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‎Protocol and errors.md‎

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# Here is some explanation for the errors that you can get:
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When you send some data, the frame is like this:
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uint8_t messToCamera[7] = {
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0xFF, // sync byte
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0x01, // Address
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0x00, // Always 0 (in most of the cases)
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0x02, // Command
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0x00, // Data1 (Used for pan speed and response from camera)
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0x3F, // Data2 (Used everywhere)
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0x42 // Checksum: add all byte except sync and then modulo 0x100
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};
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When you receive ACK from the camera, it's like this:
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uint8_t ACKmessFromCamera[4] = {
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0xFF, //sync byte
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0x01, //Adress
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0x00, // 0?
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0x42 //Checksum taken for the previous message
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};
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When you receive data from the camera (see get_position), it's like this:
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uint8_t messFromcamera[7] = {
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0xFF, // sync byte
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0x01, // Address
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0x00, // Always 0 (in most of the cases)
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0x59, // Respond to the query command
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0x20, // Data MSB
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0x15, // DATA LSB
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0x8F // Checksum: add all byte except sync and then modulo 0x100
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};
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## So here are the errors you might encounter:
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### Acknoledge errors
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"Cam 1: ERROR Could not verify camera ACK: timeout reached (is camera well plugged in?)\n"
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The acknoledge took too long to be received, maybe the camera isn't plugged in.
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Default timeout is 10 ms.
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"Cam 1: ERROR Could not verify camera ACK: bad sync byte (is camera well plugged in?)\n",
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The acknoledge data that you received isn't right, the sync byte isn't detect by the program
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"Cam 1: ERROR Could not verify camera ACK: bad address (is camera well plugged in?)\n",
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The acknoledge data that you received isn't right, the address byte isn't the one from the camera
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"Cam 1: ERROR Could not verify camera ACK: bad null ???? (is camera well plugged in?)\n",
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The acknoledge data that you received isn't right, the null byte (the third one) isn't detected by the program
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"Cam %i: ERROR Could not verify camera ACK: bad checksum (is camera well plugged in?)\n",
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The acknoledge data that you received isn't right, the checksum byte isn't good
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### Request errors
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"Cam 1: No valid request provided\n"
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The command you provided isn't listed as a request (valid request are: QUERY_PAN, QUERY_TILT, QUERY_ZOOM)
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"Cam 1: ERROR timout reached\n"
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Same error as the acknoledge timeout
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"Cam 1: Warn: no reponse from camera (bad index)\n"
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The data received from the camera isn't properly "aligned", the program seek for the respond command and throw
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this error if it isn't at the fourth byte.

‎README.md‎

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@@ -34,6 +34,8 @@ The important thing is to set the camera is RS485 biderectional and with the bau
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About the modules for RS485, I'm working with a standart MAX485 chip but I'll test a more advanced module on the future (a seed-groove max485 module).
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Tested on Arduino UNO and ESP32
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## Exemple
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go to the examples folder

‎examples/get_position/get_position.ino‎

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PelcoCam MyPelcoCam(01, //Address of the camera
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PELCO_D9600,//Config
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6, //TX pin
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7, //RX pin
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6, //TX pin (Arduino to Cam)
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7, //RX pin (Cam to Arduino)
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false, //Enable logging?
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8); // RE pin for manual switching modules set to -1 if it is a auto module (like a groove one)
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void setup() {
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// Begin the serial communication If you enabled logging, no need to begin the normal serial
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MyPelcoCam.begin();
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Serial.begin(9600);
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// Begin the serial communication
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MyPelcoCam.begin();
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// Send stop, send_command will return a bool that indicates if the cameras sended its ACK
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// It's a good way to see if the camera is plugged in
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while (!MyPelcoCam.send_command(STOP)) {

‎examples/send_raw/send_raw.ino‎

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PelcoCam MyPelcoCam(01, //Address of the camera
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PELCO_D9600,//Config
6-
6, //TX pin
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7, //RX pin
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7, //RX pin (Cam to Arduino)
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6, //TX pin (Arduino to Cam)
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true, //Enable logging?
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8); // RE pin for manual switching modules set to -1 if it is a auto module (like a groove one)
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void setup() {
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//Begin the serial communication If you enabled logging, no need to begin the normal serial
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Serial.begin(9600);
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//Begin the serial communication
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MyPelcoCam.begin();
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//Send stop, send_command will return a bool that indicates if the cameras sended its ACK

‎examples/set_position/set_position.ino‎

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PelcoCam MyPelcoCam(01, //Address of the camera
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PELCO_D9600,//Config
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6, //TX pin
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7, //RX pin
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7, //RX pin (Cam to Arduino)
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6, //TX pin (Arduino to Cam)
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true, //Enable logging?
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8); // RE pin for manual switching modules set to -1 if it is a auto module (like a groove one)
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void setup() {
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//Begin the serial communication If you enabled logging, no need to begin the normal serial
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Serial.begin(9600);
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//Begin the serial communication
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MyPelcoCam.begin();
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//Send stop, send_command will return a bool that indicates if the cameras sended its ACK

‎examples/simple/simple.ino‎

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PelcoCam MyPelcoCam(01, //Address of the camera
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PELCO_D9600,//Config
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6, //TX pin
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7, //RX pin
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7, //RX pin (Cam to Arduino)
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6, //TX pin (Arduino to Cam)
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true, //Enable logging?
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8); // RE pin for manual switching modules set to -1 if it is a auto module (like a groove one)
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void setup() {
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//Begin the serial communication If you enabled logging, no need to begin the normal serial
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Serial.begin(9600);
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//Begin the serial communication
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MyPelcoCam.begin();
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//Send stop, send_command will return a bool that indicates if the cameras sended its ACK

‎library.properties‎

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name=Pelco_And_Arduino
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version=1.0.0
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version=1.1.0
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author=Boris Hilkens <pixelbo21@gmail.com>
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maintainer=Boris Hilkens <pixelbo21@gmail.com>
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sentence=This library makes Pelco cameras moves!
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paragraph=With simple arduino coding, you can move multiple Pelco camera and even do more!
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category=Device Control
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url=https://github.com/Pixelbo/Pelco_And_Arduino
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architectures=*
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architectures=avr, esp32

‎src/Pelco_And_Arduino.cpp‎

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*
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* @param Address The address of the camera
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* @param baud baud of the cameras
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* @param txPin the TX pin of the module (Arduino to Cam)
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* @param rxPin the RX pin of the module (Cam to Arduino)
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* @param txPin the TX pin of the module (Arduino to Cam)
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* @param log_messages Print log messages of this camera
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* @param readEnPin Pin for RS485 modules that require toggle between rx and
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* tx (RE and \DE pin of the module)
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*
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*/
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PelcoCam::PelcoCam(uint8_t address, uint32_t config, uint8_t txPin, uint8_t rxPin, bool log_messages,
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PelcoCam::PelcoCam(uint8_t address, uint32_t config, uint8_t rxPin, uint8_t txPin, bool log_messages,
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uint8_t readEnPin) {
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address_ = address;
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config_ = config;
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if (log_messages_) {
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sprintf(
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log_buffer,
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"Cam %i: ERROR Could not verify camera reponse: timeout reached (is camera well plugged in?)\n",
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"Cam %i: ERROR Could not verify camera ACK: timeout reached (is camera well plugged in?)\n",
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address_);
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Serial.print(log_buffer);
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}
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timeout--;
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delayMicroseconds(10);
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}
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if(log_messages_){
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sprintf(
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log_buffer,
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"Cam %i: Reading Acknoledge from camera\n",
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address_);
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Serial.print(log_buffer);
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}
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(*SerialCam).readBytes(ACKmessFromCamera, 4); // General response is 4 byte
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if (!autoModule_)
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digitalWrite(rePin_, HIGH); // set back at TX mode
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if (log_messages_) {
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sprintf(log_buffer, "Cam %i: Received ACK data (may be wrong): ", address_);
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Serial.print(log_buffer);
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for (int i = 0; i < 7; i++) {
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sprintf(log_buffer, "%02X ", messFromcamera[i]);
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Serial.print(log_buffer);
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}
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Serial.println();
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}
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if (ACKmessFromCamera[0] != 0xFF) { // Check sync byte and checksum of the previous comand
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if (log_messages_) {
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sprintf(log_buffer,
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"Cam %i: ERROR Could not verify camera reponse: bad sync byte (is camera well plugged in?)\n",
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"Cam %i: ERROR Could not verify camera ACK: bad sync byte (is camera well plugged in?)\n",
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address_);
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Serial.print(log_buffer);
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}
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if (ACKmessFromCamera[1] != address_) { // Check adress byte
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if (log_messages_) {
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sprintf(log_buffer,
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"Cam %i: ERROR Could not verify camera reponse: bad address (is camera well plugged in?)\n",
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"Cam %i: ERROR Could not verify camera ACK: bad address (is camera well plugged in?)\n",
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address_);
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Serial.print(log_buffer);
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}
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if (ACKmessFromCamera[2] != 0x00) { // check the always 0 byte (alarm byte)
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if (log_messages_) {
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sprintf(log_buffer,
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"Cam %i: ERROR Could not verify camera reponse: bad null ???? (is camera well plugged in?)\n",
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"Cam %i: ERROR Could not verify camera ACK: bad null ???? (is camera well plugged in?)\n",
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address_);
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Serial.print(log_buffer);
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}
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if (ACKmessFromCamera[3] != messToCamera[6]) { // Check the checksum
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if (log_messages_) {
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sprintf(log_buffer,
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"Cam %i: ERROR Could not verify camera reponse: bad checksum (is camera well plugged in?)\n",
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"Cam %i: ERROR Could not verify camera ACK: bad checksum (is camera well plugged in?)\n",
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address_);
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Serial.print(log_buffer);
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}

‎src/Pelco_And_Arduino.h‎

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int searchIndexPROGMEM(const byte look_array[], byte value);
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public:
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PelcoCam(uint8_t address, uint32_t config, uint8_t txPin, uint8_t rxPin, bool log_messages = false, uint8_t readEnPin = NOT_A_PIN);
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PelcoCam(uint8_t address, uint32_t config, uint8_t rxPin, uint8_t txPin, bool log_messages = false, uint8_t readEnPin = NOT_A_PIN);
7171
void begin();
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bool send_command(uint8_t command, uint16_t data1 = 0x00, uint8_t data2 = 0x00, bool request = false);

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