Omar Hagrass / Camera_LS_Y201_CANSAT

CANSAT_CAMERA

Dependents:   CANSAT_COMBINED CANSAT_CAMERA_servo CANSAT_CAMERA2

Fork of Camera_LS_Y201 by Shinichiro Nakamura

Camera_LS_Y201.cpp@6:2e14476d7164, 2015-09-09 (annotated)

Committer:
Hagrass
Date:
Wed Sep 09 16:42:16 2015 +0000
Revision:
6:2e14476d7164
Parent:
2:b3da8bab6e99 
cansat;

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 }
Hagrass 6:2e14476d7164 40 Camera_LS_Y201::ErrorCode Camera_LS_Y201::baud()
Hagrass 6:2e14476d7164 41 {
Hagrass 6:2e14476d7164 42
Hagrass 6:2e14476d7164 43 uint8_t send[7] = {
Hagrass 6:2e14476d7164 44 0x56,
Hagrass 6:2e14476d7164 45 0x00,
Hagrass 6:2e14476d7164 46 0x24,
Hagrass 6:2e14476d7164 47 0x03,
Hagrass 6:2e14476d7164 48 0x01,
Hagrass 6:2e14476d7164 49 0x0D,
Hagrass 6:2e14476d7164 50 0xA6
Hagrass 6:2e14476d7164 51 // 56 00 24 03 01 XX XX
Hagrass 6:2e14476d7164 52 };
Hagrass 6:2e14476d7164 53 uint8_t recv[5];
Hagrass 6:2e14476d7164 54 waitIdle();
Hagrass 6:2e14476d7164 55 sendBytes(send, sizeof(send), 200 * 1000) ;
Hagrass 6:2e14476d7164 56
Hagrass 6:2e14476d7164 57
Hagrass 6:2e14476d7164 58 recvBytes(recv, sizeof(recv), 200 * 1000) ;
Hagrass 6:2e14476d7164 59 serial.baud(115200);
Hagrass 6:2e14476d7164 60 }
shintamainjp 0:f71232252dcf 61
shintamainjp 0:f71232252dcf 62 /**
shintamainjp 0:f71232252dcf 63 * Dispose.
shintamainjp 0:f71232252dcf 64 */
shintamainjp 0:f71232252dcf 65 Camera_LS_Y201::~Camera_LS_Y201() {
shintamainjp 0:f71232252dcf 66 }
shintamainjp 0:f71232252dcf 67
shintamainjp 0:f71232252dcf 68 /**
shintamainjp 0:f71232252dcf 69 * Reset module.
shintamainjp 0:f71232252dcf 70 *
shintamainjp 0:f71232252dcf 71 * @return Error code.
shintamainjp 0:f71232252dcf 72 */
shintamainjp 0:f71232252dcf 73 Camera_LS_Y201::ErrorCode Camera_LS_Y201::reset() {
shintamainjp 0:f71232252dcf 74 uint8_t send[4] = {
shintamainjp 0:f71232252dcf 75 0x56,
shintamainjp 0:f71232252dcf 76 0x00,
shintamainjp 0:f71232252dcf 77 0x26,
shintamainjp 0:f71232252dcf 78 0x00
shintamainjp 0:f71232252dcf 79 };
shintamainjp 0:f71232252dcf 80 uint8_t recv[4];
shintamainjp 0:f71232252dcf 81
shintamainjp 0:f71232252dcf 82 waitIdle();
shintamainjp 0:f71232252dcf 83 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 84 return SendError;
shintamainjp 0:f71232252dcf 85 }
shintamainjp 0:f71232252dcf 86 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 87 return RecvError;
shintamainjp 0:f71232252dcf 88 }
Hagrass 2:b3da8bab6e99 89 for(int i=0;i<4;i++)
Hagrass 2:b3da8bab6e99 90 {
Hagrass 2:b3da8bab6e99 91 printf("%x\n\r",recv[i]);
Hagrass 2:b3da8bab6e99 92 }
shintamainjp 0:f71232252dcf 93 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 94 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 95 && (recv[2] == 0x26)
shintamainjp 0:f71232252dcf 96 && (recv[3] == 0x00)) {
shintamainjp 0:f71232252dcf 97 ErrorCode r = waitInitEnd();
shintamainjp 0:f71232252dcf 98 if (r != NoError) {
shintamainjp 0:f71232252dcf 99 return r;
shintamainjp 0:f71232252dcf 100 }
shintamainjp 0:f71232252dcf 101 wait(4);
shintamainjp 0:f71232252dcf 102 return NoError;
shintamainjp 0:f71232252dcf 103 } else {
shintamainjp 0:f71232252dcf 104 return UnexpectedReply;
shintamainjp 0:f71232252dcf 105 }
shintamainjp 0:f71232252dcf 106 }
shintamainjp 0:f71232252dcf 107
shintamainjp 0:f71232252dcf 108 /**
shintamainjp 0:f71232252dcf 109 * Set image size.
shintamainjp 0:f71232252dcf 110 *
shintamainjp 0:f71232252dcf 111 * @param is Image size.
shintamainjp 0:f71232252dcf 112 * @return Error code.
shintamainjp 0:f71232252dcf 113 */
shintamainjp 0:f71232252dcf 114 Camera_LS_Y201::ErrorCode Camera_LS_Y201::setImageSize(ImageSize is) {
shintamainjp 0:f71232252dcf 115 uint8_t send[9] = {
shintamainjp 0:f71232252dcf 116 0x56,
shintamainjp 0:f71232252dcf 117 0x00,
shintamainjp 0:f71232252dcf 118 0x31,
shintamainjp 0:f71232252dcf 119 0x05,
shintamainjp 0:f71232252dcf 120 0x04,
shintamainjp 0:f71232252dcf 121 0x01,
shintamainjp 0:f71232252dcf 122 0x00,
shintamainjp 0:f71232252dcf 123 0x19,
shintamainjp 0:f71232252dcf 124 0x00 // 0x11:320x240, 0x00:640x480, 0x22:160x120
shintamainjp 0:f71232252dcf 125 };
shintamainjp 0:f71232252dcf 126 uint8_t recv[5];
shintamainjp 0:f71232252dcf 127 switch (is) {
shintamainjp 0:f71232252dcf 128 case ImageSize160x120:
shintamainjp 0:f71232252dcf 129 send[8] = 0x22;
shintamainjp 0:f71232252dcf 130 break;
shintamainjp 0:f71232252dcf 131 case ImageSize320x280:
shintamainjp 0:f71232252dcf 132 send[8] = 0x11;
shintamainjp 0:f71232252dcf 133 break;
shintamainjp 0:f71232252dcf 134 case ImageSize640x480:
shintamainjp 0:f71232252dcf 135 send[8] = 0x00;
shintamainjp 0:f71232252dcf 136 break;
shintamainjp 0:f71232252dcf 137 default:
shintamainjp 0:f71232252dcf 138 return InvalidArguments;
shintamainjp 0:f71232252dcf 139 }
shintamainjp 0:f71232252dcf 140 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 141 return SendError;
shintamainjp 0:f71232252dcf 142 }
shintamainjp 0:f71232252dcf 143 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 144 return RecvError;
shintamainjp 0:f71232252dcf 145 }
shintamainjp 0:f71232252dcf 146 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 147 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 148 && (recv[2] == 0x31)
shintamainjp 0:f71232252dcf 149 && (recv[3] == 0x00)
shintamainjp 0:f71232252dcf 150 && (recv[4] == 0x00)) {
shintamainjp 0:f71232252dcf 151 wait(1);
shintamainjp 0:f71232252dcf 152 return reset();
shintamainjp 0:f71232252dcf 153 } else {
shintamainjp 0:f71232252dcf 154 return UnexpectedReply;
shintamainjp 0:f71232252dcf 155 }
shintamainjp 0:f71232252dcf 156 }
shintamainjp 0:f71232252dcf 157
shintamainjp 0:f71232252dcf 158 /**
shintamainjp 0:f71232252dcf 159 * Take picture.
shintamainjp 0:f71232252dcf 160 *
shintamainjp 0:f71232252dcf 161 * @return Error code.
shintamainjp 0:f71232252dcf 162 */
shintamainjp 0:f71232252dcf 163 Camera_LS_Y201::ErrorCode Camera_LS_Y201::takePicture() {
shintamainjp 0:f71232252dcf 164 uint8_t send[5] = {
shintamainjp 0:f71232252dcf 165 0x56,
shintamainjp 0:f71232252dcf 166 0x00,
shintamainjp 0:f71232252dcf 167 0x36,
shintamainjp 0:f71232252dcf 168 0x01,
shintamainjp 0:f71232252dcf 169 0x00
shintamainjp 0:f71232252dcf 170 };
shintamainjp 0:f71232252dcf 171 uint8_t recv[5];
shintamainjp 0:f71232252dcf 172
shintamainjp 0:f71232252dcf 173 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 174 return SendError;
shintamainjp 0:f71232252dcf 175 }
shintamainjp 0:f71232252dcf 176 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 177 return RecvError;
shintamainjp 0:f71232252dcf 178 }
shintamainjp 0:f71232252dcf 179
shintamainjp 0:f71232252dcf 180 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 181 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 182 && (recv[2] == 0x36)
shintamainjp 0:f71232252dcf 183 && (recv[3] == 0x00)
shintamainjp 0:f71232252dcf 184 && (recv[4] == 0x00)) {
shintamainjp 1:43358d40f879 185 /*
shintamainjp 1:43358d40f879 186 * I think the camera need a time for operating.
shintamainjp 1:43358d40f879 187 * But there is no any comments on the documents.
shintamainjp 1:43358d40f879 188 */
shintamainjp 1:43358d40f879 189 wait_ms(100);
shintamainjp 0:f71232252dcf 190 return NoError;
shintamainjp 0:f71232252dcf 191 } else {
shintamainjp 0:f71232252dcf 192 return UnexpectedReply;
shintamainjp 0:f71232252dcf 193 }
shintamainjp 0:f71232252dcf 194 }
shintamainjp 0:f71232252dcf 195
shintamainjp 0:f71232252dcf 196 /**
shintamainjp 0:f71232252dcf 197 * Read jpeg file size.
shintamainjp 0:f71232252dcf 198 *
shintamainjp 0:f71232252dcf 199 * @param fileSize File size.
shintamainjp 0:f71232252dcf 200 * @return Error code.
shintamainjp 0:f71232252dcf 201 */
shintamainjp 0:f71232252dcf 202 Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileSize(int *fileSize) {
shintamainjp 0:f71232252dcf 203 uint8_t send[5] = {
shintamainjp 0:f71232252dcf 204 0x56,
shintamainjp 0:f71232252dcf 205 0x00,
shintamainjp 0:f71232252dcf 206 0x34,
shintamainjp 0:f71232252dcf 207 0x01,
shintamainjp 0:f71232252dcf 208 0x00
shintamainjp 0:f71232252dcf 209 };
shintamainjp 0:f71232252dcf 210 uint8_t recv[9];
shintamainjp 0:f71232252dcf 211
shintamainjp 0:f71232252dcf 212 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 213 return SendError;
shintamainjp 0:f71232252dcf 214 }
shintamainjp 0:f71232252dcf 215 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 216 return RecvError;
shintamainjp 0:f71232252dcf 217 }
shintamainjp 0:f71232252dcf 218
shintamainjp 0:f71232252dcf 219 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 220 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 221 && (recv[2] == 0x34)
shintamainjp 0:f71232252dcf 222 && (recv[3] == 0x00)
shintamainjp 0:f71232252dcf 223 && (recv[4] == 0x04)
shintamainjp 0:f71232252dcf 224 && (recv[5] == 0x00)
shintamainjp 0:f71232252dcf 225 && (recv[6] == 0x00)) {
shintamainjp 0:f71232252dcf 226 *fileSize = ((recv[7] & 0x00ff) << 8)
shintamainjp 0:f71232252dcf 227 | ((recv[8] & 0x00ff) << 0);
shintamainjp 0:f71232252dcf 228 return NoError;
shintamainjp 0:f71232252dcf 229 } else {
shintamainjp 0:f71232252dcf 230 return UnexpectedReply;
shintamainjp 0:f71232252dcf 231 }
shintamainjp 0:f71232252dcf 232 }
shintamainjp 0:f71232252dcf 233
shintamainjp 0:f71232252dcf 234 /**
shintamainjp 0:f71232252dcf 235 * Read jpeg file content.
shintamainjp 0:f71232252dcf 236 *
shintamainjp 0:f71232252dcf 237 * @param func A pointer to a call back function.
shintamainjp 0:f71232252dcf 238 * @return Error code.
shintamainjp 0:f71232252dcf 239 */
shintamainjp 1:43358d40f879 240 Camera_LS_Y201::ErrorCode Camera_LS_Y201::readJpegFileContent(void (*func)(int done, int total, uint8_t *buf, size_t siz)) {
shintamainjp 0:f71232252dcf 241 uint8_t send[16] = {
shintamainjp 0:f71232252dcf 242 0x56,
shintamainjp 0:f71232252dcf 243 0x00,
shintamainjp 0:f71232252dcf 244 0x32,
shintamainjp 0:f71232252dcf 245 0x0C,
shintamainjp 0:f71232252dcf 246 0x00,
shintamainjp 0:f71232252dcf 247 0x0A,
shintamainjp 0:f71232252dcf 248 0x00,
shintamainjp 0:f71232252dcf 249 0x00,
shintamainjp 0:f71232252dcf 250 0x00, // MH
shintamainjp 0:f71232252dcf 251 0x00, // ML
shintamainjp 0:f71232252dcf 252 0x00,
shintamainjp 0:f71232252dcf 253 0x00,
shintamainjp 0:f71232252dcf 254 0x00, // KH
shintamainjp 0:f71232252dcf 255 0x00, // KL
shintamainjp 0:f71232252dcf 256 0x00, // XX
shintamainjp 0:f71232252dcf 257 0x00 // XX
shintamainjp 0:f71232252dcf 258 };
shintamainjp 0:f71232252dcf 259 uint8_t body[32];
shintamainjp 0:f71232252dcf 260 uint16_t m = 0; // Staring address.
shintamainjp 0:f71232252dcf 261 uint16_t k = sizeof(body); // Packet size.
shintamainjp 0:f71232252dcf 262 uint16_t x = 10; // Interval time. XX XX * 0.01m[sec]
shintamainjp 0:f71232252dcf 263 bool end = false;
shintamainjp 1:43358d40f879 264
shintamainjp 1:43358d40f879 265 /*
shintamainjp 1:43358d40f879 266 * Get the data size.
shintamainjp 1:43358d40f879 267 */
shintamainjp 1:43358d40f879 268 int siz_done = 0;
shintamainjp 1:43358d40f879 269 int siz_total = 0;
shintamainjp 1:43358d40f879 270 ErrorCode r = readJpegFileSize(&siz_total);
shintamainjp 1:43358d40f879 271 if (r != NoError) {
shintamainjp 1:43358d40f879 272 return r;
shintamainjp 1:43358d40f879 273 }
shintamainjp 1:43358d40f879 274
shintamainjp 0:f71232252dcf 275 do {
shintamainjp 0:f71232252dcf 276 send[8] = (m >> 8) & 0xff;
shintamainjp 0:f71232252dcf 277 send[9] = (m >> 0) & 0xff;
shintamainjp 0:f71232252dcf 278 send[12] = (k >> 8) & 0xff;
shintamainjp 0:f71232252dcf 279 send[13] = (k >> 0) & 0xff;
shintamainjp 0:f71232252dcf 280 send[14] = (x >> 8) & 0xff;
shintamainjp 0:f71232252dcf 281 send[15] = (x >> 0) & 0xff;
shintamainjp 0:f71232252dcf 282 /*
shintamainjp 0:f71232252dcf 283 * Send a command.
shintamainjp 0:f71232252dcf 284 */
shintamainjp 0:f71232252dcf 285 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 286 return SendError;
shintamainjp 0:f71232252dcf 287 }
shintamainjp 0:f71232252dcf 288 /*
shintamainjp 0:f71232252dcf 289 * Read the header of the response.
shintamainjp 0:f71232252dcf 290 */
shintamainjp 0:f71232252dcf 291 uint8_t header[5];
shintamainjp 0:f71232252dcf 292 if (!recvBytes(header, sizeof(header), 2 * 1000 * 1000)) {
shintamainjp 0:f71232252dcf 293 return RecvError;
shintamainjp 0:f71232252dcf 294 }
shintamainjp 0:f71232252dcf 295 /*
shintamainjp 0:f71232252dcf 296 * Check the response and fetch an image data.
shintamainjp 0:f71232252dcf 297 */
shintamainjp 0:f71232252dcf 298 if ((header[0] == 0x76)
shintamainjp 0:f71232252dcf 299 && (header[1] == 0x00)
shintamainjp 0:f71232252dcf 300 && (header[2] == 0x32)
shintamainjp 0:f71232252dcf 301 && (header[3] == 0x00)
shintamainjp 0:f71232252dcf 302 && (header[4] == 0x00)) {
shintamainjp 0:f71232252dcf 303 if (!recvBytes(body, sizeof(body), 2 * 1000 * 1000)) {
shintamainjp 0:f71232252dcf 304 return RecvError;
shintamainjp 0:f71232252dcf 305 }
Hagrass 6:2e14476d7164 306 //printf("saved");
shintamainjp 1:43358d40f879 307 siz_done += sizeof(body);
shintamainjp 0:f71232252dcf 308 if (func != NULL) {
shintamainjp 1:43358d40f879 309 if (siz_done > siz_total) {
shintamainjp 1:43358d40f879 310 siz_done = siz_total;
shintamainjp 1:43358d40f879 311 }
shintamainjp 1:43358d40f879 312 func(siz_done, siz_total, body, sizeof(body));
shintamainjp 0:f71232252dcf 313 }
shintamainjp 0:f71232252dcf 314 for (int i = 1; i < sizeof(body); i++) {
shintamainjp 0:f71232252dcf 315 if ((body[i - 1] == 0xFF) && (body[i - 0] == 0xD9)) {
shintamainjp 0:f71232252dcf 316 end = true;
shintamainjp 0:f71232252dcf 317 }
shintamainjp 0:f71232252dcf 318 }
shintamainjp 0:f71232252dcf 319 } else {
shintamainjp 0:f71232252dcf 320 return UnexpectedReply;
shintamainjp 0:f71232252dcf 321 }
shintamainjp 0:f71232252dcf 322 /*
shintamainjp 0:f71232252dcf 323 * Read the footer of the response.
shintamainjp 0:f71232252dcf 324 */
shintamainjp 0:f71232252dcf 325 uint8_t footer[5];
shintamainjp 0:f71232252dcf 326 if (!recvBytes(footer, sizeof(footer), 2 * 1000 * 1000)) {
shintamainjp 0:f71232252dcf 327 return RecvError;
shintamainjp 0:f71232252dcf 328 }
shintamainjp 0:f71232252dcf 329
shintamainjp 0:f71232252dcf 330 m += sizeof(body);
shintamainjp 0:f71232252dcf 331 } while (!end);
shintamainjp 0:f71232252dcf 332 return NoError;
shintamainjp 0:f71232252dcf 333 }
shintamainjp 0:f71232252dcf 334
shintamainjp 0:f71232252dcf 335 /**
shintamainjp 0:f71232252dcf 336 * Stop taking pictures.
shintamainjp 0:f71232252dcf 337 *
shintamainjp 0:f71232252dcf 338 * @return Error code.
shintamainjp 0:f71232252dcf 339 */
shintamainjp 0:f71232252dcf 340 Camera_LS_Y201::ErrorCode Camera_LS_Y201::stopTakingPictures() {
shintamainjp 0:f71232252dcf 341 uint8_t send[5] = {
shintamainjp 0:f71232252dcf 342 0x56,
shintamainjp 0:f71232252dcf 343 0x00,
shintamainjp 0:f71232252dcf 344 0x36,
shintamainjp 0:f71232252dcf 345 0x01,
shintamainjp 0:f71232252dcf 346 0x03
shintamainjp 0:f71232252dcf 347 };
shintamainjp 0:f71232252dcf 348 uint8_t recv[5];
shintamainjp 0:f71232252dcf 349
shintamainjp 0:f71232252dcf 350 if (!sendBytes(send, sizeof(send), 200 * 1000)) {
shintamainjp 0:f71232252dcf 351 return SendError;
shintamainjp 0:f71232252dcf 352 }
shintamainjp 0:f71232252dcf 353 if (!recvBytes(recv, sizeof(recv), 200 * 1000)) {
shintamainjp 0:f71232252dcf 354 return RecvError;
shintamainjp 0:f71232252dcf 355 }
shintamainjp 0:f71232252dcf 356
shintamainjp 0:f71232252dcf 357 if ((recv[0] == 0x76)
shintamainjp 0:f71232252dcf 358 && (recv[1] == 0x00)
shintamainjp 0:f71232252dcf 359 && (recv[2] == 0x36)
shintamainjp 0:f71232252dcf 360 && (recv[3] == 0x00)
shintamainjp 0:f71232252dcf 361 && (recv[4] == 0x00)) {
shintamainjp 1:43358d40f879 362 /*
shintamainjp 1:43358d40f879 363 * I think the camera need a time for operating.
shintamainjp 1:43358d40f879 364 * But there is no any comments on the documents.
shintamainjp 1:43358d40f879 365 */
shintamainjp 1:43358d40f879 366 wait_ms(100);
shintamainjp 0:f71232252dcf 367 return NoError;
shintamainjp 0:f71232252dcf 368 } else {
shintamainjp 0:f71232252dcf 369 return UnexpectedReply;
shintamainjp 0:f71232252dcf 370 }
shintamainjp 0:f71232252dcf 371 }
shintamainjp 0:f71232252dcf 372
shintamainjp 0:f71232252dcf 373 /**
shintamainjp 0:f71232252dcf 374 * Wait init end codes.
shintamainjp 0:f71232252dcf 375 *
shintamainjp 0:f71232252dcf 376 * @return True if the data sended.
shintamainjp 0:f71232252dcf 377 */
shintamainjp 0:f71232252dcf 378 Camera_LS_Y201::ErrorCode Camera_LS_Y201::waitInitEnd() {
shintamainjp 0:f71232252dcf 379 static const char *PWR_ON_MSG = "Init end\x0d\x0a";
shintamainjp 0:f71232252dcf 380 for (int i = 0; i < strlen(PWR_ON_MSG); i++) {
shintamainjp 0:f71232252dcf 381 static const int MAXCNT = 128;
shintamainjp 0:f71232252dcf 382 int cnt = 0;
shintamainjp 0:f71232252dcf 383 uint8_t c = 0x00;
shintamainjp 0:f71232252dcf 384 do {
shintamainjp 0:f71232252dcf 385 if (!recvBytes(&c, sizeof(c), 500 * 1000)) {
shintamainjp 0:f71232252dcf 386 return Timeout;
shintamainjp 0:f71232252dcf 387 }
shintamainjp 0:f71232252dcf 388
shintamainjp 0:f71232252dcf 389 /*
shintamainjp 0:f71232252dcf 390 * What is the version of the camera.
shintamainjp 0:f71232252dcf 391 * You can check the version with this code.
shintamainjp 0:f71232252dcf 392 *
shintamainjp 0:f71232252dcf 393 * VC0703 1.00
shintamainjp 0:f71232252dcf 394 * 3o ctrl in
shintamainjp 0:f71232252dcf 395 * Init end
shintamainjp 0:f71232252dcf 396 */
shintamainjp 0:f71232252dcf 397 #if 0
shintamainjp 0:f71232252dcf 398 printf("%c", c);
shintamainjp 0:f71232252dcf 399 #endif
shintamainjp 0:f71232252dcf 400
shintamainjp 0:f71232252dcf 401 cnt++;
shintamainjp 0:f71232252dcf 402 if (MAXCNT < cnt) {
shintamainjp 0:f71232252dcf 403 return UnexpectedReply;
shintamainjp 0:f71232252dcf 404 }
shintamainjp 0:f71232252dcf 405 } while (c != PWR_ON_MSG[i]);
shintamainjp 0:f71232252dcf 406 }
shintamainjp 0:f71232252dcf 407 return NoError;
shintamainjp 0:f71232252dcf 408 }
shintamainjp 0:f71232252dcf 409
shintamainjp 0:f71232252dcf 410 /**
shintamainjp 0:f71232252dcf 411 * Send bytes to camera module.
shintamainjp 0:f71232252dcf 412 *
shintamainjp 0:f71232252dcf 413 * @param buf Pointer to the data buffer.
shintamainjp 0:f71232252dcf 414 * @param len Length of the data buffer.
shintamainjp 0:f71232252dcf 415 *
shintamainjp 0:f71232252dcf 416 * @return True if the data sended.
shintamainjp 0:f71232252dcf 417 */
shintamainjp 0:f71232252dcf 418 bool Camera_LS_Y201::sendBytes(uint8_t *buf, size_t len, int timeout_us) {
shintamainjp 0:f71232252dcf 419 for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp 0:f71232252dcf 420 int cnt = 0;
shintamainjp 0:f71232252dcf 421 while (!serial.writeable()) {
shintamainjp 0:f71232252dcf 422 wait_us(1);
shintamainjp 0:f71232252dcf 423 cnt++;
shintamainjp 0:f71232252dcf 424 if (timeout_us < cnt) {
shintamainjp 0:f71232252dcf 425 return false;
shintamainjp 0:f71232252dcf 426 }
shintamainjp 0:f71232252dcf 427 }
shintamainjp 0:f71232252dcf 428 serial.putc(buf[i]);
shintamainjp 0:f71232252dcf 429 }
shintamainjp 0:f71232252dcf 430 return true;
shintamainjp 0:f71232252dcf 431 }
shintamainjp 0:f71232252dcf 432
shintamainjp 0:f71232252dcf 433 /**
shintamainjp 0:f71232252dcf 434 * Receive bytes from camera module.
shintamainjp 0:f71232252dcf 435 *
shintamainjp 0:f71232252dcf 436 * @param buf Pointer to the data buffer.
shintamainjp 0:f71232252dcf 437 * @param len Length of the data buffer.
shintamainjp 0:f71232252dcf 438 *
shintamainjp 0:f71232252dcf 439 * @return True if the data received.
shintamainjp 0:f71232252dcf 440 */
shintamainjp 0:f71232252dcf 441 bool Camera_LS_Y201::recvBytes(uint8_t *buf, size_t len, int timeout_us) {
shintamainjp 0:f71232252dcf 442 for (uint32_t i = 0; i < (uint32_t)len; i++) {
shintamainjp 0:f71232252dcf 443 int cnt = 0;
shintamainjp 0:f71232252dcf 444 while (!serial.readable()) {
shintamainjp 0:f71232252dcf 445 wait_us(1);
shintamainjp 0:f71232252dcf 446 cnt++;
shintamainjp 0:f71232252dcf 447 if (timeout_us < cnt) {
shintamainjp 0:f71232252dcf 448 return false;
shintamainjp 0:f71232252dcf 449 }
shintamainjp 0:f71232252dcf 450 }
shintamainjp 0:f71232252dcf 451 buf[i] = serial.getc();
shintamainjp 0:f71232252dcf 452 }
shintamainjp 0:f71232252dcf 453 return true;
shintamainjp 0:f71232252dcf 454 }
shintamainjp 0:f71232252dcf 455
shintamainjp 0:f71232252dcf 456 /**
shintamainjp 0:f71232252dcf 457 * Wait received.
shintamainjp 0:f71232252dcf 458 *
shintamainjp 0:f71232252dcf 459 * @return True if the data received.
shintamainjp 0:f71232252dcf 460 */
shintamainjp 0:f71232252dcf 461 bool Camera_LS_Y201::waitRecv() {
shintamainjp 0:f71232252dcf 462 while (!serial.readable()) {
shintamainjp 0:f71232252dcf 463 }
shintamainjp 0:f71232252dcf 464 return true;
shintamainjp 0:f71232252dcf 465 }
shintamainjp 0:f71232252dcf 466
shintamainjp 0:f71232252dcf 467 /**
shintamainjp 0:f71232252dcf 468 * Wait idle state.
shintamainjp 0:f71232252dcf 469 */
shintamainjp 0:f71232252dcf 470 bool Camera_LS_Y201::waitIdle() {
shintamainjp 0:f71232252dcf 471 while (serial.readable()) {
shintamainjp 0:f71232252dcf 472 serial.getc();
shintamainjp 0:f71232252dcf 473 }
shintamainjp 0:f71232252dcf 474 return true;
shintamainjp 0:f71232252dcf 475 }