285 | * Check the response and fetch an image data. |
| fyazgan | 0:92b7ae8bc9f5 | 286 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 287 | if ((header[0] == 0x76) |
| fyazgan | 0:92b7ae8bc9f5 | 288 | && (header[1] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 289 | && (header[2] == 0x32) |
| fyazgan | 0:92b7ae8bc9f5 | 290 | && (header[3] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 291 | && (header[4] == 0x00)) { |
| fyazgan | 0:92b7ae8bc9f5 | 292 | if (!recvBytes(body, sizeof(body), 2 * 1000 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 293 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 294 | } |
| fyazgan | 0:92b7ae8bc9f5 | 295 | if (func != NULL) { |
| fyazgan | 0:92b7ae8bc9f5 | 296 | func(siz_total, body, sizeof(body)); |
| fyazgan | 0:92b7ae8bc9f5 | 297 | } |
| fyazgan | 0:92b7ae8bc9f5 | 298 | for (int i = 1; i < sizeof(body); i++) { |
| fyazgan | 0:92b7ae8bc9f5 | 299 | if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) { |
| fyazgan | 0:92b7ae8bc9f5 | 300 | end = true; |
| fyazgan | 0:92b7ae8bc9f5 | 301 | } |
| fyazgan | 0:92b7ae8bc9f5 | 302 | } |
| fyazgan | 0:92b7ae8bc9f5 | 303 | } else { |
| fyazgan | 0:92b7ae8bc9f5 | 304 | return UnexpectedReply; |
| fyazgan | 0:92b7ae8bc9f5 | 305 | } |
| fyazgan | 0:92b7ae8bc9f5 | 306 | /* |
| fyazgan | 0:92b7ae8bc9f5 | 307 | * Read the footer of the response. |
| fyazgan | 0:92b7ae8bc9f5 | 308 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 309 | uint8_t footer[5]; |
| fyazgan | 0:92b7ae8bc9f5 | 310 | if (!recvBytes(footer, sizeof(footer), 2 * 1000 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 311 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 312 | } |
| fyazgan | 0:92b7ae8bc9f5 | 313 | |
| fyazgan | 0:92b7ae8bc9f5 | 314 | m += sizeof(body); |
| fyazgan | 0:92b7ae8bc9f5 | 315 | } while (!end); |
| fyazgan | 0:92b7ae8bc9f5 | 316 | return NoError; |
| fyazgan | 0:92b7ae8bc9f5 | 317 | } |
| fyazgan | 0:92b7ae8bc9f5 | 318 | |
| fyazgan | 0:92b7ae8bc9f5 | 319 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 320 | * Stop taking pictures. |
| fyazgan | 0:92b7ae8bc9f5 | 321 | * |
| fyazgan | 0:92b7ae8bc9f5 | 322 | * @return Error code. |
| fyazgan | 0:92b7ae8bc9f5 | 323 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 324 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::stopTakingPictures() { |
| fyazgan | 0:92b7ae8bc9f5 | 325 | uint8_t send[5] = { |
| fyazgan | 0:92b7ae8bc9f5 | 326 | 0x56, |
| fyazgan | 0:92b7ae8bc9f5 | 327 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 328 | 0x36, |
| fyazgan | 0:92b7ae8bc9f5 | 329 | 0x01, |
| fyazgan | 0:92b7ae8bc9f5 | 330 | 0x03 |
| fyazgan | 0:92b7ae8bc9f5 | 331 | }; |
| fyazgan | 0:92b7ae8bc9f5 | 332 | uint8_t recv[5]; |
| fyazgan | 0:92b7ae8bc9f5 | 333 | |
| fyazgan | 0:92b7ae8bc9f5 | 334 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 335 | return SendError; |
| fyazgan | 0:92b7ae8bc9f5 | 336 | } |
| fyazgan | 0:92b7ae8bc9f5 | 337 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 338 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 339 | } |
| fyazgan | 0:92b7ae8bc9f5 | 340 | |
| fyazgan | 0:92b7ae8bc9f5 | 341 | if ((recv[0] == 0x76) |
| fyazgan | 0:92b7ae8bc9f5 | 342 | && (recv[1] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 343 | && (recv[2] == 0x36) |
| fyazgan | 0:92b7ae8bc9f5 | 344 | && (recv[3] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 345 | && (recv[4] == 0x00)) { |
| fyazgan | 0:92b7ae8bc9f5 | 346 | /* |
| fyazgan | 0:92b7ae8bc9f5 | 347 | * I think the camera need a time for operating. |
| fyazgan | 0:92b7ae8bc9f5 | 348 | * But there is no any comments on the documents. |
| fyazgan | 0:92b7ae8bc9f5 | 349 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 350 | wait_ms(100); |
| fyazgan | 0:92b7ae8bc9f5 | 351 | return NoError; |
| fyazgan | 0:92b7ae8bc9f5 | 352 | } else { |
| fyazgan | 0:92b7ae8bc9f5 | 353 | return UnexpectedReply; |
| fyazgan | 0:92b7ae8bc9f5 | 354 | } |
| fyazgan | 0:92b7ae8bc9f5 | 355 | } |
| fyazgan | 0:92b7ae8bc9f5 | 356 | |
| fyazgan | 0:92b7ae8bc9f5 | 357 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 358 | * Wait init end codes. |
| fyazgan | 0:92b7ae8bc9f5 | 359 | * |
| fyazgan | 0:92b7ae8bc9f5 | 360 | * @return True if the data sended. |
| fyazgan | 0:92b7ae8bc9f5 | 361 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 362 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::waitInitEnd() { |
| fyazgan | 0:92b7ae8bc9f5 | 363 | static const char *PWR_ON_MSG = "Init end\x0d\x0a"; |
| fyazgan | 0:92b7ae8bc9f5 | 364 | for (int i = 0; i < strlen(PWR_ON_MSG); i++) { |
| fyazgan | 0:92b7ae8bc9f5 | 365 | static const int MAXCNT = 128; |
| fyazgan | 0:92b7ae8bc9f5 | 366 | int cnt = 0; |
| fyazgan | 0:92b7ae8bc9f5 | 367 | uint8_t c = 0x00; |
| fyazgan | 0:92b7ae8bc9f5 | 368 | do { |
| fyazgan | 0:92b7ae8bc9f5 | 369 | if (!recvBytes(&c, sizeof(c), 500 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 370 | return Timeout; |
| fyazgan | 0:92b7ae8bc9f5 | 371 | } |
| fyazgan | 0:92b7ae8bc9f5 | 372 | |
| fyazgan | 0:92b7ae8bc9f5 | 373 | /* |
| fyazgan | 0:92b7ae8bc9f5 | 374 | * What is the version of the camera. |
| fyazgan | 0:92b7ae8bc9f5 | 375 | * You can check the version with this code. |
| fyazgan | 0:92b7ae8bc9f5 | 376 | * |
| fyazgan | 0:92b7ae8bc9f5 | 377 | * VC0703 1.00 |
| fyazgan | 0:92b7ae8bc9f5 | 378 | * 3o ctrl in |
| fyazgan | 0:92b7ae8bc9f5 | 379 | * Init end |
| fyazgan | 0:92b7ae8bc9f5 | 380 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 381 | #if 0 |
| fyazgan | 0:92b7ae8bc9f5 | 382 | printf("%c", c); |
| fyazgan | 0:92b7ae8bc9f5 | 383 | #endif |
| fyazgan | 0:92b7ae8bc9f5 | 384 | |
| fyazgan | 0:92b7ae8bc9f5 | 385 | cnt++; |
| fyazgan | 0:92b7ae8bc9f5 | 386 | if (MAXCNT < cnt) { |
| fyazgan | 0:92b7ae8bc9f5 | 387 | return UnexpectedReply; |
| fyazgan | 0:92b7ae8bc9f5 | 388 | } |
| fyazgan | 0:92b7ae8bc9f5 | 389 | } while (c != PWR_ON_MSG[i]); |
| fyazgan | 0:92b7ae8bc9f5 | 390 | } |
| fyazgan | 0:92b7ae8bc9f5 | 391 | return NoError; |
| fyazgan | 0:92b7ae8bc9f5 | 392 | } |
| fyazgan | 0:92b7ae8bc9f5 | 393 | |
| fyazgan | 0:92b7ae8bc9f5 | 394 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 395 | * Send bytes to camera module. |
| fyazgan | 0:92b7ae8bc9f5 | 396 | * |
| fyazgan | 0:92b7ae8bc9f5 | 397 | * @param buf Pointer to the data buffer. |
| fyazgan | 0:92b7ae8bc9f5 | 398 | * @param len Length of the data buffer. |
| fyazgan | 0:92b7ae8bc9f5 | 399 | * |
| fyazgan | 0:92b7ae8bc9f5 | 400 | * @return True if the data sended. |
| fyazgan | 0:92b7ae8bc9f5 | 401 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 402 | bool Camera_LS_Y201::sendBytes(uint8_t *buf, size_t len, int timeout_us) { |
| fyazgan | 0:92b7ae8bc9f5 | 403 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
| fyazgan | 0:92b7ae8bc9f5 | 404 | int cnt = 0; |
| fyazgan | 0:92b7ae8bc9f5 | 405 | while (!serial.writeable()) { |
| fyazgan | 0:92b7ae8bc9f5 | 406 | wait_us(1); |
| fyazgan | 0:92b7ae8bc9f5 | 407 | cnt++; |
| fyazgan | 0:92b7ae8bc9f5 | 408 | if (timeout_us < cnt) { |
| fyazgan | 0:92b7ae8bc9f5 | 409 | return false; |
| fyazgan | 0:92b7ae8bc9f5 | 410 | } |
| fyazgan | 0:92b7ae8bc9f5 | 411 | } |
| fyazgan | 0:92b7ae8bc9f5 | 412 | serial.putc(buf[i]); |
| fyazgan | 0:92b7ae8bc9f5 | 413 | } |
| fyazgan | 0:92b7ae8bc9f5 | 414 | return true; |
| fyazgan | 0:92b7ae8bc9f5 | 415 | } |
| fyazgan | 0:92b7ae8bc9f5 | 416 | |
| fyazgan | 0:92b7ae8bc9f5 | 417 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 418 | * Receive bytes from camera module. |
| fyazgan | 0:92b7ae8bc9f5 | 419 | * |
| fyazgan | 0:92b7ae8bc9f5 | 420 | * @param buf Pointer to the data buffer. |
| fyazgan | 0:92b7ae8bc9f5 | 421 | * @param len Length of the data buffer. |
| fyazgan | 0:92b7ae8bc9f5 | 422 | * |
| fyazgan | 0:92b7ae8bc9f5 | 423 | * @return True if the data received. |
| fyazgan | 0:92b7ae8bc9f5 | 424 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 425 | bool Camera_LS_Y201::recvBytes(uint8_t *buf, size_t len, int timeout_us) { |
| fyazgan | 0:92b7ae8bc9f5 | 426 | for (uint32_t i = 0; i < (uint32_t)len; i++) { |
| fyazgan | 0:92b7ae8bc9f5 | 427 | int cnt = 0; |
| fyazgan | 0:92b7ae8bc9f5 | 428 | while (!serial.readable()) { |
| fyazgan | 0:92b7ae8bc9f5 | 429 | wait_us(1); |
| fyazgan | 0:92b7ae8bc9f5 | 430 | cnt++; |
| fyazgan | 0:92b7ae8bc9f5 | 431 | if (timeout_us < cnt) { |
| fyazgan | 0:92b7ae8bc9f5 | 432 | return false; |
| fyazgan | 0:92b7ae8bc9f5 | 433 | } |
| fyazgan | 0:92b7ae8bc9f5 | 434 | } |
| fyazgan | 0:92b7ae8bc9f5 | 435 | buf[i] = serial.getc(); |
| fyazgan | 0:92b7ae8bc9f5 | 436 | } |
| fyazgan | 0:92b7ae8bc9f5 | 437 | return true; |
| fyazgan | 0:92b7ae8bc9f5 | 438 | } |
| fyazgan | 0:92b7ae8bc9f5 | 439 | |
| fyazgan | 0:92b7ae8bc9f5 | 440 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 441 | * Wait received. |
| fyazgan | 0:92b7ae8bc9f5 | 442 | * |
| fyazgan | 0:92b7ae8bc9f5 | 443 | * @return True if the data received. |
| fyazgan | 0:92b7ae8bc9f5 | 444 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 445 | bool Camera_LS_Y201::waitRecv() { |
| fyazgan | 0:92b7ae8bc9f5 | 446 | while (!serial.readable()) { |
| fyazgan | 0:92b7ae8bc9f5 | 447 | } |
| fyazgan | 0:92b7ae8bc9f5 | 448 | return true; |
| fyazgan | 0:92b7ae8bc9f5 | 449 | } |
| fyazgan | 0:92b7ae8bc9f5 | 450 | |
| fyazgan | 0:92b7ae8bc9f5 | 451 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 452 | * Wait idle state. |
| fyazgan | 0:92b7ae8bc9f5 | 453 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 454 | bool Camera_LS_Y201::waitIdle() { |
| fyazgan | 0:92b7ae8bc9f5 | 455 | while (serial.readable()) { |
| fyazgan | 0:92b7ae8bc9f5 | 456 | serial.getc(); |
| fyazgan | 0:92b7ae8bc9f5 | 457 | } |
| fyazgan | 0:92b7ae8bc9f5 | 458 | return true; |
| fyazgan | 0:92b7ae8bc9f5 | 459 | } |
| fyazgan | 0:92b7ae8bc9f5 | 460 | /** |
| fyazgan | 0:92b7ae8bc9f5 | 461 | * Set Baudrate |
| fyazgan | 0:92b7ae8bc9f5 | 462 | * |
| fyazgan | 0:92b7ae8bc9f5 | 463 | * @param is baudrate. |
| fyazgan | 0:92b7ae8bc9f5 | 464 | * @return Error code. |
| fyazgan | 0:92b7ae8bc9f5 | 465 | */ |
| fyazgan | 0:92b7ae8bc9f5 | 466 | Camera_LS_Y201::ErrorCode Camera_LS_Y201::setBaudrate(Baudrate bt) { |
| fyazgan | 0:92b7ae8bc9f5 | 467 | uint8_t send[7] = { |
| fyazgan | 0:92b7ae8bc9f5 | 468 | 0x56, |
| fyazgan | 0:92b7ae8bc9f5 | 469 | 0x00, |
| fyazgan | 0:92b7ae8bc9f5 | 470 | 0x24, |
| fyazgan | 0:92b7ae8bc9f5 | 471 | 0x03, |
| fyazgan | 0:92b7ae8bc9f5 | 472 | 0x01, |
| fyazgan | 0:92b7ae8bc9f5 | 473 | }; |
| fyazgan | 0:92b7ae8bc9f5 | 474 | uint8_t recv[5]; |
| fyazgan | 0:92b7ae8bc9f5 | 475 | switch (bt) { |
| fyazgan | 0:92b7ae8bc9f5 | 476 | case Baud57600: |
| fyazgan | 0:92b7ae8bc9f5 | 477 | send[5] = 0x1C; |
| fyazgan | 0:92b7ae8bc9f5 | 478 | send[6] = 0x4C; |
| fyazgan | 0:92b7ae8bc9f5 | 479 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 480 | case Baud115200: |
| fyazgan | 0:92b7ae8bc9f5 | 481 | send[5] = 0x0D; |
| fyazgan | 0:92b7ae8bc9f5 | 482 | send[6] = 0xA6; |
| fyazgan | 0:92b7ae8bc9f5 | 483 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 484 | case Baud1228800: |
| fyazgan | 0:92b7ae8bc9f5 | 485 | send[5] = 0x02; |
| fyazgan | 0:92b7ae8bc9f5 | 486 | send[6] = 0x00; |
| fyazgan | 0:92b7ae8bc9f5 | 487 | break; |
| fyazgan | 0:92b7ae8bc9f5 | 488 | default: |
| fyazgan | 0:92b7ae8bc9f5 | 489 | return InvalidArguments; |
| fyazgan | 0:92b7ae8bc9f5 | 490 | } |
| fyazgan | 0:92b7ae8bc9f5 | 491 | if (!sendBytes(send, sizeof(send), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 492 | return SendError; |
| fyazgan | 0:92b7ae8bc9f5 | 493 | } |
| fyazgan | 0:92b7ae8bc9f5 | 494 | if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { |
| fyazgan | 0:92b7ae8bc9f5 | 495 | return RecvError; |
| fyazgan | 0:92b7ae8bc9f5 | 496 | } |
| fyazgan | 0:92b7ae8bc9f5 | 497 | if ((recv[0] == 0x76) |
| fyazgan | 0:92b7ae8bc9f5 | 498 | && (recv[1] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 499 | && (recv[2] == 0x24) |
| fyazgan | 0:92b7ae8bc9f5 | 500 | && (recv[3] == 0x00) |
| fyazgan | 0:92b7ae8bc9f5 | 501 | && (recv[4] == 0x00)) { |
| fyazgan | 0:92b7ae8bc9f5 | 502 | wait(1); |
| fyazgan | 0:92b7ae8bc9f5 | 503 | return reset(); |
| fyazgan | 0:92b7ae8bc9f5 | 504 | } else { |
| fyazgan | 0:92b7ae8bc9f5 | 505 | return UnexpectedReply; |
| fyazgan | 0:92b7ae8bc9f5 | 506 | } |
| fyazgan | 0:92b7ae8bc9f5 | 507 | } |