/*************************************************************************
* (C) 2010 AITNET ltd - Sofia/Bulgaria - <misho@aitbg.com>
* by Michael Pounov <misho@openbsd-bg.org>
*
* $Author: misho $
* $Id: aitpelco.h,v 1.4 2013/05/30 09:20:16 misho Exp $
*
**************************************************************************
The ELWIX and AITNET software is distributed under the following
terms:
All of the documentation and software included in the ELWIX and AITNET
Releases is copyrighted by ELWIX - Sofia/Bulgaria <info@elwix.org>
Copyright 2004, 2005, 2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013
by Michael Pounov <misho@elwix.org>. All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
3. All advertising materials mentioning features or use of this software
must display the following acknowledgement:
This product includes software developed by Michael Pounov <misho@elwix.org>
ELWIX - Embedded LightWeight unIX and its contributors.
4. Neither the name of AITNET nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY AITNET AND CONTRIBUTORS ``AS IS'' AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
SUCH DAMAGE.
*/
#ifndef __AITPELCO_H
#define __AITPELCO_H
#include <sys/types.h>
#define PELCO_D_LEN 7
#define PELCO_P_LEN 8
#define FIXED_ZERO 0
#define VER_D_SYNC 0xFF
#define VER_P_STX 0xA0
#define VER_P_ETX 0xAF
#define FIRST_CAM_D 1
#define FIRST_CAM_P 0
#define SPEED_MIN 0x00
#define SPEED_HI 0x3F
#define SPEED_MAX 0x40
#define PAN_STOP SPEED_MIN
#define PAN_FAST SPEED_HI
#define PAN_TURBO SPEED_MAX
#define TILT_STOP SPEED_MIN
#define TILT_FAST SPEED_HI
/* Pelco-D protocol */
// Helper Command bitField structures
struct bitD_Cmd1 {
u_char focus_near:1;
u_char iris_open:1;
u_char iris_close:1;
u_char cam_on:1;
u_char auto_scan:1;
u_char reserved:2;
u_char sense:1;
};
struct bitD_Cmd2 {
u_char fixed:1;
u_char pan_right:1;
u_char pan_left:1;
u_char tilt_up:1;
u_char tilt_down:1;
u_char zoom_tele:1;
u_char zoom_wide:1;
u_char focus_far:1;
};
typedef struct tagPelcoD {
u_char d_sync;
u_char d_cam;
struct bitD_Cmd1 d_cmd1;
struct bitD_Cmd2 d_cmd2;
u_char d_data[2];
u_char d_crc;
} pelco_d_t; // 7 bytes packet
/* Pelco-P protocol */
// Helper Data bitField structures
struct bitP_Cmd1 {
u_char focus_far:1;
u_char focus_near:1;
u_char iris_open:1;
u_char iris_close:1;
u_char cam_on:1;
u_char auto_scan:1;
u_char camera:1;
u_char fixed:1;
};
struct bitP_Cmd2 {
u_char for_pan_tilt:1;
u_char pan_right:1;
u_char pan_left:1;
u_char tilt_up:1;
u_char tilt_down:1;
u_char zoom_tele:1;
u_char zoom_wide:1;
u_char fixed:1;
};
typedef struct tagPelcoP {
u_char p_stx;
u_char p_cam;
struct bitP_Cmd1 p_cmd1;
struct bitP_Cmd2 p_cmd2;
u_char p_data[2];
u_char p_etx;
u_char p_crc;
} pelco_p_t; // 8 bytes packet
// -------------------------------------------------------
// pelco_GetErrno() Get error code of last operation
int pelco_GetErrno();
// pelco_GetError() Get error text of last operation
const char *pelco_GetError();
// -------------------------------------------------------
/*
* pelcoOpen() Open packet record for camera number with Pelco version D/P
* @pelcoVer = Pelco protocol version Dd | Pp
* @camNo = Packet for camera number address
* return: NULL error, !=NULL ok, allocated memory for packet
*/
void *pelcoOpen(u_char pelcoVer, u_char camNo);
/*
* pelcoClose() Close packet record and free memory
* @p = Packet structure for close
*/
void pelcoClose(void * __restrict p);
/*
* pelcoLoad() Load packet from input buffer
* @buffer = Pelco packet from input buffer
* return: NULL error, !=NULL ok, allocated memory for packet
*/
void *pelcoLoad(u_char *buffer);
/*
* pelcoAddCmdData() Add commands and datas for already opened packet
* @p = Input Packet structure
* @cmd[2] = Input Commands 1 & 2
* @data[2] = Input Data for commands 1 & 2
* return: 0xFF - error, 0 - ok
*/
u_char pelcoAddCmdData(void * __restrict p, u_char * __restrict cmd, u_char * __restrict data);
/*
* pelcoGetCmdData() Get from packet commands and datas with verify packet
* @p = Input Packet structure
* @cmd[2] = Output Commands 1 & 2
* @data[2] = Output Data for commands 1 & 2
* return: 'd' - PelcoD, 'p' - PelcoP, 0 - unknown or bad packet
*/
u_char pelcoGetCmdData(void * __restrict p, u_char * __restrict cmd, u_char * __restrict data);
/*
* pelcoChkSum() Check ot Correct check sum in packet
* @p = Input Packet structure
* @correct = Calculate new check sum if incorrect !=0, if ==0 only check
* return: 0xFF - bad packet, invalid check sum, 0 check sum is correct.
*/
u_char pelcoChkSum(void * __restrict p, u_char correct);
/*
* pelco_GetVersion() Return Pelco protocol version
* @p = Packet structure
* return: 'd' - PelcoD, 'p' - PelcoP, 0 - unknown or bad packet
*/
u_char pelco_GetVersion(void * __restrict p);
/*
* pelco_GetCamNo() Get Camera number and check for valid packet
* @p = Packet structure
* return: 0xFF and pelco_GetErrno() == ENOEXEC - error,
any number is camera address
*/
u_char pelco_GetCamNo(void * __restrict p);
/*
* pelco_GetCamCmdData() Get from Camera commands and datas with verify packet
* @p = Input Packet structure
* @cam = Output camera number
* @cmd[2] = Output Commands 1 & 2
* @data[2] = Output Data for commands 1 & 2
* return: 'd' - PelcoD, 'p' - PelcoP, 0 - unknown or bad packet
*/
u_char pelco_GetCamCmdData(void * __restrict p, u_char * __restrict cam,
u_char * __restrict cmd, u_char * __restrict data);
/*
* pelco_D_toCmd() Convert to Pelco D commands
* @cmd[2] = Input Commands 1 & 2
* @cmd1 = Output typecasted commands 1
* @cmd2 = Output typecasted commands 2
* return: 0xFF - error, !=0 return number arguments
*/
u_char pelco_D_toCmd(u_char * __restrict cmd,
struct bitD_Cmd1 * __restrict cmd1, struct bitD_Cmd2 * __restrict cmd2);
/*
* pelco_P_toCmd() Convert to Pelco P commands
* @cmd[2] = Input Commands 1 & 2
* @cmd1 = Output typecasted commands 1
* @cmd2 = Output typecasted commands 2
* return: 0xFF - error, !=0 return number arguments
*/
u_char pelco_P_toCmd(u_char * __restrict cmd,
struct bitP_Cmd1 * __restrict cmd1, struct bitP_Cmd2 * __restrict cmd2);
/*
* pelco_D_fromCmd() Convert from Pelco D commands
* @cmd1 = Input typecasted commands 1
* @cmd2 = Input typecasted commands 2
* @cmd[2] = Output Commands 1 & 2
* return: 0xFF - error, 0 - ok
*/
u_char pelco_D_fromCmd(struct bitD_Cmd1 cmd1, struct bitD_Cmd2 cmd2,
u_char * __restrict cmd);
/*
* pelco_P_fromCmd() Convert from Pelco P commands
* @cmd1 = Input typecasted commands 1
* @cmd2 = Input typecasted commands 2
* @cmd[2] = Output Commands 1 & 2
* return: 0xFF - error, 0 - ok
*/
u_char pelco_P_fromCmd(struct bitP_Cmd1 cmd1, struct bitP_Cmd2 cmd2,
u_char * __restrict cmd);
/*
* pelco_SetCamCmdData() Set Camera commands and datas
* @ver = Input Pelco (d | p) version
* @cam = Input camera number
* @cmd[2] = Input Commands 1 & 2
* @data[2] = Input Data for commands 1 & 2
* @p = Output Packet structure
* return: 0xFF - error, 0 - ok
*/
u_char pelco_SetCamCmdData(u_char ver, u_char cam,
u_char * __restrict cmd, u_char * __restrict data, void * __restrict p);
#endif
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