Ibrahim Abd Elkader
/
ucam
ucam.cpp
- Committer:
- mux
- Date:
- 2011-12-09
- Revision:
- 0:796c01948235
File content as of revision 0:796c01948235:
#include "ucam.h" /*commands*/ #define CMD_ACK 0x0E #define CMD_SYNC 0x0D #define CMD_INITIAL 0x01 #define CMD_SNAPSHOT 0x05 #define CMD_PICTURE 0x04 #define CMD_DATA 0x0A #define CMD_BAUDRATE 0x07 #define MAX_SYNC 60 #define PACKET_LENGTH 506 #define BUFFER_SIZE 8129 #define DEBUG_WARN 0x01 #define DEBUG_INFO 0x02 #define DEBUG_COMS 0x04 #define DEBUG_LEVEL 0xff #if DEBUG_LEVEL extern Serial debug; #endif struct ucam_command{ union{ struct{ uint8_t buf[6]; }; struct{ uint8_t pre; uint8_t id; uint8_t p1; uint8_t p2; uint8_t p3; uint8_t p4; }; }; }; struct{ uint16_t ss; uint16_t se; uint8_t sz[BUFFER_SIZE]; }fbuf; uint8_t pbuf[PACKET_LENGTH * 2]; inline void buf_put_char(uint8_t ch) { register uint16_t se = fbuf.se; register uint16_t idx = (se + 1) % BUFFER_SIZE; if (idx != fbuf.ss) { fbuf.sz[se] = ch; fbuf.se = idx; } ///*buffer is full*/ //#if (DEBUG_LEVEL & DEBUG_WARN) // debug.printf("warning buffer full\n"); //#endif } uint8_t buf_get_char() { uint16_t ch = fbuf.ss % BUFFER_SIZE; while( ch == fbuf.se){ /*buffer is empty*/ wait_ms(1); } ch = fbuf.sz[fbuf.ss]; fbuf.ss = (fbuf.ss + 1) % BUFFER_SIZE; return ch; } UCam::UCam(PinName tx_pin, PinName rx_pin, PinName led_pin, uint32_t baudrate): led(led_pin) { ucam = new Serial(p13, p14); ucam->baud(115200); ucam->attach(this, &UCam::uart_isr); fbuf.ss = 0; fbuf.se = 0; } uint16_t buf_size() { return fbuf.se - fbuf.ss; } UCam::~UCam() { led = 0; delete ucam; } void UCam::uart_isr(void) { register uint16_t i; register uint16_t size = 0; register uint8_t *buf = pbuf; do{ buf[size++] = ucam->getc(); }while (ucam->readable()); for (i=0; i<size; i++) buf_put_char(buf[i]); } int8_t UCam::connect() { struct ucam_command cmd; /*reset state machine*/ //send_cmd(0x08, 0x01, 0x00, 0x00, 0x00); //wait(1.0); /*full reset*/ // send_cmd(0x08, 0x00, 0x00, 0x00, 0xff); // wait(1.0); int8_t state=0; #if (DEBUG_LEVEL & DEBUG_INFO) debug.puts("syncing...\n"); #endif for (int i = 0; i < MAX_SYNC; i++) { switch(state){ case 0: /*sync and recv ACK*/ if (send_cmd(CMD_SYNC) == 0) ++state; break; case 1:/*recv SYNC*/ if (recv_cmd(&cmd) == 0 && cmd.id == CMD_SYNC) ++state; break; case 2:/*send ACK SYNC*/ if (send_cmd(CMD_ACK, CMD_SYNC, 0x00, 0x00, 0x00, 0x01) == 0) ++state; break; case 3: led = 1; send_cmd(CMD_BAUDRATE, 0x00, 0x04, 0x00, 0x00); ucam->baud(737280); return 0; } wait(0.100); } return -1; } int8_t UCam::send_cmd(uint8_t id, uint8_t p1, uint8_t p2, uint8_t p3, uint8_t p4, uint8_t noack) { struct ucam_command cmd; ucam->putc(0xAA); ucam->putc(id); ucam->putc(p1); ucam->putc(p2); ucam->putc(p3); ucam->putc(p4); #if (DEBUG_LEVEL & DEBUG_COMS) debug.printf("> aa %02x %02x %02x %02x %02x\n", id, p1, p2, p3, p4); #endif/*enable_debug*/ if (noack) return 0; /*recv ACK*/ if (recv_cmd(&cmd) == 0 && cmd.id == CMD_ACK && cmd.p1 == id) return 0; return -1; } int8_t UCam::recv_cmd(struct ucam_command *cmd) { for (int8_t i = 0; i < sizeof(struct ucam_command); i++) { cmd->buf[i] = buf_get_char(); } #if (DEBUG_LEVEL & DEBUG_COMS) debug.printf("< %02x %02x %02x %02x %02x %02x\n", cmd->pre, cmd->id, cmd->p1, cmd->p2, cmd->p3, cmd->p4); #endif/*enable_debug*/ if (cmd->pre != 0xAA) goto error; return 0; error: return -1; } int8_t UCam::snapshot(uint8_t *buf, uint16_t *len, uint8_t color_space, uint8_t raw_size, uint8_t jpeg_size) { struct ucam_command cmd; if (send_cmd(CMD_INITIAL, 0x00, color_space, raw_size, jpeg_size) != 0) return -1; if (send_cmd(0x06, 0x08, 0x00, 0x02, 0x00) != 0) //set packet size to 512 return -2; if (send_cmd(CMD_SNAPSHOT, 0x00, 0x00, 0x00, 0x00) != 0) return -3; if (send_cmd(CMD_PICTURE, 0x01, 0x00, 0x00, 0x00) != 0) return -4; if (recv_cmd(&cmd) != 0 || cmd.id != CMD_DATA) return -5; uint8_t id = 0; uint8_t byte; uint8_t blocks; uint32_t size = 0, i = 0; size = (size | cmd.p4) << 16; size = (size | cmd.p3) << 8; size = (size | cmd.p2); blocks = size / PACKET_LENGTH; if (size % PACKET_LENGTH) ++blocks; #if (DEBUG_LEVEL & DEBUG_INFO) debug.printf("image %d %d\n", size, blocks); #endif/*enable_debug*/ *len = size; while (blocks--) { if (send_cmd(CMD_ACK, 0x00, 0x00, id++, 0x00, true) != 0) return -6; buf_get_char(); //id lsb buf_get_char(); //id msb size=0; byte = buf_get_char(); //size lsb size |= buf_get_char(); //size msb size = (size << 8) | byte; if (size == 0 || size > PACKET_LENGTH) return -7; for (i = 0; i<size; i++) { *buf++ = buf_get_char(); } buf_get_char(); //checksum lsb buf_get_char(); //checksum msb } /*ack frame*/ send_cmd(CMD_ACK, 0x00, 0x00, 0xF0, 0xF0, 0x01); return 0; } int8_t UCam::start_video(uint8_t color_space, uint8_t raw_size, uint8_t jpeg_size) { if (send_cmd(CMD_INITIAL, 0x00, color_space, raw_size, jpeg_size) != 0) return -1; if (send_cmd(0x06, 0x08, 0x00, 0x02, 0x00) != 0) //set packet size to 512 return -2; return 0; } int8_t UCam::next_frame(uint8_t *buf, uint16_t *len) { uint8_t id = 0; uint8_t byte; uint8_t blocks; uint32_t size = 0, i = 0; struct ucam_command cmd; wait_ms(10); /* don't know why*/ if (send_cmd(CMD_PICTURE, 0x05, 0x00, 0x00, 0x00) != 0) goto error; if (recv_cmd(&cmd) != 0 || cmd.id != CMD_DATA) goto error; size = (size | cmd.p4) << 16; size = (size | cmd.p3) << 8; size = (size | cmd.p2); blocks = size / PACKET_LENGTH; if (size % PACKET_LENGTH) ++blocks; #if (DEBUG_LEVEL & DEBUG_WARN) debug.printf("image %d %d\n", size, blocks); #endif/*enable_debug*/ *len = size; while (blocks--) { if (send_cmd(CMD_ACK, 0x00, 0x00, id++, 0x00, true) != 0) goto error; size = 0; byte = buf_get_char(); //id lsb size |= buf_get_char(); //id msb size = (size << 8) | byte; #if (DEBUG_LEVEL & DEBUG_INFO) debug.printf("block id %d ", size); #endif size=0; byte = buf_get_char(); //size lsb size |= buf_get_char(); //size msb size = (size << 8) | byte; #if (DEBUG_LEVEL & DEBUG_INFO) debug.printf("block size %d\n", size); #endif if (size > PACKET_LENGTH || size > buf_size()) { #if (DEBUG_LEVEL & DEBUG_INFO) debug.printf("warning: invalid size %d\n", size); #endif goto error; } if (blocks == 0 && size == PACKET_LENGTH) { /*ucam bug*/ #if (DEBUG_LEVEL & DEBUG_WARN) debug.printf("warning: soft reset\n"); #endif /*soft reset*/ wait(1.0); send_cmd(0x08, 0x01, 0x00, 0x00, 0xFF); /*ack frame*/ send_cmd(CMD_ACK, 0x00, 0x00, 0xF0, 0xF0, 0x01); goto error; } for (i = 0; i<size; i++) { *buf++ = buf_get_char(); } buf_get_char(); //checksum lsb buf_get_char(); //checksum msb } /*ack frame*/ send_cmd(CMD_ACK, 0x00, 0x00, 0xF0, 0xF0, 0x01); return 0; error: return -1; }