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Dependents: RoboPanorama 4180_Project ProjetMacIntel
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Diff: Camera_LS_Y201.cpp
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- 2:e92ce527b8b0
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- 1:43358d40f879
diff -r 43358d40f879 -r e92ce527b8b0 Camera_LS_Y201.cpp --- a/Camera_LS_Y201.cpp Wed Dec 01 23:10:56 2010 +0000 +++ b/Camera_LS_Y201.cpp Fri Oct 12 16:41:24 2012 +0000 @@ -1,449 +1,449 @@ -/** - * ============================================================================= - * LS-Y201 device driver class (Version 0.0.1) - * Reference documents: LinkSprite JPEG Color Camera Serial UART Interface - * January 2010 - * ============================================================================= - * Copyright (c) 2010 Shinichiro Nakamura (CuBeatSystems) - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - * ============================================================================= - */ - -#include "Camera_LS_Y201.h" - -/** - * Create. - * - * @param tx Transmitter. - * @param rx Receiver. - */ -Camera_LS_Y201::Camera_LS_Y201(PinName tx, PinName rx) : serial(tx, rx) { - serial.baud(38400); -} - -/** - * Dispose. - */ -Camera_LS_Y201::~Camera_LS_Y201() { -} - -/** - * Reset module. - * - * @return Error code. - */ -Camera_LS_Y201::ErrorCode Camera_LS_Y201::reset() { - uint8_t send[4] = { - 0x56, - 0x00, - 0x26, - 0x00 - }; - uint8_t recv[4]; - - waitIdle(); - if (!sendBytes(send, sizeof(send), 200 * 1000)) { - return SendError; - } - if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { - return RecvError; - } - if ((recv[0] == 0x76) - && (recv[1] == 0x00) - && (recv[2] == 0x26) - && (recv[3] == 0x00)) { - ErrorCode r = waitInitEnd(); - if (r != NoError) { - return r; - } - wait(4); - return NoError; - } else { - return UnexpectedReply; - } -} - -/** - * Set image size. - * - * @param is Image size. - * @return Error code. - */ -Camera_LS_Y201::ErrorCode Camera_LS_Y201::setImageSize(ImageSize is) { - uint8_t send[9] = { - 0x56, - 0x00, - 0x31, - 0x05, - 0x04, - 0x01, - 0x00, - 0x19, - 0x00 // 0x11:320x240, 0x00:640x480, 0x22:160x120 - }; - uint8_t recv[5]; - switch (is) { - case ImageSize160x120: - send[8] = 0x22; - break; - case ImageSize320x280: - send[8] = 0x11; - break; - case ImageSize640x480: - send[8] = 0x00; - break; - default: - return InvalidArguments; - } - if (!sendBytes(send, sizeof(send), 200 * 1000)) { - return SendError; - } - if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { - return RecvError; - } - if ((recv[0] == 0x76) - && (recv[1] == 0x00) - && (recv[2] == 0x31) - && (recv[3] == 0x00) - && (recv[4] == 0x00)) { - wait(1); - return reset(); - } else { - return UnexpectedReply; - } -} - -/** - * Take picture. - * - * @return Error code. - */ -Camera_LS_Y201::ErrorCode Camera_LS_Y201::takePicture() { - uint8_t send[5] = { - 0x56, - 0x00, - 0x36, - 0x01, - 0x00 - }; - uint8_t recv[5]; - - if (!sendBytes(send, sizeof(send), 200 * 1000)) { - return SendError; - } - if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { - return RecvError; - } - - if ((recv[0] == 0x76) - && (recv[1] == 0x00) - && (recv[2] == 0x36) - && (recv[3] == 0x00) - && (recv[4] == 0x00)) { - /* - * I think the camera need a time for operating. - * But there is no any comments on the documents. - */ - wait_ms(100); - return NoError; - } else { - return UnexpectedReply; - } -} - -/** - * Read jpeg file size. - * - * @param fileSize File size. - * @return Error code. - */ -Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileSize(int *fileSize) { - uint8_t send[5] = { - 0x56, - 0x00, - 0x34, - 0x01, - 0x00 - }; - uint8_t recv[9]; - - if (!sendBytes(send, sizeof(send), 200 * 1000)) { - return SendError; - } - if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { - return RecvError; - } - - if ((recv[0] == 0x76) - && (recv[1] == 0x00) - && (recv[2] == 0x34) - && (recv[3] == 0x00) - && (recv[4] == 0x04) - && (recv[5] == 0x00) - && (recv[6] == 0x00)) { - *fileSize = ((recv[7] & 0x00ff) << 8) - | ((recv[8] & 0x00ff) << 0); - return NoError; - } else { - return UnexpectedReply; - } -} - -/** - * Read jpeg file content. - * - * @param func A pointer to a call back function. - * @return Error code. - */ -Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileContent(void (*func)(int done, int total, uint8_t *buf, size_t siz)) { - uint8_t send[16] = { - 0x56, - 0x00, - 0x32, - 0x0C, - 0x00, - 0x0A, - 0x00, - 0x00, - 0x00, // MH - 0x00, // ML - 0x00, - 0x00, - 0x00, // KH - 0x00, // KL - 0x00, // XX - 0x00 // XX - }; - uint8_t body[32]; - uint16_t m = 0; // Staring address. - uint16_t k = sizeof(body); // Packet size. - uint16_t x = 10; // Interval time. XX XX * 0.01m[sec] - bool end = false; - - /* - * Get the data size. - */ - int siz_done = 0; - int siz_total = 0; - ErrorCode r = readJpegFileSize(&siz_total); - if (r != NoError) { - return r; - } - - do { - send[8] = (m >> 8) & 0xff; - send[9] = (m >> 0) & 0xff; - send[12] = (k >> 8) & 0xff; - send[13] = (k >> 0) & 0xff; - send[14] = (x >> 8) & 0xff; - send[15] = (x >> 0) & 0xff; - /* - * Send a command. - */ - if (!sendBytes(send, sizeof(send), 200 * 1000)) { - return SendError; - } - /* - * Read the header of the response. - */ - uint8_t header[5]; - if (!recvBytes(header, sizeof(header), 2 * 1000 * 1000)) { - return RecvError; - } - /* - * Check the response and fetch an image data. - */ - if ((header[0] == 0x76) - && (header[1] == 0x00) - && (header[2] == 0x32) - && (header[3] == 0x00) - && (header[4] == 0x00)) { - if (!recvBytes(body, sizeof(body), 2 * 1000 * 1000)) { - return RecvError; - } - siz_done += sizeof(body); - if (func != NULL) { - if (siz_done > siz_total) { - siz_done = siz_total; - } - func(siz_done, siz_total, body, sizeof(body)); - } - for (int i = 1; i < sizeof(body); i++) { - if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) { - end = true; - } - } - } else { - return UnexpectedReply; - } - /* - * Read the footer of the response. - */ - uint8_t footer[5]; - if (!recvBytes(footer, sizeof(footer), 2 * 1000 * 1000)) { - return RecvError; - } - - m += sizeof(body); - } while (!end); - return NoError; -} - -/** - * Stop taking pictures. - * - * @return Error code. - */ -Camera_LS_Y201::ErrorCode Camera_LS_Y201::stopTakingPictures() { - uint8_t send[5] = { - 0x56, - 0x00, - 0x36, - 0x01, - 0x03 - }; - uint8_t recv[5]; - - if (!sendBytes(send, sizeof(send), 200 * 1000)) { - return SendError; - } - if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { - return RecvError; - } - - if ((recv[0] == 0x76) - && (recv[1] == 0x00) - && (recv[2] == 0x36) - && (recv[3] == 0x00) - && (recv[4] == 0x00)) { - /* - * I think the camera need a time for operating. - * But there is no any comments on the documents. - */ - wait_ms(100); - return NoError; - } else { - return UnexpectedReply; - } -} - -/** - * Wait init end codes. - * - * @return True if the data sended. - */ -Camera_LS_Y201::ErrorCode Camera_LS_Y201::waitInitEnd() { - static const char *PWR_ON_MSG = "Init end\x0d\x0a"; - for (int i = 0; i < strlen(PWR_ON_MSG); i++) { - static const int MAXCNT = 128; - int cnt = 0; - uint8_t c = 0x00; - do { - if (!recvBytes(&c, sizeof(c), 500 * 1000)) { - return Timeout; - } - - /* - * What is the version of the camera. - * You can check the version with this code. - * - * VC0703 1.00 - * 3o ctrl in - * Init end - */ -#if 0 - printf("%c", c); -#endif - - cnt++; - if (MAXCNT < cnt) { - return UnexpectedReply; - } - } while (c != PWR_ON_MSG[i]); - } - return NoError; -} - -/** - * Send bytes to camera module. - * - * @param buf Pointer to the data buffer. - * @param len Length of the data buffer. - * - * @return True if the data sended. - */ -bool Camera_LS_Y201::sendBytes(uint8_t *buf, size_t len, int timeout_us) { - for (uint32_t i = 0; i < (uint32_t)len; i++) { - int cnt = 0; - while (!serial.writeable()) { - wait_us(1); - cnt++; - if (timeout_us < cnt) { - return false; - } - } - serial.putc(buf[i]); - } - return true; -} - -/** - * Receive bytes from camera module. - * - * @param buf Pointer to the data buffer. - * @param len Length of the data buffer. - * - * @return True if the data received. - */ -bool Camera_LS_Y201::recvBytes(uint8_t *buf, size_t len, int timeout_us) { - for (uint32_t i = 0; i < (uint32_t)len; i++) { - int cnt = 0; - while (!serial.readable()) { - wait_us(1); - cnt++; - if (timeout_us < cnt) { - return false; - } - } - buf[i] = serial.getc(); - } - return true; -} - -/** - * Wait received. - * - * @return True if the data received. - */ -bool Camera_LS_Y201::waitRecv() { - while (!serial.readable()) { - } - return true; -} - -/** - * Wait idle state. - */ -bool Camera_LS_Y201::waitIdle() { - while (serial.readable()) { - serial.getc(); - } - return true; -} +/** + * ============================================================================= + * LS-Y201 device driver class (Version 0.0.1) + * Reference documents: LinkSprite JPEG Color Camera Serial UART Interface + * January 2010 + * ============================================================================= + * Copyright (c) 2010 Shinichiro Nakamura (CuBeatSystems) + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in + * all copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN + * THE SOFTWARE. + * ============================================================================= + */ + +#include "Camera_LS_Y201.h" + +/** + * Create. + * + * @param tx Transmitter. + * @param rx Receiver. + */ +Camera_LS_Y201::Camera_LS_Y201(PinName tx, PinName rx) : serial(tx, rx) { + serial.baud(38400); +} + +/** + * Dispose. + */ +Camera_LS_Y201::~Camera_LS_Y201() { +} + +/** + * Reset module. + * + * @return Error code. + */ +Camera_LS_Y201::ErrorCode Camera_LS_Y201::reset() { + uint8_t send[4] = { + 0x56, + 0x00, + 0x26, + 0x00 + }; + uint8_t recv[4]; + + waitIdle(); + if (!sendBytes(send, sizeof(send), 200 * 1000)) { + return SendError; + } + if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { + return RecvError; + } + if ((recv[0] == 0x76) + && (recv[1] == 0x00) + && (recv[2] == 0x26) + && (recv[3] == 0x00)) { + ErrorCode r = waitInitEnd(); + if (r != NoError) { + return r; + } + wait(4); + return NoError; + } else { + return UnexpectedReply; + } +} + +/** + * Set image size. + * + * @param is Image size. + * @return Error code. + */ +Camera_LS_Y201::ErrorCode Camera_LS_Y201::setImageSize(ImageSize is) { + uint8_t send[9] = { + 0x56, + 0x00, + 0x31, + 0x05, + 0x04, + 0x01, + 0x00, + 0x19, + 0x00 // 0x11:320x240, 0x00:640x480, 0x22:160x120 + }; + uint8_t recv[5]; + switch (is) { + case ImageSize160x120: + send[8] = 0x22; + break; + case ImageSize320x280: + send[8] = 0x11; + break; + case ImageSize640x480: + send[8] = 0x00; + break; + default: + return InvalidArguments; + } + if (!sendBytes(send, sizeof(send), 200 * 1000)) { + return SendError; + } + if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { + return RecvError; + } + if ((recv[0] == 0x76) + && (recv[1] == 0x00) + && (recv[2] == 0x31) + && (recv[3] == 0x00) + && (recv[4] == 0x00)) { + wait(1); + return reset(); + } else { + return UnexpectedReply; + } +} + +/** + * Take picture. + * + * @return Error code. + */ +Camera_LS_Y201::ErrorCode Camera_LS_Y201::takePicture() { + uint8_t send[5] = { + 0x56, + 0x00, + 0x36, + 0x01, + 0x00 + }; + uint8_t recv[5]; + + if (!sendBytes(send, sizeof(send), 200 * 1000)) { + return SendError; + } + if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { + return RecvError; + } + + if ((recv[0] == 0x76) + && (recv[1] == 0x00) + && (recv[2] == 0x36) + && (recv[3] == 0x00) + && (recv[4] == 0x00)) { + /* + * I think the camera need a time for operating. + * But there is no any comments on the documents. + */ + wait_ms(100); + return NoError; + } else { + return UnexpectedReply; + } +} + +/** + * Read jpeg file size. + * + * @param fileSize File size. + * @return Error code. + */ +Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileSize(int *fileSize) { + uint8_t send[5] = { + 0x56, + 0x00, + 0x34, + 0x01, + 0x00 + }; + uint8_t recv[9]; + + if (!sendBytes(send, sizeof(send), 200 * 1000)) { + return SendError; + } + if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { + return RecvError; + } + + if ((recv[0] == 0x76) + && (recv[1] == 0x00) + && (recv[2] == 0x34) + && (recv[3] == 0x00) + && (recv[4] == 0x04) + && (recv[5] == 0x00) + && (recv[6] == 0x00)) { + *fileSize = ((recv[7] & 0x00ff) << 8) + | ((recv[8] & 0x00ff) << 0); + return NoError; + } else { + return UnexpectedReply; + } +} + +/** + * Read jpeg file content. + * + * @param func A pointer to a call back function. + * @return Error code. + */ +Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileContent(void (*func)(int done, int total, uint8_t *buf, size_t siz)) { + uint8_t send[16] = { + 0x56, + 0x00, + 0x32, + 0x0C, + 0x00, + 0x0A, + 0x00, + 0x00, + 0x00, // MH + 0x00, // ML + 0x00, + 0x00, + 0x00, // KH + 0x00, // KL + 0x00, // XX + 0x00 // XX + }; + uint8_t body[32]; + uint16_t m = 0; // Staring address. + uint16_t k = sizeof(body); // Packet size. + uint16_t x = 10; // Interval time. XX XX * 0.01m[sec] + bool end = false; + + /* + * Get the data size. + */ + int siz_done = 0; + int siz_total = 0; + ErrorCode r = readJpegFileSize(&siz_total); + if (r != NoError) { + return r; + } + + do { + send[8] = (m >> 8) & 0xff; + send[9] = (m >> 0) & 0xff; + send[12] = (k >> 8) & 0xff; + send[13] = (k >> 0) & 0xff; + send[14] = (x >> 8) & 0xff; + send[15] = (x >> 0) & 0xff; + /* + * Send a command. + */ + if (!sendBytes(send, sizeof(send), 200 * 1000)) { + return SendError; + } + /* + * Read the header of the response. + */ + uint8_t header[5]; + if (!recvBytes(header, sizeof(header), 2 * 1000 * 1000)) { + return RecvError; + } + /* + * Check the response and fetch an image data. + */ + if ((header[0] == 0x76) + && (header[1] == 0x00) + && (header[2] == 0x32) + && (header[3] == 0x00) + && (header[4] == 0x00)) { + if (!recvBytes(body, sizeof(body), 2 * 1000 * 1000)) { + return RecvError; + } + siz_done += sizeof(body); + if (func != NULL) { + if (siz_done > siz_total) { + siz_done = siz_total; + } + func(siz_done, siz_total, body, sizeof(body)); + } + for (int i = 1; i < sizeof(body); i++) { + if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) { + end = true; + } + } + } else { + return UnexpectedReply; + } + /* + * Read the footer of the response. + */ + uint8_t footer[5]; + if (!recvBytes(footer, sizeof(footer), 2 * 1000 * 1000)) { + return RecvError; + } + + m += sizeof(body); + } while (!end); + return NoError; +} + +/** + * Stop taking pictures. + * + * @return Error code. + */ +Camera_LS_Y201::ErrorCode Camera_LS_Y201::stopTakingPictures() { + uint8_t send[5] = { + 0x56, + 0x00, + 0x36, + 0x01, + 0x03 + }; + uint8_t recv[5]; + + if (!sendBytes(send, sizeof(send), 200 * 1000)) { + return SendError; + } + if (!recvBytes(recv, sizeof(recv), 200 * 1000)) { + return RecvError; + } + + if ((recv[0] == 0x76) + && (recv[1] == 0x00) + && (recv[2] == 0x36) + && (recv[3] == 0x00) + && (recv[4] == 0x00)) { + /* + * I think the camera need a time for operating. + * But there is no any comments on the documents. + */ + wait_ms(100); + return NoError; + } else { + return UnexpectedReply; + } +} + +/** + * Wait init end codes. + * + * @return True if the data sended. + */ +Camera_LS_Y201::ErrorCode Camera_LS_Y201::waitInitEnd() { + static const char *PWR_ON_MSG = "Init end\x0d\x0a"; + for (int i = 0; i < strlen(PWR_ON_MSG); i++) { + static const int MAXCNT = 128; + int cnt = 0; + uint8_t c = 0x00; + do { + if (!recvBytes(&c, sizeof(c), 500 * 1000)) { + return Timeout; + } + + /* + * What is the version of the camera. + * You can check the version with this code. + * + * VC0703 1.00 + * 3o ctrl in + * Init end + */ +#if 0 + printf("%c", c); +#endif + + cnt++; + if (MAXCNT < cnt) { + return UnexpectedReply; + } + } while (c != PWR_ON_MSG[i]); + } + return NoError; +} + +/** + * Send bytes to camera module. + * + * @param buf Pointer to the data buffer. + * @param len Length of the data buffer. + * + * @return True if the data sended. + */ +bool Camera_LS_Y201::sendBytes(uint8_t *buf, size_t len, int timeout_us) { + for (uint32_t i = 0; i < (uint32_t)len; i++) { + int cnt = 0; + while (!serial.writeable()) { + wait_us(1); + cnt++; + if (timeout_us < cnt) { + return false; + } + } + serial.putc(buf[i]); + } + return true; +} + +/** + * Receive bytes from camera module. + * + * @param buf Pointer to the data buffer. + * @param len Length of the data buffer. + * + * @return True if the data received. + */ +bool Camera_LS_Y201::recvBytes(uint8_t *buf, size_t len, int timeout_us) { + for (uint32_t i = 0; i < (uint32_t)len; i++) { + int cnt = 0; + while (!serial.readable()) { + wait_us(1); + cnt++; + if (timeout_us < cnt) { + return false; + } + } + buf[i] = serial.getc(); + } + return true; +} + +/** + * Wait received. + * + * @return True if the data received. + */ +bool Camera_LS_Y201::waitRecv() { + while (!serial.readable()) { + } + return true; +} + +/** + * Wait idle state. + */ +bool Camera_LS_Y201::waitIdle() { + while (serial.readable()) { + serial.getc(); + } + return true; +}