Skip to content

Commit 30e2ca1

Browse files
PixelboPixelbo
committed
a lot of changes
1 parent 1a81ab0 commit 30e2ca1

10 files changed

Lines changed: 176 additions & 171 deletions

‎Protocol and errors.md‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@ The acknoledge data that you received isn't right, the address byte isn't the on
5555

5656
The acknoledge data that you received isn't right, the null byte (the third one) isn't detected by the program
5757

58-
"Cam %i: ERROR Could not verify camera ACK: bad checksum (is camera well plugged in?)\n",
58+
"Cam 1: ERROR Could not verify camera ACK: bad checksum (is camera well plugged in?)\n",
5959

6060
The acknoledge data that you received isn't right, the checksum byte isn't good
6161

‎keywords.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
#######################################
2-
# Syntax Coloring Map Servo
2+
# Syntax Coloring
33
#######################################
44

55
#######################################

‎library.properties‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
name=Pelco_And_Arduino
2-
version=2.1.0
2+
version=2.2.0
33
author=Boris Hilkens <pixelbo21@gmail.com>
44
maintainer=Boris Hilkens <pixelbo21@gmail.com>
55
sentence=This library makes Pelco cameras moves!

‎src/PelcoBus.cpp‎

Lines changed: 63 additions & 53 deletions
Original file line numberDiff line numberDiff line change
@@ -5,13 +5,9 @@
55
*
66
* @section Written by Boris Hilkens 05/06/2022
77
*
8-
* @section license License
9-
*
108
* MIT license, all text above must be included in any redistribution
119
*/
1210

13-
14-
1511
#include <SoftwareSerial.h>
1612

1713
#include "Arduino.h"
@@ -30,7 +26,7 @@
3026
*
3127
*/
3228

33-
PelcoBus::PelcoBus(uint8_t txPin, uint8_t rxPin, uint8_t readEnPin) {
29+
PelcoBus::PelcoBus(uint8_t rxPin, uint8_t txPin, uint8_t readEnPin) {
3430
txPin_ = txPin;
3531
rxPin_ = rxPin;
3632
rePin_ = readEnPin;
@@ -41,7 +37,7 @@ PelcoBus::PelcoBus(uint8_t txPin, uint8_t rxPin, uint8_t readEnPin) {
4137
*
4238
*/
4339

44-
void PelcoBus::begin(uint32_t config, bool log_messages = false) {
40+
void PelcoBus::begin(uint32_t config, bool log_messages) {
4541
uint16_t baud;
4642

4743
switch (config) {
@@ -56,33 +52,36 @@ void PelcoBus::begin(uint32_t config, bool log_messages = false) {
5652
break;
5753
}
5854

55+
log_messages_ = false;
56+
5957
if (log_messages) {
60-
/* if (!Serial) {
58+
if (!Serial) {
6159
Serial.begin(9600);
62-
} */
60+
}
61+
6362
Serial.print(F("Message log has been activated for the Pelco Bus!\n"));
6463

65-
sprintf_P(log_buffer, (const char * ) F("PelcoBus config: baud=%u and protocol D \n"), baud);
64+
sprintf_P(log_buffer, (const char *)F("PelcoBus config: baud=%u and protocol D\n"), baud);
6665
Serial.print(log_buffer);
6766

6867
log_messages_ = true;
69-
} else {
70-
log_messages_ = false;
7168
}
7269

73-
if (rePin_ == NOT_A_PIN) {
74-
autoModule_ = true; // Is the module an auto switching between tx and RX ?
75-
} else {
70+
// Declare pins
71+
pinMode(rxPin_, INPUT);
72+
pinMode(txPin_, OUTPUT);
73+
74+
// Is the module an auto switching between tx and RX ?
75+
autoModule_ = true;
76+
77+
if (rePin_ != -1) {
7678
pinMode(rePin_, OUTPUT);
7779
autoModule_ = false;
78-
}
7980

80-
pinMode(txPin_, OUTPUT);
81-
pinMode(rxPin_, INPUT);
82-
83-
if (!autoModule_)
8481
digitalWrite(rePin_, HIGH); // Set the module in tx mode
82+
}
8583

84+
// Initialize the serial bus
8685
SerialCamBus = new SoftwareSerial(rxPin_, txPin_);
8786
(*SerialCamBus).begin(baud);
8887
}
@@ -91,14 +90,15 @@ void PelcoBus::begin(uint32_t config, bool log_messages = false) {
9190
* @brief Send message to the camera
9291
*
9392
* @param address Address of the camera
93+
* @param disableACK Disable ACK
9494
* @param command the wanted command (see header)
9595
* @param data1 Main parameter
9696
* @param data2 Second parameter for command that requires 2 parameters
9797
* @return true if succeed, false if not succeed
9898
*
9999
*/
100100

101-
bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint16_t data1 = 0x00, uint8_t data2 = 0x00) {
101+
bool PelcoBus::command(uint8_t address, bool disableACK, uint8_t command, uint16_t data1, uint8_t data2) {
102102
messToCamera[0] = 0xFF; // The first byte is always FF (sync)
103103
messToCamera[1] = address; // the second is the adress
104104

@@ -129,7 +129,8 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
129129

130130
} else if ((searchIndexPROGMEM(QUERY_CMND, command) != -1 && !disableACK)) {
131131
if (log_messages_) {
132-
sprintf_P(log_buffer, (const char * ) F("Cam %i: You are doing an query into send command ??????????"), address);
132+
sprintf_P(log_buffer, (const char *)F("Cam %i: You are doing an query into send command ??????????"),
133+
address);
133134
Serial.print(log_buffer);
134135
}
135136
return false;
@@ -145,8 +146,9 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
145146
0x100; // Checksum modulo 0x100
146147

147148
if (log_messages_) { // log the message
148-
sprintf_P(log_buffer, (const char * ) F("Cam %i: Sending message: "), address);
149+
sprintf_P(log_buffer, (const char *)F("Cam %i: Sending message: "), address);
149150
Serial.print(log_buffer);
151+
150152
for (int i = 0; i < 7; i++) {
151153
sprintf(log_buffer, "%02X", messToCamera[i]);
152154
Serial.print(log_buffer);
@@ -157,11 +159,10 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
157159

158160
(*SerialCamBus).write(messToCamera, sizeof(messToCamera)); // Write to the camera
159161

160-
161162
///////////////////////////////////
162163

163-
164-
if ((!disableACK) && (!disableACK)) { // Check the response of the camera only if it isn't a request or the camera does not support return
164+
if (!disableACK) { // Check the response of the camera only if it isn't a request or the camera does not support
165+
// return
165166
int timeout = 10000; // 10 millissecond wait
166167

167168
if (!autoModule_)
@@ -171,8 +172,9 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
171172
if (timeout == 0) { // If timeout is reached
172173
if (log_messages_) {
173174
sprintf_P(log_buffer,
174-
(const char * ) F("Cam %i: ERROR Could not verify camera ACK: timeout reached (is camera well plugged in?)\n"),
175-
address);
175+
(const char *)F("Cam %i: ERROR Could not verify camera ACK: timeout reached (is camera "
176+
"well plugged in?)\n"),
177+
address);
176178
Serial.print(log_buffer);
177179
}
178180
if (!autoModule_)
@@ -182,8 +184,9 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
182184
timeout--;
183185
delayMicroseconds(10);
184186
}
187+
185188
if (log_messages_) {
186-
sprintf_P(log_buffer, (const char * ) F("Cam %i: Reading Acknoledge from camera\n"), address);
189+
sprintf_P(log_buffer, (const char *)F("Cam %i: Reading Acknoledge from camera\n"), address);
187190
Serial.print(log_buffer);
188191
}
189192

@@ -193,7 +196,7 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
193196
digitalWrite(rePin_, HIGH); // set back at TX mode
194197

195198
if (log_messages_) {
196-
sprintf_P(log_buffer, (const char * ) F("Cam %i: Received ACK data (may be wrong): "), address);
199+
sprintf_P(log_buffer, (const char *)F("Cam %i: Received ACK data (may be wrong): "), address);
197200
Serial.print(log_buffer);
198201

199202
for (int i = 0; i < 7; i++) {
@@ -205,9 +208,11 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
205208

206209
if (ACKmessFromCamera[0] != 0xFF) { // Check sync byte and checksum of the previous comand
207210
if (log_messages_) {
208-
sprintf_P(log_buffer,
209-
(const char * ) F("Cam %i: ERROR Could not verify camera ACK: bad sync byte (is camera well plugged in?)\n"),
210-
address);
211+
sprintf_P(
212+
log_buffer,
213+
(const char *)F(
214+
"Cam %i: ERROR Could not verify camera ACK: bad sync byte (is camera well plugged in?)\n"),
215+
address);
211216
Serial.print(log_buffer);
212217
}
213218
return false;
@@ -216,18 +221,21 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
216221
if (ACKmessFromCamera[1] != address) { // Check adress byte
217222
if (log_messages_) {
218223
sprintf_P(log_buffer,
219-
(const char * ) F("Cam %i: ERROR Could not verify camera ACK: bad address (is camera well plugged in?)\n"),
220-
address);
224+
(const char *)F(
225+
"Cam %i: ERROR Could not verify camera ACK: bad address (is camera well plugged in?)\n"),
226+
address);
221227
Serial.print(log_buffer);
222228
}
223229
return false;
224230
}
225231

226232
if (ACKmessFromCamera[2] != 0x00) { // check the always 0 byte (alarm byte)
227233
if (log_messages_) {
228-
sprintf_P(log_buffer,
229-
(const char * ) F("Cam %i: ERROR Could not verify camera ACK: bad null ???? (is camera well plugged in?)\n"),
230-
address);
234+
sprintf_P(
235+
log_buffer,
236+
(const char *)F(
237+
"Cam %i: ERROR Could not verify camera ACK: bad null ???? (is camera well plugged in?)\n"),
238+
address);
231239
Serial.print(log_buffer);
232240
}
233241
return false;
@@ -236,15 +244,16 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
236244
if (ACKmessFromCamera[3] != messToCamera[6]) { // Check the checksum
237245
if (log_messages_) {
238246
sprintf_P(log_buffer,
239-
(const char * ) F("Cam %i: ERROR Could not verify camera ACK: bad checksum (is camera well plugged in?)\n"),
240-
address);
247+
(const char *)F(
248+
"Cam %i: ERROR Could not verify camera ACK: bad checksum (is camera well plugged in?)\n"),
249+
address);
241250
Serial.print(log_buffer);
242251
}
243252
return false;
244253
}
245254

246255
if (log_messages_) {
247-
sprintf_P(log_buffer, (const char * ) F("Cam %i: Message sent and ACK received!\n"), address);
256+
sprintf_P(log_buffer, (const char *)F("Cam %i: Message sent and ACK received!\n"), address);
248257
Serial.print(log_buffer);
249258
}
250259
return true;
@@ -261,14 +270,14 @@ bool PelcoBus::command(uint8_t address, bool disableACK , uint8_t command, uint1
261270
* @return true if succeded, false if an error occured
262271
*/
263272

264-
uint16_t PelcoBus::request(uint8_t address, uint8_t request, int timeout = 1000) {
273+
uint16_t PelcoBus::request(uint8_t address, uint8_t request, int timeout) {
265274
byte response_command;
266275

267276
if (searchIndexPROGMEM(QUERY_CMND, request) != -1) {
268277
response_command = pgm_read_byte(&RESP_CMND[searchIndexPROGMEM(QUERY_CMND, request)]); // Magic!
269278
} else {
270279
if (log_messages_) {
271-
sprintf_P(log_buffer, (const char * ) F("Cam %i: No valid request provided\n"), address);
280+
sprintf_P(log_buffer, (const char *)F("Cam %i: No valid request provided\n"), address);
272281
Serial.print(log_buffer);
273282
Serial.println(request);
274283
}
@@ -286,7 +295,7 @@ uint16_t PelcoBus::request(uint8_t address, uint8_t request, int timeout = 1000)
286295
while (!(*SerialCamBus).available()) { // Wait for the first bit
287296
if (timeout == 0) { // If timeout is reached
288297
if (log_messages_) {
289-
sprintf_P(log_buffer, (const char * ) F("Cam %i: ERROR timout reached\n"), address);
298+
sprintf_P(log_buffer, (const char *)F("Cam %i: ERROR timout reached\n"), address);
290299
Serial.print(log_buffer);
291300
}
292301
if (!autoModule_) {
@@ -314,7 +323,7 @@ uint16_t PelcoBus::request(uint8_t address, uint8_t request, int timeout = 1000)
314323

315324
if (command_index == -1) { // Checks if found
316325
if (log_messages_) {
317-
sprintf_P(log_buffer, (const char * ) F("Cam %i: Warn: no reponse from camera (bad index)\n"), address);
326+
sprintf_P(log_buffer, (const char *)F("Cam %i: Warn: no reponse from camera (bad index)\n"), address);
318327
Serial.print(log_buffer);
319328
}
320329
return -1;
@@ -334,7 +343,7 @@ uint16_t PelcoBus::request(uint8_t address, uint8_t request, int timeout = 1000)
334343
}
335344

336345
if (log_messages_) {
337-
sprintf_P(log_buffer, (const char * ) F("Cam %i: Message from camera: "), address);
346+
sprintf_P(log_buffer, (const char *)F("Cam %i: Message from camera: "), address);
338347
Serial.print(log_buffer);
339348
for (int i = 0; i < 7; i++) {
340349
sprintf(log_buffer, "%02X ", messFromcamera[i]);
@@ -346,8 +355,9 @@ uint16_t PelcoBus::request(uint8_t address, uint8_t request, int timeout = 1000)
346355
return (uint16_t)((((uint16_t)messFromcamera[4]) << 8) | ((uint16_t)messFromcamera[5])); // Return LSB data
347356
}
348357

349-
////////todo get the response if it is a query or extended one!!
358+
// todo get the response if it is a query or extended one!!
350359
bool PelcoBus::send_raw(String hex_string) {
360+
351361
hex_string.replace(" ", ""); // Replace spaces
352362

353363
int size = hex_string.length() / 2; // Size of the string without space
@@ -365,25 +375,26 @@ bool PelcoBus::send_raw(String hex_string) {
365375

366376
if (raw_command[0] != 0xFF) {
367377
if (log_messages_) {
368-
sprintf_P(log_buffer, (const char * ) F("Cam %i: Wrong sync byte, updating to right sync byte\n"), address);
378+
sprintf_P(log_buffer, (const char *)F("Cam %i: Wrong sync byte, updating to right sync byte\n"), address);
369379
Serial.print(log_buffer);
370380
}
371381
raw_command[0] = 0xFF;
372382
}
373383

374-
/////Check checksum
384+
/////Check checksum if wrong, replace it
375385
uint8_t checksum = (raw_command[1] + raw_command[2] + raw_command[3] + raw_command[4] + raw_command[5]) % 0x100;
386+
376387
if (checksum != raw_command[6]) {
377388
if (log_messages_) {
378-
sprintf_P(log_buffer, (const char * ) F("Cam %i: Wrong checksum, updating to right checksum\n"), address);
389+
sprintf_P(log_buffer, (const char *)F("Cam %i: Wrong checksum, updating to right checksum\n"), address);
379390
Serial.print(log_buffer);
380391
}
381392

382393
raw_command[6] = checksum;
383394
}
384395

385396
if (log_messages_) {
386-
sprintf_P(log_buffer, (const char * ) F("Cam %i: sending message "), address);
397+
sprintf_P(log_buffer, (const char *)F("Cam %i: sending message "), address);
387398
Serial.print(log_buffer);
388399
for (int i = 0; i < 7; i++) {
389400
sprintf(log_buffer, "%02X ", messFromcamera[i]);
@@ -397,7 +408,6 @@ bool PelcoBus::send_raw(String hex_string) {
397408
return true;
398409
}
399410

400-
401411
/*!
402412
* @brief Search a value trough a array of bytes one function is for progmem the other one isn't for progmem
403413
*
@@ -417,8 +427,8 @@ int PelcoBus::searchIndexPROGMEM(const byte look_array[], byte value) {
417427
return -1;
418428
}
419429

420-
int PelcoBus::searchIndex(byte look_array[], byte value,
421-
size_t size) { // For an x or y reason sizeof don't work properly
430+
// For an x or y reason sizeof don't work properly
431+
int PelcoBus::searchIndex(byte look_array[], byte value, size_t size) {
422432

423433
int i = 0;
424434
for (i = 0; i <= (size); i++) {

0 commit comments

Comments
 (0)