Skip to content

Commit 43d7986

Browse files
PixelboPixelbo
committed
a bit better
1 parent ee85a20 commit 43d7986

3 files changed

Lines changed: 52 additions & 28 deletions

File tree

‎src/Pelco-D-CommandList.jpg‎

298 KB
Loading

‎src/Pelco_And_Arduino.cpp‎

Lines changed: 44 additions & 27 deletions
Original file line numberDiff line numberDiff line change
@@ -82,7 +82,8 @@ void PelcoCam::begin() {
8282
}
8383

8484
if (log_messages_)
85-
Serial.printf("Cam %i: Pelco config: baud=%u and protocol=%d (0 for D and 1 for P) \n", address_, baud, protocol);
85+
Serial.printf("Cam %i: Pelco config: baud=%u and protocol=%d (0 for D and 1 for P) \n", address_, baud,
86+
protocol);
8687

8788
if (rePin_ == NOT_A_PIN) {
8889
autoModule_ = true; // Is the module an auto switching between tx and RX ?
@@ -108,38 +109,46 @@ void PelcoCam::begin() {
108109
* @param params2 Second parameter for command that requires 2 parameters
109110
* @param params2 Second parameter for command that requires 2 parameters
110111
*
111-
* @return true if succeed false if not succeed
112+
* @return true if succeed, false if not succeed
112113
*
113114
*/
114115

115116
bool PelcoCam::send_command(uint8_t command, uint8_t params, uint8_t params2, bool request) {
116-
messToCamera[0] = 0xFF;
117-
messToCamera[1] = address_;
117+
messToCamera[0] = 0xFF; //The first byte is always FF (sync)
118+
messToCamera[1] = address_; // the second is the adress
118119

119-
if (command == ON || command == OFF || command == FOCUS_N) { // If the command is on or off, set the command to
120-
// uint8_t 3
120+
121+
//the thrid byte is determined by the command itself (see the command list)
122+
123+
if (command == ON || command == OFF || command == FOCUS_N) { // If the command is on or off, set the command to the third byte
121124
messToCamera[2] = command;
122125
messToCamera[3] = 0x00;
123126
} else {
124127
messToCamera[2] = 0x00;
125128
messToCamera[3] = command;
126129
}
127-
if (command == PAN_L || command == PAN_R) {
130+
131+
132+
if (command == PAN_L || command == PAN_R) {////Only for PAN Left and right you doing this
128133
messToCamera[4] = params;
129134
messToCamera[5] = 0x00;
130-
} else if (command == PAN_L_TILT_U || command == PAN_R_TILT_U || command == PAN_L_TILT_D ||
135+
} else if (command == PAN_L_TILT_U || command == PAN_R_TILT_U || command == PAN_L_TILT_D || //Commands that takes two params
131136
command == PAN_R_TILT_D) {
132137
messToCamera[4] = params2;
133138
messToCamera[5] = params;
134-
} else {
139+
} else { //"Normal" condition
135140
messToCamera[4] = 0x00;
136141
messToCamera[5] = params;
137142
}
138143

139-
messToCamera[6] =
140-
(messToCamera[1] + messToCamera[2] + messToCamera[3] + messToCamera[4] + messToCamera[5]) % 0x100; // Checksum
144+
messToCamera[6] = (messToCamera[1]
145+
+ messToCamera[2]
146+
+ messToCamera[3]
147+
+ messToCamera[4]
148+
+ messToCamera[5]) % 0x100; // Checksum modulo 0x100
141149

142-
if (log_messages_) {
150+
151+
if (log_messages_) { //log the message
143152
Serial.printf("Cam %i: Sending message: ", address_);
144153
for (int i = 0; i < 7; i++) {
145154
Serial.printf("%02X", messToCamera[i]);
@@ -148,19 +157,20 @@ bool PelcoCam::send_command(uint8_t command, uint8_t params, uint8_t params2, bo
148157
Serial.println();
149158
}
150159

151-
SerialCam.write(messToCamera, sizeof(messToCamera));
160+
SerialCam.write(messToCamera, sizeof(messToCamera)); //Write to the camera
152161

153162
if (!request) { // Check the response of the camera
154163
int timeout = 10000; // 10 millissecond wait
155-
byte buffer[4]; // Buffer for the reception from the camera
156164

157165
if (!autoModule_)
158166
digitalWrite(rePin_, LOW); // Set the module at RX mode
159167

160168
while (!SerialCam.available()) { // Wait for the first bit
161169
if (timeout == 0) { // If timeout is reached
162170
if (log_messages_)
163-
Serial.printf("Cam %i: ERROR Could not verify camera reponse: timeout reached (is camera well plugged in?)\n", address_);
171+
Serial.printf(
172+
"Cam %i: ERROR Could not verify camera reponse: timeout reached (is camera well plugged in?)\n",
173+
address_);
164174
if (!autoModule_)
165175
digitalWrite(rePin_, HIGH); // set back at TX mode
166176
return false;
@@ -169,30 +179,37 @@ bool PelcoCam::send_command(uint8_t command, uint8_t params, uint8_t params2, bo
169179
delayMicroseconds(10);
170180
}
171181

172-
SerialCam.readBytes(buffer, 4);
182+
SerialCam.readBytes(ACKmessFromCamera, 4);
173183

174184
if (!autoModule_)
175185
digitalWrite(rePin_, HIGH); // set back at TX mode
176186

177-
int command_index = searchIndex(buffer, messToCamera[6]); // Looks up where is the index of the response TODO: verify every command
178187

179-
if (command_index != 3) { // Checks if found
180-
if(messToCamera[6] != 0x01){//Filter stop command cause checksum==1
188+
/// TODO better
189+
int command_index = searchIndex(
190+
ACKmessFromCamera, messToCamera[6]); // Looks up where is the index of the response TODO: verify every command
191+
192+
if (command_index != 3) { // Checks if found
193+
if (messToCamera[6] != 0x01) { // Filter stop command cause checksum==1
181194
if (log_messages_)
182-
Serial.printf("Cam %i: ERROR Could not verify camera reponse: bad index (is camera well plugged in?)\n", address_);
195+
Serial.printf(
196+
"Cam %i: ERROR Could not verify camera reponse: bad index (is camera well plugged in?)\n",
197+
address_);
183198
return false;
184199
}
185200
}
186201

187-
if (buffer[command_index - 3] != 0xFF) { // Check sync byte and checksum of the previous comand
188-
if(messToCamera[6] != 0x01){//Filter stop command cause checksum==1
189-
if (log_messages_)
190-
Serial.printf("Cam %i: ERROR Could not verify camera reponse: bad sync byte (is camera well plugged in?)\n", address_);
191-
return false;
192-
}
202+
if (ACKmessFromCamera[command_index - 3] != 0xFF) { // Check sync byte and checksum of the previous comand
203+
if (messToCamera[6] != 0x01) { // Filter stop command cause checksum==1
204+
if (log_messages_)
205+
Serial.printf(
206+
"Cam %i: ERROR Could not verify camera reponse: bad sync byte (is camera well plugged in?)\n",
207+
address_);
208+
return false;
209+
}
193210
}
194211

195-
if (log_messages_)
212+
if (log_messages_) //log
196213
Serial.printf("Cam %i: Message sent and ACK received!\n", address_);
197214
return true;
198215
}

‎src/Pelco_And_Arduino.h‎

Lines changed: 8 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -56,6 +56,13 @@ class PelcoCam
5656
0x00 // Checksum: add all byte except sync and then modulo 0x100
5757
};
5858

59+
uint8_t ACKmessFromCamera[4] = {
60+
0x00, //sync byte
61+
0x00, //Adress ?
62+
0x00, // 0?
63+
0x00 //Checksum taken for the previous message
64+
};
65+
5966
int searchIndex(byte look_array[], byte value);
6067

6168
public:
@@ -64,7 +71,7 @@ class PelcoCam
6471

6572
bool send_command(uint8_t command, uint8_t params = 0x00, uint8_t params2 = 0x00, bool request = false);
6673
int send_request(uint8_t request, uint timeout = 1000, uint max_buffer = 20);
67-
void send_raw(String hex_string);
74+
void send_raw(String hex_string); // TODO: get ACK
6875
};
6976

7077
#endif

0 commit comments

Comments
 (0)