User | Revision | Line number | New contents of line |
mux |
0:796c01948235
|
1
|
#include "ucam.h"
|
mux |
0:796c01948235
|
2
|
/*commands*/
|
mux |
0:796c01948235
|
3
|
#define CMD_ACK 0x0E
|
mux |
0:796c01948235
|
4
|
#define CMD_SYNC 0x0D
|
mux |
0:796c01948235
|
5
|
#define CMD_INITIAL 0x01
|
mux |
0:796c01948235
|
6
|
#define CMD_SNAPSHOT 0x05
|
mux |
0:796c01948235
|
7
|
#define CMD_PICTURE 0x04
|
mux |
0:796c01948235
|
8
|
#define CMD_DATA 0x0A
|
mux |
0:796c01948235
|
9
|
#define CMD_BAUDRATE 0x07
|
mux |
0:796c01948235
|
10
|
#define MAX_SYNC 60
|
mux |
0:796c01948235
|
11
|
#define PACKET_LENGTH 506
|
mux |
0:796c01948235
|
12
|
#define BUFFER_SIZE 8129
|
mux |
0:796c01948235
|
13
|
#define DEBUG_WARN 0x01
|
mux |
0:796c01948235
|
14
|
#define DEBUG_INFO 0x02
|
mux |
0:796c01948235
|
15
|
#define DEBUG_COMS 0x04
|
mux |
0:796c01948235
|
16
|
#define DEBUG_LEVEL 0xff
|
mux |
0:796c01948235
|
17
|
|
mux |
0:796c01948235
|
18
|
#if DEBUG_LEVEL
|
mux |
0:796c01948235
|
19
|
extern Serial debug;
|
mux |
0:796c01948235
|
20
|
#endif
|
mux |
0:796c01948235
|
21
|
|
mux |
0:796c01948235
|
22
|
struct ucam_command{
|
mux |
0:796c01948235
|
23
|
union{
|
mux |
0:796c01948235
|
24
|
struct{
|
mux |
0:796c01948235
|
25
|
uint8_t buf[6];
|
mux |
0:796c01948235
|
26
|
};
|
mux |
0:796c01948235
|
27
|
struct{
|
mux |
0:796c01948235
|
28
|
uint8_t pre;
|
mux |
0:796c01948235
|
29
|
uint8_t id;
|
mux |
0:796c01948235
|
30
|
uint8_t p1;
|
mux |
0:796c01948235
|
31
|
uint8_t p2;
|
mux |
0:796c01948235
|
32
|
uint8_t p3;
|
mux |
0:796c01948235
|
33
|
uint8_t p4;
|
mux |
0:796c01948235
|
34
|
};
|
mux |
0:796c01948235
|
35
|
};
|
mux |
0:796c01948235
|
36
|
};
|
mux |
0:796c01948235
|
37
|
|
mux |
0:796c01948235
|
38
|
struct{
|
mux |
0:796c01948235
|
39
|
uint16_t ss;
|
mux |
0:796c01948235
|
40
|
uint16_t se;
|
mux |
0:796c01948235
|
41
|
uint8_t sz[BUFFER_SIZE];
|
mux |
0:796c01948235
|
42
|
}fbuf;
|
mux |
0:796c01948235
|
43
|
|
mux |
0:796c01948235
|
44
|
uint8_t pbuf[PACKET_LENGTH * 2];
|
mux |
0:796c01948235
|
45
|
|
mux |
0:796c01948235
|
46
|
inline void buf_put_char(uint8_t ch)
|
mux |
0:796c01948235
|
47
|
{
|
mux |
0:796c01948235
|
48
|
register uint16_t se = fbuf.se;
|
mux |
0:796c01948235
|
49
|
register uint16_t idx = (se + 1) % BUFFER_SIZE;
|
mux |
0:796c01948235
|
50
|
|
mux |
0:796c01948235
|
51
|
if (idx != fbuf.ss) {
|
mux |
0:796c01948235
|
52
|
fbuf.sz[se] = ch;
|
mux |
0:796c01948235
|
53
|
fbuf.se = idx;
|
mux |
0:796c01948235
|
54
|
}
|
mux |
0:796c01948235
|
55
|
|
mux |
0:796c01948235
|
56
|
///*buffer is full*/
|
mux |
0:796c01948235
|
57
|
//#if (DEBUG_LEVEL & DEBUG_WARN)
|
mux |
0:796c01948235
|
58
|
// debug.printf("warning buffer full\n");
|
mux |
0:796c01948235
|
59
|
//#endif
|
mux |
0:796c01948235
|
60
|
}
|
mux |
0:796c01948235
|
61
|
|
mux |
0:796c01948235
|
62
|
uint8_t buf_get_char()
|
mux |
0:796c01948235
|
63
|
{
|
mux |
0:796c01948235
|
64
|
uint16_t ch = fbuf.ss % BUFFER_SIZE;
|
mux |
0:796c01948235
|
65
|
|
mux |
0:796c01948235
|
66
|
while( ch == fbuf.se){
|
mux |
0:796c01948235
|
67
|
/*buffer is empty*/
|
mux |
0:796c01948235
|
68
|
wait_ms(1);
|
mux |
0:796c01948235
|
69
|
}
|
mux |
0:796c01948235
|
70
|
|
mux |
0:796c01948235
|
71
|
ch = fbuf.sz[fbuf.ss];
|
mux |
0:796c01948235
|
72
|
fbuf.ss = (fbuf.ss + 1) % BUFFER_SIZE;
|
mux |
0:796c01948235
|
73
|
return ch;
|
mux |
0:796c01948235
|
74
|
}
|
mux |
0:796c01948235
|
75
|
|
mux |
0:796c01948235
|
76
|
UCam::UCam(PinName tx_pin, PinName rx_pin, PinName led_pin, uint32_t baudrate):
|
mux |
0:796c01948235
|
77
|
led(led_pin)
|
mux |
0:796c01948235
|
78
|
{
|
mux |
0:796c01948235
|
79
|
ucam = new Serial(p13, p14);
|
mux |
0:796c01948235
|
80
|
ucam->baud(115200);
|
mux |
0:796c01948235
|
81
|
ucam->attach(this, &UCam::uart_isr);
|
mux |
0:796c01948235
|
82
|
fbuf.ss = 0;
|
mux |
0:796c01948235
|
83
|
fbuf.se = 0;
|
mux |
0:796c01948235
|
84
|
}
|
mux |
0:796c01948235
|
85
|
|
mux |
0:796c01948235
|
86
|
uint16_t buf_size()
|
mux |
0:796c01948235
|
87
|
{
|
mux |
0:796c01948235
|
88
|
return fbuf.se - fbuf.ss;
|
mux |
0:796c01948235
|
89
|
}
|
mux |
0:796c01948235
|
90
|
|
mux |
0:796c01948235
|
91
|
UCam::~UCam()
|
mux |
0:796c01948235
|
92
|
{
|
mux |
0:796c01948235
|
93
|
led = 0;
|
mux |
0:796c01948235
|
94
|
delete ucam;
|
mux |
0:796c01948235
|
95
|
}
|
mux |
0:796c01948235
|
96
|
|
mux |
0:796c01948235
|
97
|
void UCam::uart_isr(void)
|
mux |
0:796c01948235
|
98
|
{
|
mux |
0:796c01948235
|
99
|
register uint16_t i;
|
mux |
0:796c01948235
|
100
|
register uint16_t size = 0;
|
mux |
0:796c01948235
|
101
|
register uint8_t *buf = pbuf;
|
mux |
0:796c01948235
|
102
|
|
mux |
0:796c01948235
|
103
|
do{
|
mux |
0:796c01948235
|
104
|
buf[size++] = ucam->getc();
|
mux |
0:796c01948235
|
105
|
}while (ucam->readable());
|
mux |
0:796c01948235
|
106
|
|
mux |
0:796c01948235
|
107
|
for (i=0; i<size; i++)
|
mux |
0:796c01948235
|
108
|
buf_put_char(buf[i]);
|
mux |
0:796c01948235
|
109
|
}
|
mux |
0:796c01948235
|
110
|
|
mux |
0:796c01948235
|
111
|
int8_t UCam::connect()
|
mux |
0:796c01948235
|
112
|
{
|
mux |
0:796c01948235
|
113
|
struct ucam_command cmd;
|
mux |
0:796c01948235
|
114
|
|
mux |
0:796c01948235
|
115
|
/*reset state machine*/
|
mux |
0:796c01948235
|
116
|
//send_cmd(0x08, 0x01, 0x00, 0x00, 0x00);
|
mux |
0:796c01948235
|
117
|
//wait(1.0);
|
mux |
0:796c01948235
|
118
|
|
mux |
0:796c01948235
|
119
|
/*full reset*/
|
mux |
0:796c01948235
|
120
|
// send_cmd(0x08, 0x00, 0x00, 0x00, 0xff);
|
mux |
0:796c01948235
|
121
|
// wait(1.0);
|
mux |
0:796c01948235
|
122
|
|
mux |
0:796c01948235
|
123
|
int8_t state=0;
|
mux |
0:796c01948235
|
124
|
#if (DEBUG_LEVEL & DEBUG_INFO)
|
mux |
0:796c01948235
|
125
|
debug.puts("syncing...\n");
|
mux |
0:796c01948235
|
126
|
#endif
|
mux |
0:796c01948235
|
127
|
|
mux |
0:796c01948235
|
128
|
for (int i = 0; i < MAX_SYNC; i++) {
|
mux |
0:796c01948235
|
129
|
switch(state){
|
mux |
0:796c01948235
|
130
|
case 0: /*sync and recv ACK*/
|
mux |
0:796c01948235
|
131
|
if (send_cmd(CMD_SYNC) == 0)
|
mux |
0:796c01948235
|
132
|
++state;
|
mux |
0:796c01948235
|
133
|
break;
|
mux |
0:796c01948235
|
134
|
|
mux |
0:796c01948235
|
135
|
case 1:/*recv SYNC*/
|
mux |
0:796c01948235
|
136
|
if (recv_cmd(&cmd) == 0 && cmd.id == CMD_SYNC)
|
mux |
0:796c01948235
|
137
|
++state;
|
mux |
0:796c01948235
|
138
|
break;
|
mux |
0:796c01948235
|
139
|
|
mux |
0:796c01948235
|
140
|
case 2:/*send ACK SYNC*/
|
mux |
0:796c01948235
|
141
|
if (send_cmd(CMD_ACK, CMD_SYNC, 0x00, 0x00, 0x00, 0x01) == 0)
|
mux |
0:796c01948235
|
142
|
++state;
|
mux |
0:796c01948235
|
143
|
break;
|
mux |
0:796c01948235
|
144
|
|
mux |
0:796c01948235
|
145
|
case 3:
|
mux |
0:796c01948235
|
146
|
led = 1;
|
mux |
0:796c01948235
|
147
|
send_cmd(CMD_BAUDRATE, 0x00, 0x04, 0x00, 0x00);
|
mux |
0:796c01948235
|
148
|
ucam->baud(737280);
|
mux |
0:796c01948235
|
149
|
return 0;
|
mux |
0:796c01948235
|
150
|
}
|
mux |
0:796c01948235
|
151
|
wait(0.100);
|
mux |
0:796c01948235
|
152
|
}
|
mux |
0:796c01948235
|
153
|
|
mux |
0:796c01948235
|
154
|
return -1;
|
mux |
0:796c01948235
|
155
|
}
|
mux |
0:796c01948235
|
156
|
|
mux |
0:796c01948235
|
157
|
int8_t UCam::send_cmd(uint8_t id, uint8_t p1, uint8_t p2, uint8_t p3, uint8_t p4, uint8_t noack)
|
mux |
0:796c01948235
|
158
|
{
|
mux |
0:796c01948235
|
159
|
struct ucam_command cmd;
|
mux |
0:796c01948235
|
160
|
|
mux |
0:796c01948235
|
161
|
ucam->putc(0xAA);
|
mux |
0:796c01948235
|
162
|
ucam->putc(id);
|
mux |
0:796c01948235
|
163
|
ucam->putc(p1);
|
mux |
0:796c01948235
|
164
|
ucam->putc(p2);
|
mux |
0:796c01948235
|
165
|
ucam->putc(p3);
|
mux |
0:796c01948235
|
166
|
ucam->putc(p4);
|
mux |
0:796c01948235
|
167
|
|
mux |
0:796c01948235
|
168
|
#if (DEBUG_LEVEL & DEBUG_COMS)
|
mux |
0:796c01948235
|
169
|
debug.printf("> aa %02x %02x %02x %02x %02x\n",
|
mux |
0:796c01948235
|
170
|
id, p1, p2, p3, p4);
|
mux |
0:796c01948235
|
171
|
#endif/*enable_debug*/
|
mux |
0:796c01948235
|
172
|
|
mux |
0:796c01948235
|
173
|
if (noack)
|
mux |
0:796c01948235
|
174
|
return 0;
|
mux |
0:796c01948235
|
175
|
|
mux |
0:796c01948235
|
176
|
/*recv ACK*/
|
mux |
0:796c01948235
|
177
|
if (recv_cmd(&cmd) == 0 && cmd.id == CMD_ACK && cmd.p1 == id)
|
mux |
0:796c01948235
|
178
|
return 0;
|
mux |
0:796c01948235
|
179
|
|
mux |
0:796c01948235
|
180
|
return -1;
|
mux |
0:796c01948235
|
181
|
}
|
mux |
0:796c01948235
|
182
|
|
mux |
0:796c01948235
|
183
|
int8_t UCam::recv_cmd(struct ucam_command *cmd)
|
mux |
0:796c01948235
|
184
|
{
|
mux |
0:796c01948235
|
185
|
for (int8_t i = 0; i < sizeof(struct ucam_command); i++) {
|
mux |
0:796c01948235
|
186
|
cmd->buf[i] = buf_get_char();
|
mux |
0:796c01948235
|
187
|
}
|
mux |
0:796c01948235
|
188
|
|
mux |
0:796c01948235
|
189
|
#if (DEBUG_LEVEL & DEBUG_COMS)
|
mux |
0:796c01948235
|
190
|
debug.printf("< %02x %02x %02x %02x %02x %02x\n",
|
mux |
0:796c01948235
|
191
|
cmd->pre, cmd->id, cmd->p1,
|
mux |
0:796c01948235
|
192
|
cmd->p2, cmd->p3, cmd->p4);
|
mux |
0:796c01948235
|
193
|
#endif/*enable_debug*/
|
mux |
0:796c01948235
|
194
|
|
mux |
0:796c01948235
|
195
|
if (cmd->pre != 0xAA)
|
mux |
0:796c01948235
|
196
|
goto error;
|
mux |
0:796c01948235
|
197
|
|
mux |
0:796c01948235
|
198
|
return 0;
|
mux |
0:796c01948235
|
199
|
error:
|
mux |
0:796c01948235
|
200
|
return -1;
|
mux |
0:796c01948235
|
201
|
}
|
mux |
0:796c01948235
|
202
|
|
mux |
0:796c01948235
|
203
|
int8_t UCam::snapshot(uint8_t *buf, uint16_t *len, uint8_t color_space, uint8_t raw_size, uint8_t jpeg_size)
|
mux |
0:796c01948235
|
204
|
{
|
mux |
0:796c01948235
|
205
|
struct ucam_command cmd;
|
mux |
0:796c01948235
|
206
|
|
mux |
0:796c01948235
|
207
|
if (send_cmd(CMD_INITIAL, 0x00, color_space, raw_size, jpeg_size) != 0)
|
mux |
0:796c01948235
|
208
|
return -1;
|
mux |
0:796c01948235
|
209
|
|
mux |
0:796c01948235
|
210
|
if (send_cmd(0x06, 0x08, 0x00, 0x02, 0x00) != 0) //set packet size to 512
|
mux |
0:796c01948235
|
211
|
return -2;
|
mux |
0:796c01948235
|
212
|
|
mux |
0:796c01948235
|
213
|
if (send_cmd(CMD_SNAPSHOT, 0x00, 0x00, 0x00, 0x00) != 0)
|
mux |
0:796c01948235
|
214
|
return -3;
|
mux |
0:796c01948235
|
215
|
|
mux |
0:796c01948235
|
216
|
if (send_cmd(CMD_PICTURE, 0x01, 0x00, 0x00, 0x00) != 0)
|
mux |
0:796c01948235
|
217
|
return -4;
|
mux |
0:796c01948235
|
218
|
|
mux |
0:796c01948235
|
219
|
if (recv_cmd(&cmd) != 0 || cmd.id != CMD_DATA)
|
mux |
0:796c01948235
|
220
|
return -5;
|
mux |
0:796c01948235
|
221
|
|
mux |
0:796c01948235
|
222
|
uint8_t id = 0;
|
mux |
0:796c01948235
|
223
|
uint8_t byte;
|
mux |
0:796c01948235
|
224
|
uint8_t blocks;
|
mux |
0:796c01948235
|
225
|
|
mux |
0:796c01948235
|
226
|
uint32_t size = 0, i = 0;
|
mux |
0:796c01948235
|
227
|
|
mux |
0:796c01948235
|
228
|
size = (size | cmd.p4) << 16;
|
mux |
0:796c01948235
|
229
|
size = (size | cmd.p3) << 8;
|
mux |
0:796c01948235
|
230
|
size = (size | cmd.p2);
|
mux |
0:796c01948235
|
231
|
|
mux |
0:796c01948235
|
232
|
blocks = size / PACKET_LENGTH;
|
mux |
0:796c01948235
|
233
|
if (size % PACKET_LENGTH)
|
mux |
0:796c01948235
|
234
|
++blocks;
|
mux |
0:796c01948235
|
235
|
|
mux |
0:796c01948235
|
236
|
#if (DEBUG_LEVEL & DEBUG_INFO)
|
mux |
0:796c01948235
|
237
|
debug.printf("image %d %d\n", size, blocks);
|
mux |
0:796c01948235
|
238
|
#endif/*enable_debug*/
|
mux |
0:796c01948235
|
239
|
|
mux |
0:796c01948235
|
240
|
*len = size;
|
mux |
0:796c01948235
|
241
|
while (blocks--) {
|
mux |
0:796c01948235
|
242
|
if (send_cmd(CMD_ACK, 0x00, 0x00, id++, 0x00, true) != 0)
|
mux |
0:796c01948235
|
243
|
return -6;
|
mux |
0:796c01948235
|
244
|
|
mux |
0:796c01948235
|
245
|
buf_get_char(); //id lsb
|
mux |
0:796c01948235
|
246
|
buf_get_char(); //id msb
|
mux |
0:796c01948235
|
247
|
|
mux |
0:796c01948235
|
248
|
size=0;
|
mux |
0:796c01948235
|
249
|
byte = buf_get_char(); //size lsb
|
mux |
0:796c01948235
|
250
|
size |= buf_get_char(); //size msb
|
mux |
0:796c01948235
|
251
|
size = (size << 8) | byte;
|
mux |
0:796c01948235
|
252
|
|
mux |
0:796c01948235
|
253
|
if (size == 0 || size > PACKET_LENGTH)
|
mux |
0:796c01948235
|
254
|
return -7;
|
mux |
0:796c01948235
|
255
|
|
mux |
0:796c01948235
|
256
|
for (i = 0; i<size; i++) {
|
mux |
0:796c01948235
|
257
|
*buf++ = buf_get_char();
|
mux |
0:796c01948235
|
258
|
}
|
mux |
0:796c01948235
|
259
|
buf_get_char(); //checksum lsb
|
mux |
0:796c01948235
|
260
|
buf_get_char(); //checksum msb
|
mux |
0:796c01948235
|
261
|
}
|
mux |
0:796c01948235
|
262
|
|
mux |
0:796c01948235
|
263
|
/*ack frame*/
|
mux |
0:796c01948235
|
264
|
send_cmd(CMD_ACK, 0x00, 0x00, 0xF0, 0xF0, 0x01);
|
mux |
0:796c01948235
|
265
|
return 0;
|
mux |
0:796c01948235
|
266
|
}
|
mux |
0:796c01948235
|
267
|
|
mux |
0:796c01948235
|
268
|
int8_t UCam::start_video(uint8_t color_space, uint8_t raw_size, uint8_t jpeg_size)
|
mux |
0:796c01948235
|
269
|
{
|
mux |
0:796c01948235
|
270
|
if (send_cmd(CMD_INITIAL, 0x00, color_space, raw_size, jpeg_size) != 0)
|
mux |
0:796c01948235
|
271
|
return -1;
|
mux |
0:796c01948235
|
272
|
|
mux |
0:796c01948235
|
273
|
if (send_cmd(0x06, 0x08, 0x00, 0x02, 0x00) != 0) //set packet size to 512
|
mux |
0:796c01948235
|
274
|
return -2;
|
mux |
0:796c01948235
|
275
|
|
mux |
0:796c01948235
|
276
|
return 0;
|
mux |
0:796c01948235
|
277
|
}
|
mux |
0:796c01948235
|
278
|
|
mux |
0:796c01948235
|
279
|
int8_t UCam::next_frame(uint8_t *buf, uint16_t *len)
|
mux |
0:796c01948235
|
280
|
{
|
mux |
0:796c01948235
|
281
|
uint8_t id = 0;
|
mux |
0:796c01948235
|
282
|
uint8_t byte;
|
mux |
0:796c01948235
|
283
|
uint8_t blocks;
|
mux |
0:796c01948235
|
284
|
uint32_t size = 0, i = 0;
|
mux |
0:796c01948235
|
285
|
|
mux |
0:796c01948235
|
286
|
struct ucam_command cmd;
|
mux |
0:796c01948235
|
287
|
|
mux |
0:796c01948235
|
288
|
wait_ms(10); /* don't know why*/
|
mux |
0:796c01948235
|
289
|
|
mux |
0:796c01948235
|
290
|
if (send_cmd(CMD_PICTURE, 0x05, 0x00, 0x00, 0x00) != 0)
|
mux |
0:796c01948235
|
291
|
goto error;
|
mux |
0:796c01948235
|
292
|
|
mux |
0:796c01948235
|
293
|
if (recv_cmd(&cmd) != 0 || cmd.id != CMD_DATA)
|
mux |
0:796c01948235
|
294
|
goto error;
|
mux |
0:796c01948235
|
295
|
|
mux |
0:796c01948235
|
296
|
|
mux |
0:796c01948235
|
297
|
size = (size | cmd.p4) << 16;
|
mux |
0:796c01948235
|
298
|
size = (size | cmd.p3) << 8;
|
mux |
0:796c01948235
|
299
|
size = (size | cmd.p2);
|
mux |
0:796c01948235
|
300
|
|
mux |
0:796c01948235
|
301
|
blocks = size / PACKET_LENGTH;
|
mux |
0:796c01948235
|
302
|
if (size % PACKET_LENGTH)
|
mux |
0:796c01948235
|
303
|
++blocks;
|
mux |
0:796c01948235
|
304
|
|
mux |
0:796c01948235
|
305
|
#if (DEBUG_LEVEL & DEBUG_WARN)
|
mux |
0:796c01948235
|
306
|
debug.printf("image %d %d\n", size, blocks);
|
mux |
0:796c01948235
|
307
|
#endif/*enable_debug*/
|
mux |
0:796c01948235
|
308
|
|
mux |
0:796c01948235
|
309
|
*len = size;
|
mux |
0:796c01948235
|
310
|
while (blocks--) {
|
mux |
0:796c01948235
|
311
|
if (send_cmd(CMD_ACK, 0x00, 0x00, id++, 0x00, true) != 0)
|
mux |
0:796c01948235
|
312
|
goto error;
|
mux |
0:796c01948235
|
313
|
|
mux |
0:796c01948235
|
314
|
size = 0;
|
mux |
0:796c01948235
|
315
|
byte = buf_get_char(); //id lsb
|
mux |
0:796c01948235
|
316
|
size |= buf_get_char(); //id msb
|
mux |
0:796c01948235
|
317
|
size = (size << 8) | byte;
|
mux |
0:796c01948235
|
318
|
|
mux |
0:796c01948235
|
319
|
#if (DEBUG_LEVEL & DEBUG_INFO)
|
mux |
0:796c01948235
|
320
|
debug.printf("block id %d ", size);
|
mux |
0:796c01948235
|
321
|
#endif
|
mux |
0:796c01948235
|
322
|
|
mux |
0:796c01948235
|
323
|
size=0;
|
mux |
0:796c01948235
|
324
|
byte = buf_get_char(); //size lsb
|
mux |
0:796c01948235
|
325
|
size |= buf_get_char(); //size msb
|
mux |
0:796c01948235
|
326
|
size = (size << 8) | byte;
|
mux |
0:796c01948235
|
327
|
|
mux |
0:796c01948235
|
328
|
#if (DEBUG_LEVEL & DEBUG_INFO)
|
mux |
0:796c01948235
|
329
|
debug.printf("block size %d\n", size);
|
mux |
0:796c01948235
|
330
|
#endif
|
mux |
0:796c01948235
|
331
|
|
mux |
0:796c01948235
|
332
|
if (size > PACKET_LENGTH || size > buf_size()) {
|
mux |
0:796c01948235
|
333
|
#if (DEBUG_LEVEL & DEBUG_INFO)
|
mux |
0:796c01948235
|
334
|
debug.printf("warning: invalid size %d\n", size);
|
mux |
0:796c01948235
|
335
|
#endif
|
mux |
0:796c01948235
|
336
|
goto error;
|
mux |
0:796c01948235
|
337
|
}
|
mux |
0:796c01948235
|
338
|
|
mux |
0:796c01948235
|
339
|
if (blocks == 0 && size == PACKET_LENGTH) { /*ucam bug*/
|
mux |
0:796c01948235
|
340
|
#if (DEBUG_LEVEL & DEBUG_WARN)
|
mux |
0:796c01948235
|
341
|
debug.printf("warning: soft reset\n");
|
mux |
0:796c01948235
|
342
|
#endif
|
mux |
0:796c01948235
|
343
|
/*soft reset*/
|
mux |
0:796c01948235
|
344
|
wait(1.0);
|
mux |
0:796c01948235
|
345
|
send_cmd(0x08, 0x01, 0x00, 0x00, 0xFF);
|
mux |
0:796c01948235
|
346
|
|
mux |
0:796c01948235
|
347
|
/*ack frame*/
|
mux |
0:796c01948235
|
348
|
send_cmd(CMD_ACK, 0x00, 0x00, 0xF0, 0xF0, 0x01);
|
mux |
0:796c01948235
|
349
|
goto error;
|
mux |
0:796c01948235
|
350
|
}
|
mux |
0:796c01948235
|
351
|
|
mux |
0:796c01948235
|
352
|
for (i = 0; i<size; i++) {
|
mux |
0:796c01948235
|
353
|
*buf++ = buf_get_char();
|
mux |
0:796c01948235
|
354
|
}
|
mux |
0:796c01948235
|
355
|
|
mux |
0:796c01948235
|
356
|
buf_get_char(); //checksum lsb
|
mux |
0:796c01948235
|
357
|
buf_get_char(); //checksum msb
|
mux |
0:796c01948235
|
358
|
}
|
mux |
0:796c01948235
|
359
|
|
mux |
0:796c01948235
|
360
|
/*ack frame*/
|
mux |
0:796c01948235
|
361
|
send_cmd(CMD_ACK, 0x00, 0x00, 0xF0, 0xF0, 0x01);
|
mux |
0:796c01948235
|
362
|
return 0;
|
mux |
0:796c01948235
|
363
|
error:
|
mux |
0:796c01948235
|
364
|
return -1;
|
mux |
0:796c01948235
|
365
|
} |