Shinichiro Nakamura / Camera_LS_Y201

LinkSprite LS-Y201 JPEG Color Camera.

Dependents:   Camera_LS_Y201_TestProgram Camera_LS_Y201_TestProgram ServoCamV1 RFIDdoor ... more

Camera_LS_Y201.cpp@1:43358d40f879, 2010-12-01 (annotated)

Committer:
shintamainjp
Date:
Wed Dec 01 23:10:56 2010 +0000
Revision:
1:43358d40f879
Parent:
0:f71232252dcf 
Added progress listener function.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shintamainjp 0:f71232252dcf 1 /**
shintamainjp 0:f71232252dcf 2 * =============================================================================
shintamainjp 0:f71232252dcf 3 * LS-Y201 device driver class (Version 0.0.1)
shintamainjp 0:f71232252dcf 4 * Reference documents: LinkSprite JPEG Color Camera Serial UART Interface
shintamainjp 0:f71232252dcf 5 * January 2010
shintamainjp 0:f71232252dcf 6 * =============================================================================
shintamainjp 0:f71232252dcf 7 * Copyright (c) 2010 Shinichiro Nakamura (CuBeatSystems)
shintamainjp 0:f71232252dcf 8 *
shintamainjp 0:f71232252dcf 9 * Permission is hereby granted, free of charge, to any person obtaining a copy
shintamainjp 0:f71232252dcf 10 * of this software and associated documentation files (the "Software"), to deal
shintamainjp 0:f71232252dcf 11 * in the Software without restriction, including without limitation the rights
shintamainjp 0:f71232252dcf 12 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
shintamainjp 0:f71232252dcf 13 * copies of the Software, and to permit persons to whom the Software is
shintamainjp 0:f71232252dcf 14 * furnished to do so, subject to the following conditions:
shintamainjp 0:f71232252dcf 15 *
shintamainjp 0:f71232252dcf 16 * The above copyright notice and this permission notice shall be included in
shintamainjp 0:f71232252dcf 17 * all copies or substantial portions of the Software.
shintamainjp 0:f71232252dcf 18 *
shintamainjp 0:f71232252dcf 19 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
shintamainjp 0:f71232252dcf 20 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
shintamainjp 0:f71232252dcf 21 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
shintamainjp 0:f71232252dcf 22 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
shintamainjp 0:f71232252dcf 23 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
shintamainjp 0:f71232252dcf 24 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
shintamainjp 0:f71232252dcf 25 * THE SOFTWARE.
shintamainjp 0:f71232252dcf 26 * =============================================================================
shintamainjp 0:f71232252dcf 27 */
shintamainjp 0:f71232252dcf 28
shintamainjp 0:f71232252dcf 29 #include "Camera_LS_Y201.h"
shintamainjp 0:f71232252dcf 30
shintamainjp 0:f71232252dcf 31 /**
shintamainjp 0:f71232252dcf 32 * Create.
shintamainjp 0:f71232252dcf 33 *
shintamainjp 0:f71232252dcf 34 * @param tx Transmitter.
shintamainjp 0:f71232252dcf 35 * @param rx Receiver.
shintamainjp 0:f71232252dcf 36 */
shintamainjp 0:f71232252dcf 37 Camera_LS_Y201::Camera_LS_Y201(PinName tx, PinName rx) : serial(tx, rx) {
shintamainjp 0:f71232252dcf 38 serial.baud(38400);
shintamainjp 0:f71232252dcf 39 }
shintamainjp 0:f71232252dcf 40
shintamainjp 0:f71232252dcf 41 /**
shintamainjp 0:f71232252dcf 42 * Dispose.
shintamainjp 0:f71232252dcf 43 */
shintamainjp 0:f71232252dcf 44 Camera_LS_Y201::~Camera_LS_Y201() {
shintamainjp 0:f71232252dcf 45 }
shintamainjp 0:f71232252dcf 46
shintamainjp 0:f71232252dcf 47 /**
shintamainjp 0:f71232252dcf 48 * Reset module.
shintamainjp 0:f71232252dcf 49 *
shintamainjp 0:f71232252dcf 50 * @return Error code.
shintamainjp 0:f71232252dcf 51 */
shintamainjp 0:f71232252dcf 52 Camera_LS_Y201::ErrorCode Camera_LS_Y201::reset() {
shintamainjp 0:f71232252dcf 53 uint8_t send[4] = {
shintamainjp 0:f71232252dcf 54 0x56,
shintamainjp 0:f71232252dcf 55 0x00,
shintamainjp 0:f71232252dcf 56 0x26,
shintamainjp 0:f71232252dcf 57 0x00
shintamainjp 0:f71232252dcf 58 };
shintamainjp 0:f71232252dcf 59 uint8_t recv[4];
shintamainjp 0:f71232252dcf 60
shintamainjp 0:f71232252dcf 61 waitIdle();
shintamainjp 0:f71232252dcf 62 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 63 return SendError;
shintamainjp 0:f71232252dcf 64 }
shintamainjp 0:f71232252dcf 65 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 66 return RecvError;
shintamainjp 0:f71232252dcf 67 }
shintamainjp 0:f71232252dcf 68 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 69 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 70 && (recv[2] == 0x26)
shintamainjp 0:f71232252dcf 71 && (recv[3] == 0x00)) {
shintamainjp 0:f71232252dcf 72 ErrorCode r = waitInitEnd();
shintamainjp 0:f71232252dcf 73 if (r != NoError) {
shintamainjp 0:f71232252dcf 74 return r;
shintamainjp 0:f71232252dcf 75 }
shintamainjp 0:f71232252dcf 76 wait(4);
shintamainjp 0:f71232252dcf 77 return NoError;
shintamainjp 0:f71232252dcf 78 } else {
shintamainjp 0:f71232252dcf 79 return UnexpectedReply;
shintamainjp 0:f71232252dcf 80 }
shintamainjp 0:f71232252dcf 81 }
shintamainjp 0:f71232252dcf 82
shintamainjp 0:f71232252dcf 83 /**
shintamainjp 0:f71232252dcf 84 * Set image size.
shintamainjp 0:f71232252dcf 85 *
shintamainjp 0:f71232252dcf 86 * @param is Image size.
shintamainjp 0:f71232252dcf 87 * @return Error code.
shintamainjp 0:f71232252dcf 88 */
shintamainjp 0:f71232252dcf 89 Camera_LS_Y201::ErrorCode Camera_LS_Y201::setImageSize(ImageSize is) {
shintamainjp 0:f71232252dcf 90 uint8_t send[9] = {
shintamainjp 0:f71232252dcf 91 0x56,
shintamainjp 0:f71232252dcf 92 0x00,
shintamainjp 0:f71232252dcf 93 0x31,
shintamainjp 0:f71232252dcf 94 0x05,
shintamainjp 0:f71232252dcf 95 0x04,
shintamainjp 0:f71232252dcf 96 0x01,
shintamainjp 0:f71232252dcf 97 0x00,
shintamainjp 0:f71232252dcf 98 0x19,
shintamainjp 0:f71232252dcf 99 0x00 // 0x11:320x240, 0x00:640x480, 0x22:160x120
shintamainjp 0:f71232252dcf 100 };
shintamainjp 0:f71232252dcf 101 uint8_t recv[5];
shintamainjp 0:f71232252dcf 102 switch (is) {
shintamainjp 0:f71232252dcf 103 case ImageSize160x120:
shintamainjp 0:f71232252dcf 104 send[8] = 0x22;
shintamainjp 0:f71232252dcf 105 break;
shintamainjp 0:f71232252dcf 106 case ImageSize320x280:
shintamainjp 0:f71232252dcf 107 send[8] = 0x11;
shintamainjp 0:f71232252dcf 108 break;
shintamainjp 0:f71232252dcf 109 case ImageSize640x480:
shintamainjp 0:f71232252dcf 110 send[8] = 0x00;
shintamainjp 0:f71232252dcf 111 break;
shintamainjp 0:f71232252dcf 112 default:
shintamainjp 0:f71232252dcf 113 return InvalidArguments;
shintamainjp 0:f71232252dcf 114 }
shintamainjp 0:f71232252dcf 115 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 116 return SendError;
shintamainjp 0:f71232252dcf 117 }
shintamainjp 0:f71232252dcf 118 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 119 return RecvError;
shintamainjp 0:f71232252dcf 120 }
shintamainjp 0:f71232252dcf 121 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 122 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 123 && (recv[2] == 0x31)
shintamainjp 0:f71232252dcf 124 && (recv[3] == 0x00)
shintamainjp 0:f71232252dcf 125 && (recv[4] == 0x00)) {
shintamainjp 0:f71232252dcf 126 wait(1);
shintamainjp 0:f71232252dcf 127 return reset();
shintamainjp 0:f71232252dcf 128 } else {
shintamainjp 0:f71232252dcf 129 return UnexpectedReply;
shintamainjp 0:f71232252dcf 130 }
shintamainjp 0:f71232252dcf 131 }
shintamainjp 0:f71232252dcf 132
shintamainjp 0:f71232252dcf 133 /**
shintamainjp 0:f71232252dcf 134 * Take picture.
shintamainjp 0:f71232252dcf 135 *
shintamainjp 0:f71232252dcf 136 * @return Error code.
shintamainjp 0:f71232252dcf 137 */
shintamainjp 0:f71232252dcf 138 Camera_LS_Y201::ErrorCode Camera_LS_Y201::takePicture() {
shintamainjp 0:f71232252dcf 139 uint8_t send[5] = {
shintamainjp 0:f71232252dcf 140 0x56,
shintamainjp 0:f71232252dcf 141 0x00,
shintamainjp 0:f71232252dcf 142 0x36,
shintamainjp 0:f71232252dcf 143 0x01,
shintamainjp 0:f71232252dcf 144 0x00
shintamainjp 0:f71232252dcf 145 };
shintamainjp 0:f71232252dcf 146 uint8_t recv[5];
shintamainjp 0:f71232252dcf 147
shintamainjp 0:f71232252dcf 148 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 149 return SendError;
shintamainjp 0:f71232252dcf 150 }
shintamainjp 0:f71232252dcf 151 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 152 return RecvError;
shintamainjp 0:f71232252dcf 153 }
shintamainjp 0:f71232252dcf 154
shintamainjp 0:f71232252dcf 155 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 156 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 157 && (recv[2] == 0x36)
shintamainjp 0:f71232252dcf 158 && (recv[3] == 0x00)
shintamainjp 0:f71232252dcf 159 && (recv[4] == 0x00)) {
shintamainjp 1:43358d40f879 160 /*
shintamainjp 1:43358d40f879 161 * I think the camera need a time for operating.
shintamainjp 1:43358d40f879 162 * But there is no any comments on the documents.
shintamainjp 1:43358d40f879 163 */
shintamainjp 1:43358d40f879 164 wait_ms(100);
shintamainjp 0:f71232252dcf 165 return NoError;
shintamainjp 0:f71232252dcf 166 } else {
shintamainjp 0:f71232252dcf 167 return UnexpectedReply;
shintamainjp 0:f71232252dcf 168 }
shintamainjp 0:f71232252dcf 169 }
shintamainjp 0:f71232252dcf 170
shintamainjp 0:f71232252dcf 171 /**
shintamainjp 0:f71232252dcf 172 * Read jpeg file size.
shintamainjp 0:f71232252dcf 173 *
shintamainjp 0:f71232252dcf 174 * @param fileSize File size.
shintamainjp 0:f71232252dcf 175 * @return Error code.
shintamainjp 0:f71232252dcf 176 */
shintamainjp 0:f71232252dcf 177 Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileSize(int *fileSize) {
shintamainjp 0:f71232252dcf 178 uint8_t send[5] = {
shintamainjp 0:f71232252dcf 179 0x56,
shintamainjp 0:f71232252dcf 180 0x00,
shintamainjp 0:f71232252dcf 181 0x34,
shintamainjp 0:f71232252dcf 182 0x01,
shintamainjp 0:f71232252dcf 183 0x00
shintamainjp 0:f71232252dcf 184 };
shintamainjp 0:f71232252dcf 185 uint8_t recv[9];
shintamainjp 0:f71232252dcf 186
shintamainjp 0:f71232252dcf 187 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 188 return SendError;
shintamainjp 0:f71232252dcf 189 }
shintamainjp 0:f71232252dcf 190 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 191 return RecvError;
shintamainjp 0:f71232252dcf 192 }
shintamainjp 0:f71232252dcf 193
shintamainjp 0:f71232252dcf 194 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 195 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 196 && (recv[2] == 0x34)
shintamainjp 0:f71232252dcf 197 && (recv[3] == 0x00)
shintamainjp 0:f71232252dcf 198 && (recv[4] == 0x04)
shintamainjp 0:f71232252dcf 199 && (recv[5] == 0x00)
shintamainjp 0:f71232252dcf 200 && (recv[6] == 0x00)) {
shintamainjp 0:f71232252dcf 201 *fileSize = ((recv[7] & 0x00ff) << 8)
shintamainjp 0:f71232252dcf 202 | ((recv[8] & 0x00ff) << 0);
shintamainjp 0:f71232252dcf 203 return NoError;
shintamainjp 0:f71232252dcf 204 } else {
shintamainjp 0:f71232252dcf 205 return UnexpectedReply;
shintamainjp 0:f71232252dcf 206 }
shintamainjp 0:f71232252dcf 207 }
shintamainjp 0:f71232252dcf 208
shintamainjp 0:f71232252dcf 209 /**
shintamainjp 0:f71232252dcf 210 * Read jpeg file content.
shintamainjp 0:f71232252dcf 211 *
shintamainjp 0:f71232252dcf 212 * @param func A pointer to a call back function.
shintamainjp 0:f71232252dcf 213 * @return Error code.
shintamainjp 0:f71232252dcf 214 */
shintamainjp 1:43358d40f879 215 Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileContent(void (*func)(int done, int total, uint8_t *buf, size_t siz)) {
shintamainjp 0:f71232252dcf 216 uint8_t send[16] = {
shintamainjp 0:f71232252dcf 217 0x56,
shintamainjp 0:f71232252dcf 218 0x00,
shintamainjp 0:f71232252dcf 219 0x32,
shintamainjp 0:f71232252dcf 220 0x0C,
shintamainjp 0:f71232252dcf 221 0x00,
shintamainjp 0:f71232252dcf 222 0x0A,
shintamainjp 0:f71232252dcf 223 0x00,
shintamainjp 0:f71232252dcf 224 0x00,
shintamainjp 0:f71232252dcf 225 0x00, // MH
shintamainjp 0:f71232252dcf 226 0x00, // ML
shintamainjp 0:f71232252dcf 227 0x00,
shintamainjp 0:f71232252dcf 228 0x00,
shintamainjp 0:f71232252dcf 229 0x00, // KH
shintamainjp 0:f71232252dcf 230 0x00, // KL
shintamainjp 0:f71232252dcf 231 0x00, // XX
shintamainjp 0:f71232252dcf 232 0x00 // XX
shintamainjp 0:f71232252dcf 233 };
shintamainjp 0:f71232252dcf 234 uint8_t body[32];
shintamainjp 0:f71232252dcf 235 uint16_t m = 0; // Staring address.
shintamainjp 0:f71232252dcf 236 uint16_t k = sizeof(body); // Packet size.
shintamainjp 0:f71232252dcf 237 uint16_t x = 10; // Interval time. XX XX * 0.01m[sec]
shintamainjp 0:f71232252dcf 238 bool end = false;
shintamainjp 1:43358d40f879 239
shintamainjp 1:43358d40f879 240 /*
shintamainjp 1:43358d40f879 241 * Get the data size.
shintamainjp 1:43358d40f879 242 */
shintamainjp 1:43358d40f879 243 int siz_done = 0;
shintamainjp 1:43358d40f879 244 int siz_total = 0;
shintamainjp 1:43358d40f879 245 ErrorCode r = readJpegFileSize(&siz_total);
shintamainjp 1:43358d40f879 246 if (r != NoError) {
shintamainjp 1:43358d40f879 247 return r;
shintamainjp 1:43358d40f879 248 }
shintamainjp 1:43358d40f879 249
shintamainjp 0:f71232252dcf 250 do {
shintamainjp 0:f71232252dcf 251 send[8] = (m >> 8) & 0xff;
shintamainjp 0:f71232252dcf 252 send[9] = (m >> 0) & 0xff;
shintamainjp 0:f71232252dcf 253 send[12] = (k >> 8) & 0xff;
shintamainjp 0:f71232252dcf 254 send[13] = (k >> 0) & 0xff;
shintamainjp 0:f71232252dcf 255 send[14] = (x >> 8) & 0xff;
shintamainjp 0:f71232252dcf 256 send[15] = (x >> 0) & 0xff;
shintamainjp 0:f71232252dcf 257 /*
shintamainjp 0:f71232252dcf 258 * Send a command.
shintamainjp 0:f71232252dcf 259 */
shintamainjp 0:f71232252dcf 260 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 261 return SendError;
shintamainjp 0:f71232252dcf 262 }
shintamainjp 0:f71232252dcf 263 /*
shintamainjp 0:f71232252dcf 264 * Read the header of the response.
shintamainjp 0:f71232252dcf 265 */
shintamainjp 0:f71232252dcf 266 uint8_t header[5];
shintamainjp 0:f71232252dcf 267 if (!recvBytes(header, sizeof(header), 2 * 1000 * 1000)) {
shintamainjp 0:f71232252dcf 268 return RecvError;
shintamainjp 0:f71232252dcf 269 }
shintamainjp 0:f71232252dcf 270 /*
shintamainjp 0:f71232252dcf 271 * Check the response and fetch an image data.
shintamainjp 0:f71232252dcf 272 */
shintamainjp 0:f71232252dcf 273 if ((header[0] == 0x76)
shintamainjp 0:f71232252dcf 274 && (header[1] == 0x00)
shintamainjp 0:f71232252dcf 275 && (header[2] == 0x32)
shintamainjp 0:f71232252dcf 276 && (header[3] == 0x00)
shintamainjp 0:f71232252dcf 277 && (header[4] == 0x00)) {
shintamainjp 0:f71232252dcf 278 if (!recvBytes(body, sizeof(body), 2 * 1000 * 1000)) {
shintamainjp 0:f71232252dcf 279 return RecvError;
shintamainjp 0:f71232252dcf 280 }
shintamainjp 1:43358d40f879 281 siz_done += sizeof(body);
shintamainjp 0:f71232252dcf 282 if (func != NULL) {
shintamainjp 1:43358d40f879 283 if (siz_done > siz_total) {
shintamainjp 1:43358d40f879 284 siz_done = siz_total;
shintamainjp 1:43358d40f879 285 }
shintamainjp 1:43358d40f879 286 func(siz_done, siz_total, body, sizeof(body));
shintamainjp 0:f71232252dcf 287 }
shintamainjp 0:f71232252dcf 288 for (int i = 1; i < sizeof(body); i++) {
shintamainjp 0:f71232252dcf 289 if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) {
shintamainjp 0:f71232252dcf 290 end = true;
shintamainjp 0:f71232252dcf 291 }
shintamainjp 0:f71232252dcf 292 }
shintamainjp 0:f71232252dcf 293 } else {
shintamainjp 0:f71232252dcf 294 return UnexpectedReply;
shintamainjp 0:f71232252dcf 295 }
shintamainjp 0:f71232252dcf 296 /*
shintamainjp 0:f71232252dcf 297 * Read the footer of the response.
shintamainjp 0:f71232252dcf 298 */
shintamainjp 0:f71232252dcf 299 uint8_t footer[5];
shintamainjp 0:f71232252dcf 300 if (!recvBytes(footer, sizeof(footer), 2 * 1000 * 1000)) {
shintamainjp 0:f71232252dcf 301 return RecvError;
shintamainjp 0:f71232252dcf 302 }
shintamainjp 0:f71232252dcf 303
shintamainjp 0:f71232252dcf 304 m += sizeof(body);
shintamainjp 0:f71232252dcf 305 } while (!end);
shintamainjp 0:f71232252dcf 306 return NoError;
shintamainjp 0:f71232252dcf 307 }
shintamainjp 0:f71232252dcf 308
shintamainjp 0:f71232252dcf 309 /**
shintamainjp 0:f71232252dcf 310 * Stop taking pictures.
shintamainjp 0:f71232252dcf 311 *
shintamainjp 0:f71232252dcf 312 * @return Error code.
shintamainjp 0:f71232252dcf 313 */
shintamainjp 0:f71232252dcf 314 Camera_LS_Y201::ErrorCode Camera_LS_Y201::stopTakingPictures() {
shintamainjp 0:f71232252dcf 315 uint8_t send[5] = {
shintamainjp 0:f71232252dcf 316 0x56,
shintamainjp 0:f71232252dcf 317 0x00,
shintamainjp 0:f71232252dcf 318 0x36,
shintamainjp 0:f71232252dcf 319 0x01,
shintamainjp 0:f71232252dcf 320 0x03
shintamainjp 0:f71232252dcf 321 };
shintamainjp 0:f71232252dcf 322 uint8_t recv[5];
shintamainjp 0:f71232252dcf 323
shintamainjp 0:f71232252dcf 324 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 325 return SendError;
shintamainjp 0:f71232252dcf 326 }
shintamainjp 0:f71232252dcf 327 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 328 return RecvError;
shintamainjp 0:f71232252dcf 329 }
shintamainjp 0:f71232252dcf 330
shintamainjp 0:f71232252dcf 331 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 332 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 333 && (recv[2] == 0x36)
shintamainjp 0:f71232252dcf 334 && (recv[3] == 0x00)
shintamainjp 0:f71232252dcf 335 && (recv[4] == 0x00)) {
shintamainjp 1:43358d40f879 336 /*
shintamainjp 1:43358d40f879 337 * I think the camera need a time for operating.
shintamainjp 1:43358d40f879 338 * But there is no any comments on the documents.
shintamainjp 1:43358d40f879 339 */
shintamainjp 1:43358d40f879 340 wait_ms(100);
shintamainjp 0:f71232252dcf 341 return NoError;
shintamainjp 0:f71232252dcf 342 } else {
shintamainjp 0:f71232252dcf 343 return UnexpectedReply;
shintamainjp 0:f71232252dcf 344 }
shintamainjp 0:f71232252dcf 345 }
shintamainjp 0:f71232252dcf 346
shintamainjp 0:f71232252dcf 347 /**
shintamainjp 0:f71232252dcf 348 * Wait init end codes.
shintamainjp 0:f71232252dcf 349 *
shintamainjp 0:f71232252dcf 350 * @return True if the data sended.
shintamainjp 0:f71232252dcf 351 */
shintamainjp 0:f71232252dcf 352 Camera_LS_Y201::ErrorCode Camera_LS_Y201::waitInitEnd() {
shintamainjp 0:f71232252dcf 353 static const char *PWR_ON_MSG = "Init end\x0d\x0a";
shintamainjp 0:f71232252dcf 354 for (int i = 0; i < strlen(PWR_ON_MSG); i++) {
shintamainjp 0:f71232252dcf 355 static const int MAXCNT = 128;
shintamainjp 0:f71232252dcf 356 int cnt = 0;
shintamainjp 0:f71232252dcf 357 uint8_t c = 0x00;
shintamainjp 0:f71232252dcf 358 do {
shintamainjp 0:f71232252dcf 359 if (!recvBytes(&c, sizeof(c), 500 * 1000)) {
shintamainjp 0:f71232252dcf 360 return Timeout;
shintamainjp 0:f71232252dcf 361 }
shintamainjp 0:f71232252dcf 362
shintamainjp 0:f71232252dcf 363 /*
shintamainjp 0:f71232252dcf 364 * What is the version of the camera.
shintamainjp 0:f71232252dcf 365 * You can check the version with this code.
shintamainjp 0:f71232252dcf 366 *
shintamainjp 0:f71232252dcf 367 * VC0703 1.00
shintamainjp 0:f71232252dcf 368 * 3o ctrl in
shintamainjp 0:f71232252dcf 369 * Init end
shintamainjp 0:f71232252dcf 370 */
shintamainjp 0:f71232252dcf 371 #if 0
shintamainjp 0:f71232252dcf 372 printf("%c", c);
shintamainjp 0:f71232252dcf 373 #endif
shintamainjp 0:f71232252dcf 374
shintamainjp 0:f71232252dcf 375 cnt++;
shintamainjp 0:f71232252dcf 376 if (MAXCNT < cnt) {
shintamainjp 0:f71232252dcf 377 return UnexpectedReply;
shintamainjp 0:f71232252dcf 378 }
shintamainjp 0:f71232252dcf 379 } while (c != PWR_ON_MSG[i]);
shintamainjp 0:f71232252dcf 380 }
shintamainjp 0:f71232252dcf 381 return NoError;
shintamainjp 0:f71232252dcf 382 }
shintamainjp 0:f71232252dcf 383
shintamainjp 0:f71232252dcf 384 /**
shintamainjp 0:f71232252dcf 385 * Send bytes to camera module.
shintamainjp 0:f71232252dcf 386 *
shintamainjp 0:f71232252dcf 387 * @param buf Pointer to the data buffer.
shintamainjp 0:f71232252dcf 388 * @param len Length of the data buffer.
shintamainjp 0:f71232252dcf 389 *
shintamainjp 0:f71232252dcf 390 * @return True if the data sended.
shintamainjp 0:f71232252dcf 391 */
shintamainjp 0:f71232252dcf 392 bool Camera_LS_Y201::sendBytes(uint8_t *buf, size_t len, int timeout_us) {
shintamainjp 0:f71232252dcf 393 for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp 0:f71232252dcf 394 int cnt = 0;
shintamainjp 0:f71232252dcf 395 while (!serial.writeable()) {
shintamainjp 0:f71232252dcf 396 wait_us(1);
shintamainjp 0:f71232252dcf 397 cnt++;
shintamainjp 0:f71232252dcf 398 if (timeout_us < cnt) {
shintamainjp 0:f71232252dcf 399 return false;
shintamainjp 0:f71232252dcf 400 }
shintamainjp 0:f71232252dcf 401 }
shintamainjp 0:f71232252dcf 402 serial.putc(buf[i]);
shintamainjp 0:f71232252dcf 403 }
shintamainjp 0:f71232252dcf 404 return true;
shintamainjp 0:f71232252dcf 405 }
shintamainjp 0:f71232252dcf 406
shintamainjp 0:f71232252dcf 407 /**
shintamainjp 0:f71232252dcf 408 * Receive bytes from camera module.
shintamainjp 0:f71232252dcf 409 *
shintamainjp 0:f71232252dcf 410 * @param buf Pointer to the data buffer.
shintamainjp 0:f71232252dcf 411 * @param len Length of the data buffer.
shintamainjp 0:f71232252dcf 412 *
shintamainjp 0:f71232252dcf 413 * @return True if the data received.
shintamainjp 0:f71232252dcf 414 */
shintamainjp 0:f71232252dcf 415 bool Camera_LS_Y201::recvBytes(uint8_t *buf, size_t len, int timeout_us) {
shintamainjp 0:f71232252dcf 416 for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp 0:f71232252dcf 417 int cnt = 0;
shintamainjp 0:f71232252dcf 418 while (!serial.readable()) {
shintamainjp 0:f71232252dcf 419 wait_us(1);
shintamainjp 0:f71232252dcf 420 cnt++;
shintamainjp 0:f71232252dcf 421 if (timeout_us < cnt) {
shintamainjp 0:f71232252dcf 422 return false;
shintamainjp 0:f71232252dcf 423 }
shintamainjp 0:f71232252dcf 424 }
shintamainjp 0:f71232252dcf 425 buf[i] = serial.getc();
shintamainjp 0:f71232252dcf 426 }
shintamainjp 0:f71232252dcf 427 return true;
shintamainjp 0:f71232252dcf 428 }
shintamainjp 0:f71232252dcf 429
shintamainjp 0:f71232252dcf 430 /**
shintamainjp 0:f71232252dcf 431 * Wait received.
shintamainjp 0:f71232252dcf 432 *
shintamainjp 0:f71232252dcf 433 * @return True if the data received.
shintamainjp 0:f71232252dcf 434 */
shintamainjp 0:f71232252dcf 435 bool Camera_LS_Y201::waitRecv() {
shintamainjp 0:f71232252dcf 436 while (!serial.readable()) {
shintamainjp 0:f71232252dcf 437 }
shintamainjp 0:f71232252dcf 438 return true;
shintamainjp 0:f71232252dcf 439 }
shintamainjp 0:f71232252dcf 440
shintamainjp 0:f71232252dcf 441 /**
shintamainjp 0:f71232252dcf 442 * Wait idle state.
shintamainjp 0:f71232252dcf 443 */
shintamainjp 0:f71232252dcf 444 bool Camera_LS_Y201::waitIdle() {
shintamainjp 0:f71232252dcf 445 while (serial.readable()) {
shintamainjp 0:f71232252dcf 446 serial.getc();
shintamainjp 0:f71232252dcf 447 }
shintamainjp 0:f71232252dcf 448 return true;
shintamainjp 0:f71232252dcf 449 }