Lowe Dantzler / Camera_LS_Y201

Description.

Dependents:   RoboPanorama 4180_Project ProjetMacIntel

Fork of Camera_LS_Y201 by Shinichiro Nakamura

Camera_LS_Y201.cpp@2:e92ce527b8b0, 2012-10-12 (annotated)

Committer:
lndv3
Date:
Fri Oct 12 16:41:24 2012 +0000
Revision:
2:e92ce527b8b0
Parent:
1:43358d40f879 
Commit.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lndv3 2:e92ce527b8b0 1 /**
lndv3 2:e92ce527b8b0 2 * =============================================================================
lndv3 2:e92ce527b8b0 3 * LS-Y201 device driver class (Version 0.0.1)
lndv3 2:e92ce527b8b0 4 * Reference documents: LinkSprite JPEG Color Camera Serial UART Interface
lndv3 2:e92ce527b8b0 5 * January 2010
lndv3 2:e92ce527b8b0 6 * =============================================================================
lndv3 2:e92ce527b8b0 7 * Copyright (c) 2010 Shinichiro Nakamura (CuBeatSystems)
lndv3 2:e92ce527b8b0 8 *
lndv3 2:e92ce527b8b0 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
lndv3 2:e92ce527b8b0 10 * of this software and associated documentation files (the "Software"), to deal
lndv3 2:e92ce527b8b0 11 * in the Software without restriction, including without limitation the rights
lndv3 2:e92ce527b8b0 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
lndv3 2:e92ce527b8b0 13 * copies of the Software, and to permit persons to whom the Software is
lndv3 2:e92ce527b8b0 14 * furnished to do so, subject to the following conditions:
lndv3 2:e92ce527b8b0 15 *
lndv3 2:e92ce527b8b0 16 * The above copyright notice and this permission notice shall be included in
lndv3 2:e92ce527b8b0 17 * all copies or substantial portions of the Software.
lndv3 2:e92ce527b8b0 18 *
lndv3 2:e92ce527b8b0 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
lndv3 2:e92ce527b8b0 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
lndv3 2:e92ce527b8b0 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
lndv3 2:e92ce527b8b0 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
lndv3 2:e92ce527b8b0 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
lndv3 2:e92ce527b8b0 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
lndv3 2:e92ce527b8b0 25 * THE SOFTWARE.
lndv3 2:e92ce527b8b0 26 * =============================================================================
lndv3 2:e92ce527b8b0 27 */
lndv3 2:e92ce527b8b0 28
lndv3 2:e92ce527b8b0 29 #include "Camera_LS_Y201.h"
lndv3 2:e92ce527b8b0 30
lndv3 2:e92ce527b8b0 31 /**
lndv3 2:e92ce527b8b0 32 * Create.
lndv3 2:e92ce527b8b0 33 *
lndv3 2:e92ce527b8b0 34 * @param tx Transmitter.
lndv3 2:e92ce527b8b0 35 * @param rx Receiver.
lndv3 2:e92ce527b8b0 36 */
lndv3 2:e92ce527b8b0 37 Camera_LS_Y201::Camera_LS_Y201(PinName tx, PinName rx) : serial(tx, rx) {
lndv3 2:e92ce527b8b0 38 serial.baud(38400);
lndv3 2:e92ce527b8b0 39 }
lndv3 2:e92ce527b8b0 40
lndv3 2:e92ce527b8b0 41 /**
lndv3 2:e92ce527b8b0 42 * Dispose.
lndv3 2:e92ce527b8b0 43 */
lndv3 2:e92ce527b8b0 44 Camera_LS_Y201::~Camera_LS_Y201() {
lndv3 2:e92ce527b8b0 45 }
lndv3 2:e92ce527b8b0 46
lndv3 2:e92ce527b8b0 47 /**
lndv3 2:e92ce527b8b0 48 * Reset module.
lndv3 2:e92ce527b8b0 49 *
lndv3 2:e92ce527b8b0 50 * @return Error code.
lndv3 2:e92ce527b8b0 51 */
lndv3 2:e92ce527b8b0 52 Camera_LS_Y201::ErrorCode Camera_LS_Y201::reset() {
lndv3 2:e92ce527b8b0 53 uint8_t send[4] = {
lndv3 2:e92ce527b8b0 54 0x56,
lndv3 2:e92ce527b8b0 55 0x00,
lndv3 2:e92ce527b8b0 56 0x26,
lndv3 2:e92ce527b8b0 57 0x00
lndv3 2:e92ce527b8b0 58 };
lndv3 2:e92ce527b8b0 59 uint8_t recv[4];
lndv3 2:e92ce527b8b0 60
lndv3 2:e92ce527b8b0 61 waitIdle();
lndv3 2:e92ce527b8b0 62 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
lndv3 2:e92ce527b8b0 63 return SendError;
lndv3 2:e92ce527b8b0 64 }
lndv3 2:e92ce527b8b0 65 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
lndv3 2:e92ce527b8b0 66 return RecvError;
lndv3 2:e92ce527b8b0 67 }
lndv3 2:e92ce527b8b0 68 if ((recv[0] == 0x76)
lndv3 2:e92ce527b8b0 69 && (recv[1] == 0x00)
lndv3 2:e92ce527b8b0 70 && (recv[2] == 0x26)
lndv3 2:e92ce527b8b0 71 && (recv[3] == 0x00)) {
lndv3 2:e92ce527b8b0 72 ErrorCode r = waitInitEnd();
lndv3 2:e92ce527b8b0 73 if (r != NoError) {
lndv3 2:e92ce527b8b0 74 return r;
lndv3 2:e92ce527b8b0 75 }
lndv3 2:e92ce527b8b0 76 wait(4);
lndv3 2:e92ce527b8b0 77 return NoError;
lndv3 2:e92ce527b8b0 78 } else {
lndv3 2:e92ce527b8b0 79 return UnexpectedReply;
lndv3 2:e92ce527b8b0 80 }
lndv3 2:e92ce527b8b0 81 }
lndv3 2:e92ce527b8b0 82
lndv3 2:e92ce527b8b0 83 /**
lndv3 2:e92ce527b8b0 84 * Set image size.
lndv3 2:e92ce527b8b0 85 *
lndv3 2:e92ce527b8b0 86 * @param is Image size.
lndv3 2:e92ce527b8b0 87 * @return Error code.
lndv3 2:e92ce527b8b0 88 */
lndv3 2:e92ce527b8b0 89 Camera_LS_Y201::ErrorCode Camera_LS_Y201::setImageSize(ImageSize is) {
lndv3 2:e92ce527b8b0 90 uint8_t send[9] = {
lndv3 2:e92ce527b8b0 91 0x56,
lndv3 2:e92ce527b8b0 92 0x00,
lndv3 2:e92ce527b8b0 93 0x31,
lndv3 2:e92ce527b8b0 94 0x05,
lndv3 2:e92ce527b8b0 95 0x04,
lndv3 2:e92ce527b8b0 96 0x01,
lndv3 2:e92ce527b8b0 97 0x00,
lndv3 2:e92ce527b8b0 98 0x19,
lndv3 2:e92ce527b8b0 99 0x00 // 0x11:320x240, 0x00:640x480, 0x22:160x120
lndv3 2:e92ce527b8b0 100 };
lndv3 2:e92ce527b8b0 101 uint8_t recv[5];
lndv3 2:e92ce527b8b0 102 switch (is) {
lndv3 2:e92ce527b8b0 103 case ImageSize160x120:
lndv3 2:e92ce527b8b0 104 send[8] = 0x22;
lndv3 2:e92ce527b8b0 105 break;
lndv3 2:e92ce527b8b0 106 case ImageSize320x280:
lndv3 2:e92ce527b8b0 107 send[8] = 0x11;
lndv3 2:e92ce527b8b0 108 break;
lndv3 2:e92ce527b8b0 109 case ImageSize640x480:
lndv3 2:e92ce527b8b0 110 send[8] = 0x00;
lndv3 2:e92ce527b8b0 111 break;
lndv3 2:e92ce527b8b0 112 default:
lndv3 2:e92ce527b8b0 113 return InvalidArguments;
lndv3 2:e92ce527b8b0 114 }
lndv3 2:e92ce527b8b0 115 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
lndv3 2:e92ce527b8b0 116 return SendError;
lndv3 2:e92ce527b8b0 117 }
lndv3 2:e92ce527b8b0 118 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
lndv3 2:e92ce527b8b0 119 return RecvError;
lndv3 2:e92ce527b8b0 120 }
lndv3 2:e92ce527b8b0 121 if ((recv[0] == 0x76)
lndv3 2:e92ce527b8b0 122 && (recv[1] == 0x00)
lndv3 2:e92ce527b8b0 123 && (recv[2] == 0x31)
lndv3 2:e92ce527b8b0 124 && (recv[3] == 0x00)
lndv3 2:e92ce527b8b0 125 && (recv[4] == 0x00)) {
lndv3 2:e92ce527b8b0 126 wait(1);
lndv3 2:e92ce527b8b0 127 return reset();
lndv3 2:e92ce527b8b0 128 } else {
lndv3 2:e92ce527b8b0 129 return UnexpectedReply;
lndv3 2:e92ce527b8b0 130 }
lndv3 2:e92ce527b8b0 131 }
lndv3 2:e92ce527b8b0 132
lndv3 2:e92ce527b8b0 133 /**
lndv3 2:e92ce527b8b0 134 * Take picture.
lndv3 2:e92ce527b8b0 135 *
lndv3 2:e92ce527b8b0 136 * @return Error code.
lndv3 2:e92ce527b8b0 137 */
lndv3 2:e92ce527b8b0 138 Camera_LS_Y201::ErrorCode Camera_LS_Y201::takePicture() {
lndv3 2:e92ce527b8b0 139 uint8_t send[5] = {
lndv3 2:e92ce527b8b0 140 0x56,
lndv3 2:e92ce527b8b0 141 0x00,
lndv3 2:e92ce527b8b0 142 0x36,
lndv3 2:e92ce527b8b0 143 0x01,
lndv3 2:e92ce527b8b0 144 0x00
lndv3 2:e92ce527b8b0 145 };
lndv3 2:e92ce527b8b0 146 uint8_t recv[5];
lndv3 2:e92ce527b8b0 147
lndv3 2:e92ce527b8b0 148 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
lndv3 2:e92ce527b8b0 149 return SendError;
lndv3 2:e92ce527b8b0 150 }
lndv3 2:e92ce527b8b0 151 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
lndv3 2:e92ce527b8b0 152 return RecvError;
lndv3 2:e92ce527b8b0 153 }
lndv3 2:e92ce527b8b0 154
lndv3 2:e92ce527b8b0 155 if ((recv[0] == 0x76)
lndv3 2:e92ce527b8b0 156 && (recv[1] == 0x00)
lndv3 2:e92ce527b8b0 157 && (recv[2] == 0x36)
lndv3 2:e92ce527b8b0 158 && (recv[3] == 0x00)
lndv3 2:e92ce527b8b0 159 && (recv[4] == 0x00)) {
lndv3 2:e92ce527b8b0 160 /*
lndv3 2:e92ce527b8b0 161 * I think the camera need a time for operating.
lndv3 2:e92ce527b8b0 162 * But there is no any comments on the documents.
lndv3 2:e92ce527b8b0 163 */
lndv3 2:e92ce527b8b0 164 wait_ms(100);
lndv3 2:e92ce527b8b0 165 return NoError;
lndv3 2:e92ce527b8b0 166 } else {
lndv3 2:e92ce527b8b0 167 return UnexpectedReply;
lndv3 2:e92ce527b8b0 168 }
lndv3 2:e92ce527b8b0 169 }
lndv3 2:e92ce527b8b0 170
lndv3 2:e92ce527b8b0 171 /**
lndv3 2:e92ce527b8b0 172 * Read jpeg file size.
lndv3 2:e92ce527b8b0 173 *
lndv3 2:e92ce527b8b0 174 * @param fileSize File size.
lndv3 2:e92ce527b8b0 175 * @return Error code.
lndv3 2:e92ce527b8b0 176 */
lndv3 2:e92ce527b8b0 177 Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileSize(int *fileSize) {
lndv3 2:e92ce527b8b0 178 uint8_t send[5] = {
lndv3 2:e92ce527b8b0 179 0x56,
lndv3 2:e92ce527b8b0 180 0x00,
lndv3 2:e92ce527b8b0 181 0x34,
lndv3 2:e92ce527b8b0 182 0x01,
lndv3 2:e92ce527b8b0 183 0x00
lndv3 2:e92ce527b8b0 184 };
lndv3 2:e92ce527b8b0 185 uint8_t recv[9];
lndv3 2:e92ce527b8b0 186
lndv3 2:e92ce527b8b0 187 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
lndv3 2:e92ce527b8b0 188 return SendError;
lndv3 2:e92ce527b8b0 189 }
lndv3 2:e92ce527b8b0 190 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
lndv3 2:e92ce527b8b0 191 return RecvError;
lndv3 2:e92ce527b8b0 192 }
lndv3 2:e92ce527b8b0 193
lndv3 2:e92ce527b8b0 194 if ((recv[0] == 0x76)
lndv3 2:e92ce527b8b0 195 && (recv[1] == 0x00)
lndv3 2:e92ce527b8b0 196 && (recv[2] == 0x34)
lndv3 2:e92ce527b8b0 197 && (recv[3] == 0x00)
lndv3 2:e92ce527b8b0 198 && (recv[4] == 0x04)
lndv3 2:e92ce527b8b0 199 && (recv[5] == 0x00)
lndv3 2:e92ce527b8b0 200 && (recv[6] == 0x00)) {
lndv3 2:e92ce527b8b0 201 *fileSize = ((recv[7] & 0x00ff) << 8)
lndv3 2:e92ce527b8b0 202 | ((recv[8] & 0x00ff) << 0);
lndv3 2:e92ce527b8b0 203 return NoError;
lndv3 2:e92ce527b8b0 204 } else {
lndv3 2:e92ce527b8b0 205 return UnexpectedReply;
lndv3 2:e92ce527b8b0 206 }
lndv3 2:e92ce527b8b0 207 }
lndv3 2:e92ce527b8b0 208
lndv3 2:e92ce527b8b0 209 /**
lndv3 2:e92ce527b8b0 210 * Read jpeg file content.
lndv3 2:e92ce527b8b0 211 *
lndv3 2:e92ce527b8b0 212 * @param func A pointer to a call back function.
lndv3 2:e92ce527b8b0 213 * @return Error code.
lndv3 2:e92ce527b8b0 214 */
lndv3 2:e92ce527b8b0 215 Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileContent(void (*func)(int done, int total, uint8_t *buf, size_t siz)) {
lndv3 2:e92ce527b8b0 216 uint8_t send[16] = {
lndv3 2:e92ce527b8b0 217 0x56,
lndv3 2:e92ce527b8b0 218 0x00,
lndv3 2:e92ce527b8b0 219 0x32,
lndv3 2:e92ce527b8b0 220 0x0C,
lndv3 2:e92ce527b8b0 221 0x00,
lndv3 2:e92ce527b8b0 222 0x0A,
lndv3 2:e92ce527b8b0 223 0x00,
lndv3 2:e92ce527b8b0 224 0x00,
lndv3 2:e92ce527b8b0 225 0x00, // MH
lndv3 2:e92ce527b8b0 226 0x00, // ML
lndv3 2:e92ce527b8b0 227 0x00,
lndv3 2:e92ce527b8b0 228 0x00,
lndv3 2:e92ce527b8b0 229 0x00, // KH
lndv3 2:e92ce527b8b0 230 0x00, // KL
lndv3 2:e92ce527b8b0 231 0x00, // XX
lndv3 2:e92ce527b8b0 232 0x00 // XX
lndv3 2:e92ce527b8b0 233 };
lndv3 2:e92ce527b8b0 234 uint8_t body[32];
lndv3 2:e92ce527b8b0 235 uint16_t m = 0; // Staring address.
lndv3 2:e92ce527b8b0 236 uint16_t k = sizeof(body); // Packet size.
lndv3 2:e92ce527b8b0 237 uint16_t x = 10; // Interval time. XX XX * 0.01m[sec]
lndv3 2:e92ce527b8b0 238 bool end = false;
lndv3 2:e92ce527b8b0 239
lndv3 2:e92ce527b8b0 240 /*
lndv3 2:e92ce527b8b0 241 * Get the data size.
lndv3 2:e92ce527b8b0 242 */
lndv3 2:e92ce527b8b0 243 int siz_done = 0;
lndv3 2:e92ce527b8b0 244 int siz_total = 0;
lndv3 2:e92ce527b8b0 245 ErrorCode r = readJpegFileSize(&siz_total);
lndv3 2:e92ce527b8b0 246 if (r != NoError) {
lndv3 2:e92ce527b8b0 247 return r;
lndv3 2:e92ce527b8b0 248 }
lndv3 2:e92ce527b8b0 249
lndv3 2:e92ce527b8b0 250 do {
lndv3 2:e92ce527b8b0 251 send[8] = (m >> 8) & 0xff;
lndv3 2:e92ce527b8b0 252 send[9] = (m >> 0) & 0xff;
lndv3 2:e92ce527b8b0 253 send[12] = (k >> 8) & 0xff;
lndv3 2:e92ce527b8b0 254 send[13] = (k >> 0) & 0xff;
lndv3 2:e92ce527b8b0 255 send[14] = (x >> 8) & 0xff;
lndv3 2:e92ce527b8b0 256 send[15] = (x >> 0) & 0xff;
lndv3 2:e92ce527b8b0 257 /*
lndv3 2:e92ce527b8b0 258 * Send a command.
lndv3 2:e92ce527b8b0 259 */
lndv3 2:e92ce527b8b0 260 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
lndv3 2:e92ce527b8b0 261 return SendError;
lndv3 2:e92ce527b8b0 262 }
lndv3 2:e92ce527b8b0 263 /*
lndv3 2:e92ce527b8b0 264 * Read the header of the response.
lndv3 2:e92ce527b8b0 265 */
lndv3 2:e92ce527b8b0 266 uint8_t header[5];
lndv3 2:e92ce527b8b0 267 if (!recvBytes(header, sizeof(header), 2 * 1000 * 1000)) {
lndv3 2:e92ce527b8b0 268 return RecvError;
lndv3 2:e92ce527b8b0 269 }
lndv3 2:e92ce527b8b0 270 /*
lndv3 2:e92ce527b8b0 271 * Check the response and fetch an image data.
lndv3 2:e92ce527b8b0 272 */
lndv3 2:e92ce527b8b0 273 if ((header[0] == 0x76)
lndv3 2:e92ce527b8b0 274 && (header[1] == 0x00)
lndv3 2:e92ce527b8b0 275 && (header[2] == 0x32)
lndv3 2:e92ce527b8b0 276 && (header[3] == 0x00)
lndv3 2:e92ce527b8b0 277 && (header[4] == 0x00)) {
lndv3 2:e92ce527b8b0 278 if (!recvBytes(body, sizeof(body), 2 * 1000 * 1000)) {
lndv3 2:e92ce527b8b0 279 return RecvError;
lndv3 2:e92ce527b8b0 280 }
lndv3 2:e92ce527b8b0 281 siz_done += sizeof(body);
lndv3 2:e92ce527b8b0 282 if (func != NULL) {
lndv3 2:e92ce527b8b0 283 if (siz_done > siz_total) {
lndv3 2:e92ce527b8b0 284 siz_done = siz_total;
lndv3 2:e92ce527b8b0 285 }
lndv3 2:e92ce527b8b0 286 func(siz_done, siz_total, body, sizeof(body));
lndv3 2:e92ce527b8b0 287 }
lndv3 2:e92ce527b8b0 288 for (int i = 1; i < sizeof(body); i++) {
lndv3 2:e92ce527b8b0 289 if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) {
lndv3 2:e92ce527b8b0 290 end = true;
lndv3 2:e92ce527b8b0 291 }
lndv3 2:e92ce527b8b0 292 }
lndv3 2:e92ce527b8b0 293 } else {
lndv3 2:e92ce527b8b0 294 return UnexpectedReply;
lndv3 2:e92ce527b8b0 295 }
lndv3 2:e92ce527b8b0 296 /*
lndv3 2:e92ce527b8b0 297 * Read the footer of the response.
lndv3 2:e92ce527b8b0 298 */
lndv3 2:e92ce527b8b0 299 uint8_t footer[5];
lndv3 2:e92ce527b8b0 300 if (!recvBytes(footer, sizeof(footer), 2 * 1000 * 1000)) {
lndv3 2:e92ce527b8b0 301 return RecvError;
lndv3 2:e92ce527b8b0 302 }
lndv3 2:e92ce527b8b0 303
lndv3 2:e92ce527b8b0 304 m += sizeof(body);
lndv3 2:e92ce527b8b0 305 } while (!end);
lndv3 2:e92ce527b8b0 306 return NoError;
lndv3 2:e92ce527b8b0 307 }
lndv3 2:e92ce527b8b0 308
lndv3 2:e92ce527b8b0 309 /**
lndv3 2:e92ce527b8b0 310 * Stop taking pictures.
lndv3 2:e92ce527b8b0 311 *
lndv3 2:e92ce527b8b0 312 * @return Error code.
lndv3 2:e92ce527b8b0 313 */
lndv3 2:e92ce527b8b0 314 Camera_LS_Y201::ErrorCode Camera_LS_Y201::stopTakingPictures() {
lndv3 2:e92ce527b8b0 315 uint8_t send[5] = {
lndv3 2:e92ce527b8b0 316 0x56,
lndv3 2:e92ce527b8b0 317 0x00,
lndv3 2:e92ce527b8b0 318 0x36,
lndv3 2:e92ce527b8b0 319 0x01,
lndv3 2:e92ce527b8b0 320 0x03
lndv3 2:e92ce527b8b0 321 };
lndv3 2:e92ce527b8b0 322 uint8_t recv[5];
lndv3 2:e92ce527b8b0 323
lndv3 2:e92ce527b8b0 324 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
lndv3 2:e92ce527b8b0 325 return SendError;
lndv3 2:e92ce527b8b0 326 }
lndv3 2:e92ce527b8b0 327 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
lndv3 2:e92ce527b8b0 328 return RecvError;
lndv3 2:e92ce527b8b0 329 }
lndv3 2:e92ce527b8b0 330
lndv3 2:e92ce527b8b0 331 if ((recv[0] == 0x76)
lndv3 2:e92ce527b8b0 332 && (recv[1] == 0x00)
lndv3 2:e92ce527b8b0 333 && (recv[2] == 0x36)
lndv3 2:e92ce527b8b0 334 && (recv[3] == 0x00)
lndv3 2:e92ce527b8b0 335 && (recv[4] == 0x00)) {
lndv3 2:e92ce527b8b0 336 /*
lndv3 2:e92ce527b8b0 337 * I think the camera need a time for operating.
lndv3 2:e92ce527b8b0 338 * But there is no any comments on the documents.
lndv3 2:e92ce527b8b0 339 */
lndv3 2:e92ce527b8b0 340 wait_ms(100);
lndv3 2:e92ce527b8b0 341 return NoError;
lndv3 2:e92ce527b8b0 342 } else {
lndv3 2:e92ce527b8b0 343 return UnexpectedReply;
lndv3 2:e92ce527b8b0 344 }
lndv3 2:e92ce527b8b0 345 }
lndv3 2:e92ce527b8b0 346
lndv3 2:e92ce527b8b0 347 /**
lndv3 2:e92ce527b8b0 348 * Wait init end codes.
lndv3 2:e92ce527b8b0 349 *
lndv3 2:e92ce527b8b0 350 * @return True if the data sended.
lndv3 2:e92ce527b8b0 351 */
lndv3 2:e92ce527b8b0 352 Camera_LS_Y201::ErrorCode Camera_LS_Y201::waitInitEnd() {
lndv3 2:e92ce527b8b0 353 static const char *PWR_ON_MSG = "Init end\x0d\x0a";
lndv3 2:e92ce527b8b0 354 for (int i = 0; i < strlen(PWR_ON_MSG); i++) {
lndv3 2:e92ce527b8b0 355 static const int MAXCNT = 128;
lndv3 2:e92ce527b8b0 356 int cnt = 0;
lndv3 2:e92ce527b8b0 357 uint8_t c = 0x00;
lndv3 2:e92ce527b8b0 358 do {
lndv3 2:e92ce527b8b0 359 if (!recvBytes(&c, sizeof(c), 500 * 1000)) {
lndv3 2:e92ce527b8b0 360 return Timeout;
lndv3 2:e92ce527b8b0 361 }
lndv3 2:e92ce527b8b0 362
lndv3 2:e92ce527b8b0 363 /*
lndv3 2:e92ce527b8b0 364 * What is the version of the camera.
lndv3 2:e92ce527b8b0 365 * You can check the version with this code.
lndv3 2:e92ce527b8b0 366 *
lndv3 2:e92ce527b8b0 367 * VC0703 1.00
lndv3 2:e92ce527b8b0 368 * 3o ctrl in
lndv3 2:e92ce527b8b0 369 * Init end
lndv3 2:e92ce527b8b0 370 */
lndv3 2:e92ce527b8b0 371 #if 0
lndv3 2:e92ce527b8b0 372 printf("%c", c);
lndv3 2:e92ce527b8b0 373 #endif
lndv3 2:e92ce527b8b0 374
lndv3 2:e92ce527b8b0 375 cnt++;
lndv3 2:e92ce527b8b0 376 if (MAXCNT < cnt) {
lndv3 2:e92ce527b8b0 377 return UnexpectedReply;
lndv3 2:e92ce527b8b0 378 }
lndv3 2:e92ce527b8b0 379 } while (c != PWR_ON_MSG[i]);
lndv3 2:e92ce527b8b0 380 }
lndv3 2:e92ce527b8b0 381 return NoError;
lndv3 2:e92ce527b8b0 382 }
lndv3 2:e92ce527b8b0 383
lndv3 2:e92ce527b8b0 384 /**
lndv3 2:e92ce527b8b0 385 * Send bytes to camera module.
lndv3 2:e92ce527b8b0 386 *
lndv3 2:e92ce527b8b0 387 * @param buf Pointer to the data buffer.
lndv3 2:e92ce527b8b0 388 * @param len Length of the data buffer.
lndv3 2:e92ce527b8b0 389 *
lndv3 2:e92ce527b8b0 390 * @return True if the data sended.
lndv3 2:e92ce527b8b0 391 */
lndv3 2:e92ce527b8b0 392 bool Camera_LS_Y201::sendBytes(uint8_t *buf, size_t len, int timeout_us) {
lndv3 2:e92ce527b8b0 393 for (uint32_t i = 0; i < (uint32_t)len; i++) {
lndv3 2:e92ce527b8b0 394 int cnt = 0;
lndv3 2:e92ce527b8b0 395 while (!serial.writeable()) {
lndv3 2:e92ce527b8b0 396 wait_us(1);
lndv3 2:e92ce527b8b0 397 cnt++;
lndv3 2:e92ce527b8b0 398 if (timeout_us < cnt) {
lndv3 2:e92ce527b8b0 399 return false;
lndv3 2:e92ce527b8b0 400 }
lndv3 2:e92ce527b8b0 401 }
lndv3 2:e92ce527b8b0 402 serial.putc(buf[i]);
lndv3 2:e92ce527b8b0 403 }
lndv3 2:e92ce527b8b0 404 return true;
lndv3 2:e92ce527b8b0 405 }
lndv3 2:e92ce527b8b0 406
lndv3 2:e92ce527b8b0 407 /**
lndv3 2:e92ce527b8b0 408 * Receive bytes from camera module.
lndv3 2:e92ce527b8b0 409 *
lndv3 2:e92ce527b8b0 410 * @param buf Pointer to the data buffer.
lndv3 2:e92ce527b8b0 411 * @param len Length of the data buffer.
lndv3 2:e92ce527b8b0 412 *
lndv3 2:e92ce527b8b0 413 * @return True if the data received.
lndv3 2:e92ce527b8b0 414 */
lndv3 2:e92ce527b8b0 415 bool Camera_LS_Y201::recvBytes(uint8_t *buf, size_t len, int timeout_us) {
lndv3 2:e92ce527b8b0 416 for (uint32_t i = 0; i < (uint32_t)len; i++) {
lndv3 2:e92ce527b8b0 417 int cnt = 0;
lndv3 2:e92ce527b8b0 418 while (!serial.readable()) {
lndv3 2:e92ce527b8b0 419 wait_us(1);
lndv3 2:e92ce527b8b0 420 cnt++;
lndv3 2:e92ce527b8b0 421 if (timeout_us < cnt) {
lndv3 2:e92ce527b8b0 422 return false;
lndv3 2:e92ce527b8b0 423 }
lndv3 2:e92ce527b8b0 424 }
lndv3 2:e92ce527b8b0 425 buf[i] = serial.getc();
lndv3 2:e92ce527b8b0 426 }
lndv3 2:e92ce527b8b0 427 return true;
lndv3 2:e92ce527b8b0 428 }
lndv3 2:e92ce527b8b0 429
lndv3 2:e92ce527b8b0 430 /**
lndv3 2:e92ce527b8b0 431 * Wait received.
lndv3 2:e92ce527b8b0 432 *
lndv3 2:e92ce527b8b0 433 * @return True if the data received.
lndv3 2:e92ce527b8b0 434 */
lndv3 2:e92ce527b8b0 435 bool Camera_LS_Y201::waitRecv() {
lndv3 2:e92ce527b8b0 436 while (!serial.readable()) {
lndv3 2:e92ce527b8b0 437 }
lndv3 2:e92ce527b8b0 438 return true;
lndv3 2:e92ce527b8b0 439 }
lndv3 2:e92ce527b8b0 440
lndv3 2:e92ce527b8b0 441 /**
lndv3 2:e92ce527b8b0 442 * Wait idle state.
lndv3 2:e92ce527b8b0 443 */
lndv3 2:e92ce527b8b0 444 bool Camera_LS_Y201::waitIdle() {
lndv3 2:e92ce527b8b0 445 while (serial.readable()) {
lndv3 2:e92ce527b8b0 446 serial.getc();
lndv3 2:e92ce527b8b0 447 }
lndv3 2:e92ce527b8b0 448 return true;
lndv3 2:e92ce527b8b0 449 }