1: /*************************************************************************
2: * (C) 2010 AITNET ltd - Sofia/Bulgaria - <misho@aitbg.com>
3: * by Michael Pounov <misho@openbsd-bg.org>
4: *
5: * $Author: misho $
6: * $Id: aitpelco.h,v 1.4 2013/05/30 09:20:16 misho Exp $
7: *
8: **************************************************************************
9: The ELWIX and AITNET software is distributed under the following
10: terms:
11:
12: All of the documentation and software included in the ELWIX and AITNET
13: Releases is copyrighted by ELWIX - Sofia/Bulgaria <info@elwix.org>
14:
15: Copyright 2004, 2005, 2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013
16: by Michael Pounov <misho@elwix.org>. All rights reserved.
17:
18: Redistribution and use in source and binary forms, with or without
19: modification, are permitted provided that the following conditions
20: are met:
21: 1. Redistributions of source code must retain the above copyright
22: notice, this list of conditions and the following disclaimer.
23: 2. Redistributions in binary form must reproduce the above copyright
24: notice, this list of conditions and the following disclaimer in the
25: documentation and/or other materials provided with the distribution.
26: 3. All advertising materials mentioning features or use of this software
27: must display the following acknowledgement:
28: This product includes software developed by Michael Pounov <misho@elwix.org>
29: ELWIX - Embedded LightWeight unIX and its contributors.
30: 4. Neither the name of AITNET nor the names of its contributors
31: may be used to endorse or promote products derived from this software
32: without specific prior written permission.
33:
34: THIS SOFTWARE IS PROVIDED BY AITNET AND CONTRIBUTORS ``AS IS'' AND
35: ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
36: IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
37: ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
38: FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
39: DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
40: OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
41: HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
42: LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
43: OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
44: SUCH DAMAGE.
45: */
46: #ifndef __AITPELCO_H
47: #define __AITPELCO_H
48:
49:
50: #include <sys/types.h>
51:
52:
53: #define PELCO_D_LEN 7
54: #define PELCO_P_LEN 8
55:
56: #define FIXED_ZERO 0
57:
58: #define VER_D_SYNC 0xFF
59: #define VER_P_STX 0xA0
60: #define VER_P_ETX 0xAF
61:
62: #define FIRST_CAM_D 1
63: #define FIRST_CAM_P 0
64:
65: #define SPEED_MIN 0x00
66: #define SPEED_HI 0x3F
67: #define SPEED_MAX 0x40
68:
69: #define PAN_STOP SPEED_MIN
70: #define PAN_FAST SPEED_HI
71: #define PAN_TURBO SPEED_MAX
72: #define TILT_STOP SPEED_MIN
73: #define TILT_FAST SPEED_HI
74:
75:
76: /* Pelco-D protocol */
77:
78: // Helper Command bitField structures
79:
80: struct bitD_Cmd1 {
81: u_char focus_near:1;
82: u_char iris_open:1;
83: u_char iris_close:1;
84: u_char cam_on:1;
85: u_char auto_scan:1;
86: u_char reserved:2;
87: u_char sense:1;
88: };
89:
90: struct bitD_Cmd2 {
91: u_char fixed:1;
92: u_char pan_right:1;
93: u_char pan_left:1;
94: u_char tilt_up:1;
95: u_char tilt_down:1;
96: u_char zoom_tele:1;
97: u_char zoom_wide:1;
98: u_char focus_far:1;
99: };
100:
101: typedef struct tagPelcoD {
102: u_char d_sync;
103: u_char d_cam;
104: struct bitD_Cmd1 d_cmd1;
105: struct bitD_Cmd2 d_cmd2;
106: u_char d_data[2];
107: u_char d_crc;
108: } pelco_d_t; // 7 bytes packet
109:
110:
111: /* Pelco-P protocol */
112:
113: // Helper Data bitField structures
114:
115: struct bitP_Cmd1 {
116: u_char focus_far:1;
117: u_char focus_near:1;
118: u_char iris_open:1;
119: u_char iris_close:1;
120: u_char cam_on:1;
121: u_char auto_scan:1;
122: u_char camera:1;
123: u_char fixed:1;
124: };
125:
126: struct bitP_Cmd2 {
127: u_char for_pan_tilt:1;
128: u_char pan_right:1;
129: u_char pan_left:1;
130: u_char tilt_up:1;
131: u_char tilt_down:1;
132: u_char zoom_tele:1;
133: u_char zoom_wide:1;
134: u_char fixed:1;
135: };
136:
137: typedef struct tagPelcoP {
138: u_char p_stx;
139: u_char p_cam;
140: struct bitP_Cmd1 p_cmd1;
141: struct bitP_Cmd2 p_cmd2;
142: u_char p_data[2];
143: u_char p_etx;
144: u_char p_crc;
145: } pelco_p_t; // 8 bytes packet
146:
147:
148: // -------------------------------------------------------
149: // pelco_GetErrno() Get error code of last operation
150: int pelco_GetErrno();
151: // pelco_GetError() Get error text of last operation
152: const char *pelco_GetError();
153: // -------------------------------------------------------
154:
155:
156: /*
157: * pelcoOpen() Open packet record for camera number with Pelco version D/P
158: * @pelcoVer = Pelco protocol version Dd | Pp
159: * @camNo = Packet for camera number address
160: * return: NULL error, !=NULL ok, allocated memory for packet
161: */
162: void *pelcoOpen(u_char pelcoVer, u_char camNo);
163:
164: /*
165: * pelcoClose() Close packet record and free memory
166: * @p = Packet structure for close
167: */
168: void pelcoClose(void * __restrict p);
169:
170: /*
171: * pelcoLoad() Load packet from input buffer
172: * @buffer = Pelco packet from input buffer
173: * return: NULL error, !=NULL ok, allocated memory for packet
174: */
175: void *pelcoLoad(u_char *buffer);
176:
177:
178: /*
179: * pelcoAddCmdData() Add commands and datas for already opened packet
180: * @p = Input Packet structure
181: * @cmd[2] = Input Commands 1 & 2
182: * @data[2] = Input Data for commands 1 & 2
183: * return: 0xFF - error, 0 - ok
184: */
185: u_char pelcoAddCmdData(void * __restrict p, u_char * __restrict cmd, u_char * __restrict data);
186:
187: /*
188: * pelcoGetCmdData() Get from packet commands and datas with verify packet
189: * @p = Input Packet structure
190: * @cmd[2] = Output Commands 1 & 2
191: * @data[2] = Output Data for commands 1 & 2
192: * return: 'd' - PelcoD, 'p' - PelcoP, 0 - unknown or bad packet
193: */
194: u_char pelcoGetCmdData(void * __restrict p, u_char * __restrict cmd, u_char * __restrict data);
195:
196: /*
197: * pelcoChkSum() Check ot Correct check sum in packet
198: * @p = Input Packet structure
199: * @correct = Calculate new check sum if incorrect !=0, if ==0 only check
200: * return: 0xFF - bad packet, invalid check sum, 0 check sum is correct.
201: */
202: u_char pelcoChkSum(void * __restrict p, u_char correct);
203:
204:
205: /*
206: * pelco_GetVersion() Return Pelco protocol version
207: * @p = Packet structure
208: * return: 'd' - PelcoD, 'p' - PelcoP, 0 - unknown or bad packet
209: */
210: u_char pelco_GetVersion(void * __restrict p);
211:
212: /*
213: * pelco_GetCamNo() Get Camera number and check for valid packet
214: * @p = Packet structure
215: * return: 0xFF and pelco_GetErrno() == ENOEXEC - error,
216: any number is camera address
217: */
218: u_char pelco_GetCamNo(void * __restrict p);
219:
220: /*
221: * pelco_GetCamCmdData() Get from Camera commands and datas with verify packet
222: * @p = Input Packet structure
223: * @cam = Output camera number
224: * @cmd[2] = Output Commands 1 & 2
225: * @data[2] = Output Data for commands 1 & 2
226: * return: 'd' - PelcoD, 'p' - PelcoP, 0 - unknown or bad packet
227: */
228: u_char pelco_GetCamCmdData(void * __restrict p, u_char * __restrict cam,
229: u_char * __restrict cmd, u_char * __restrict data);
230:
231: /*
232: * pelco_D_toCmd() Convert to Pelco D commands
233: * @cmd[2] = Input Commands 1 & 2
234: * @cmd1 = Output typecasted commands 1
235: * @cmd2 = Output typecasted commands 2
236: * return: 0xFF - error, !=0 return number arguments
237: */
238: u_char pelco_D_toCmd(u_char * __restrict cmd,
239: struct bitD_Cmd1 * __restrict cmd1, struct bitD_Cmd2 * __restrict cmd2);
240:
241: /*
242: * pelco_P_toCmd() Convert to Pelco P commands
243: * @cmd[2] = Input Commands 1 & 2
244: * @cmd1 = Output typecasted commands 1
245: * @cmd2 = Output typecasted commands 2
246: * return: 0xFF - error, !=0 return number arguments
247: */
248: u_char pelco_P_toCmd(u_char * __restrict cmd,
249: struct bitP_Cmd1 * __restrict cmd1, struct bitP_Cmd2 * __restrict cmd2);
250:
251: /*
252: * pelco_D_fromCmd() Convert from Pelco D commands
253: * @cmd1 = Input typecasted commands 1
254: * @cmd2 = Input typecasted commands 2
255: * @cmd[2] = Output Commands 1 & 2
256: * return: 0xFF - error, 0 - ok
257: */
258: u_char pelco_D_fromCmd(struct bitD_Cmd1 cmd1, struct bitD_Cmd2 cmd2,
259: u_char * __restrict cmd);
260:
261: /*
262: * pelco_P_fromCmd() Convert from Pelco P commands
263: * @cmd1 = Input typecasted commands 1
264: * @cmd2 = Input typecasted commands 2
265: * @cmd[2] = Output Commands 1 & 2
266: * return: 0xFF - error, 0 - ok
267: */
268: u_char pelco_P_fromCmd(struct bitP_Cmd1 cmd1, struct bitP_Cmd2 cmd2,
269: u_char * __restrict cmd);
270:
271: /*
272: * pelco_SetCamCmdData() Set Camera commands and datas
273: * @ver = Input Pelco (d | p) version
274: * @cam = Input camera number
275: * @cmd[2] = Input Commands 1 & 2
276: * @data[2] = Input Data for commands 1 & 2
277: * @p = Output Packet structure
278: * return: 0xFF - error, 0 - ok
279: */
280: u_char pelco_SetCamCmdData(u_char ver, u_char cam,
281: u_char * __restrict cmd, u_char * __restrict data, void * __restrict p);
282:
283:
284: #endif
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