changes: constantst , handling special commands

Author: Pixelbo

README.md

@@ -8,11 +8,11 @@
 
 Hello, this is an Arduino library designed to control Pelco Cameras!
 
-For now it can support PELCO-D protocol but I havn't got tested everything yet.
+For now it can support **PELCO-D** protocol but I havn't got tested everything yet.
 
 This library was made for the project: [Controlling a cctv camera on Arduino](https://hackaday.io/project/183986-controlling-a-cctv-camera-with-arduino) on hacakday.io
 
-Before you go on, this is a school, project, I'm still in school and learnings things so be kind if the libray is ugly. I would like to thanks my school and teachers for allowing me to work on this project.
+*Before you go on, this is a school, project, I'm still in school and learnings things so be kind if the libray is ugly. I would like to thanks my school and teachers for allowing me to work on this project.*
 
 The main goal of the project is to do a control table (It'll be on arduino.)
 

src/Pelco_And_Arduino.cpp

@@ -66,19 +66,6 @@ void PelcoCam::begin() {
         protocol = D;
         baud = 9600;
         break;
-
-    case PELCO_P2400:
-        protocol = P;
-        baud = 2400;
-        break;
-    case PELCO_P4800:
-        protocol = P;
-        baud = 4800;
-        break;
-    case PELCO_P9600:
-        protocol = P;
-        baud = 9600;
-        break;
     }
 
     if (log_messages_)
@@ -105,42 +92,47 @@ void PelcoCam::begin() {
  *  @brief  Send message to the camera
  *
  *  @param  command the wanted command (see header)
- *  @param  params Main parameter
- *  @param  params2 Second parameter for command that requires 2 parameters
- *  @param  params2 Second parameter for command that requires 2 parameters
- *
+ *  @param  data1 Main parameter
+ *  @param  data2 Second parameter for command that requires 2 parameters
  *  @return true if succeed, false if not succeed
  *
  */
 
-bool PelcoCam::send_command(uint8_t command, uint8_t params, uint8_t params2, bool request) {
+bool PelcoCam::send_command(uint8_t command, uint8_t data1, uint8_t data2, bool request) {
     messToCamera[0] = 0xFF;         //The first byte is always FF (sync)
     messToCamera[1] = address_;     // the second is the adress
 
+    //Special commands handling:
 
-    //the thrid byte is determined by the command itself (see the command list)
-
-    if (command == ON || command == OFF || command == FOCUS_N) { // If the command is on or off, set the command to the third byte
-        messToCamera[2] = command;
+    if(searchIndex(CMND1, command)!=-1){
+        messToCamera[2] = command - 0b01100000; //Minus the thing that differentiate from others
         messToCamera[3] = 0x00;
-    } else {
+        messToCamera[4] = 0x00;
+        messToCamera[5] = 0x00;
+    }else{//that means command is the byte 4
         messToCamera[2] = 0x00;
         messToCamera[3] = command;
-    }
-
 
-    if (command == PAN_L || command == PAN_R) {////Only for PAN Left and right you doing this
-        messToCamera[4] = params;
-        messToCamera[5] = 0x00;
-    } else if (command == PAN_L_TILT_U || command == PAN_R_TILT_U || command == PAN_L_TILT_D || //Commands that takes two params
-               command == PAN_R_TILT_D) {
-        messToCamera[4] = params2;
-        messToCamera[5] = params;
-    } else { //"Normal" condition
-        messToCamera[4] = 0x00;
-        messToCamera[5] = params;
+        if(searchIndex(DATA1, command)!=-1){
+            messToCamera[4] = data1;
+            messToCamera[5] = 0x00;
+        }else if(searchIndex(DATA_BOTH, command)!=-1){
+            messToCamera[4] = data1;
+            messToCamera[5] = data2;
+        }else if(searchIndex(SETPOS, command)!=-1){
+            messToCamera[4] = (uint8_t) (data1 >> 8) & 0x00FF; // Get MSB
+            messToCamera[5] = (uint8_t) data1 & 0x00FF; // Get LSB
+        }else if(searchIndex(QUERY_CMND, command)!=-1){
+            if(log_messages_) Serial.printf("Cam %i: You are doing an query into send command ??????????", address_);
+            return false;
+        }else{
+            if(log_messages_) Serial.printf("Cam %i: No vlaid command? ??????????", address_);
+            return false;
+        }
     }
 
+    //////
+
     messToCamera[6] = (messToCamera[1] 
                      + messToCamera[2] 
                      + messToCamera[3] 
@@ -184,29 +176,37 @@ bool PelcoCam::send_command(uint8_t command, uint8_t params, uint8_t params2, bo
         if (!autoModule_)
             digitalWrite(rePin_, HIGH); // set back at TX mode
 
-
-        /// TODO better
-        int command_index = searchIndex(
-            ACKmessFromCamera, messToCamera[6]); // Looks up where is the index of the response TODO: verify every command
-
-        if (command_index != 3) {          // Checks if found
-            if (messToCamera[6] != 0x01) { // Filter stop command cause checksum==1
+        
+        if (ACKmessFromCamera[0] != 0xFF) { // Check sync byte and checksum of the previous comand
                 if (log_messages_)
                     Serial.printf(
-                        "Cam %i: ERROR Could not verify camera reponse: bad index (is camera well plugged in?)\n",
+                        "Cam %i: ERROR Could not verify camera reponse: bad sync byte (is camera well plugged in?)\n",
                         address_);
                 return false;
-            }
         }
 
-        if (ACKmessFromCamera[command_index - 3] != 0xFF) { // Check sync byte and checksum of the previous comand
-            if (messToCamera[6] != 0x01) {       // Filter stop command cause checksum==1
-                if (log_messages_)
-                    Serial.printf(
-                        "Cam %i: ERROR Could not verify camera reponse: bad sync byte (is camera well plugged in?)\n",
-                        address_);
-                return false;
-            }
+        if (ACKmessFromCamera[1] != address_) {//Check adress byte
+            if (log_messages_)
+                Serial.printf(
+                    "Cam %i: ERROR Could not verify camera reponse: bad address (is camera well plugged in?)\n",
+                    address_);
+            return false;
+        }
+
+        if (ACKmessFromCamera[2] != 0x00) {//check the always 0 byte
+            if (log_messages_)
+                Serial.printf(
+                    "Cam %i: ERROR Could not verify camera reponse: bad null ???? (is camera well plugged in?)\n",
+                    address_);
+            return false;
+        }
+
+        if (ACKmessFromCamera[3] != messToCamera[6]) {//Check the checksum
+            if (log_messages_)
+                Serial.printf(
+                    "Cam %i: ERROR Could not verify camera reponse: bad checksum (is camera well plugged in?)\n",
+                    address_);
+            return false;
         }
 
         if (log_messages_) //log
@@ -228,14 +228,8 @@ bool PelcoCam::send_command(uint8_t command, uint8_t params, uint8_t params2, bo
 int PelcoCam::send_request(uint8_t request, uint timeout, uint maxbuffer) {
     byte response_command;
 
-    if (request == QUERY_PAN) {
-        response_command == RESP_PAN;
-    } else if (request == QUERY_TILT) {
-        response_command = RESP_TILT;
-    } else if (request == QUERY_ZOOM) {
-        response_command = RESP_ZOOM;
-    } else if (request == QUERY_FOCUS) {
-        response_command = RESP_FOCUS;
+    if (searchIndex(QUERY_CMND, request)!=-1) {
+        response_command == RESP_CMND[searchIndex(QUERY_CMND, request)]; //Magic!
     } else {
         if (log_messages_)
             Serial.printf("Cam %i: No valid request provided\n", address_);
@@ -360,7 +354,7 @@ void PelcoCam::send_raw(String hex_string) {
  * @return the index of the element found
  */
 
-int PelcoCam::searchIndex(byte look_array[], byte value) {
+int PelcoCam::searchIndex(const byte look_array[], byte value) {
     for (int i = 0; i < sizeof(look_array) / sizeof(look_array[0]); i++) {
         if (look_array[i] == value) {
             return i;

src/Pelco_And_Arduino.h

@@ -63,13 +63,13 @@ class PelcoCam
         0x00  //Checksum taken for the previous message
     };
 
-    int searchIndex(byte look_array[], byte value);
+    int searchIndex(const byte look_array[], byte value);
 
 public:
     PelcoCam(uint8_t address, uint32_t config, uint8_t txPin, uint8_t rxPin, bool log_messages = false, uint8_t readEnPin = NOT_A_PIN);
     void begin();
 
-    bool send_command(uint8_t command, uint8_t params = 0x00, uint8_t params2 = 0x00, bool request = false);
+    bool send_command(uint8_t command, uint8_t data1 = 0x00, uint8_t data2 = 0x00, bool request = false);
     int send_request(uint8_t request, uint timeout = 1000, uint max_buffer = 20);
     void send_raw(String hex_string); // TODO: get ACK
 };

src/constants.h

@@ -2,50 +2,111 @@
 #define constants_H
 
 //////////////////////////////////////////Some constants stored in Progmem
-const uint8_t PROGMEM PAN_L = 0x04;
-const uint8_t PROGMEM PAN_R = 0x02;
-const uint8_t PROGMEM TILT_U = 0x08;
-const uint8_t PROGMEM TILT_D = 0x10;
 
-const uint8_t PROGMEM PAN_L_TILT_U = 0x0C;
-const uint8_t PROGMEM PAN_R_TILT_U = 0x0A;
-const uint8_t PROGMEM PAN_L_TILT_D = 0x14;
-const uint8_t PROGMEM PAN_R_TILT_D = 0x12;
+//////////////////////////////////////CMND1
+/////Basic commands bit 5 &6 are always 0
+#define FOCUS_N 0x61 //0x01 + 0b0110 0000
 
-const uint8_t PROGMEM ZOOM_T = 0x20;
-const uint8_t PROGMEM ZOOM_W = 0x40;
-const uint8_t PROGMEM SET_ZOOM_SPEED = 0x25; // Param from 00 to 03
+#define IRIS_O 0x62 //0x02 + 0b0110 0000
+#define IRIS_C 0x64 //0x04 + 0b0110 0000
 
-const uint8_t PROGMEM FOCUS_F = 0x80;
-const uint8_t PROGMEM FOCUS_N = 0x01;         //!!!!not byte 4 but 3
-const uint8_t PROGMEM SET_FOCUS_SPEED = 0x27; // Param from 00 to 03
-const uint8_t PROGMEM AUTO_FOCUS = 0x2B;      // Param from 00 to 02 (auto/on/off)
+#define OFF 0x68 //0x08 + 0b0110 0000
+#define ON 0xE8  //0x88 + 0b0110 0000
 
-const uint8_t PROGMEM STOP = 0x00;
+//////////////////////////////////////CMND2
+/////Basic commands
+#define STOP 0x00
 
-const uint8_t PROGMEM ON = 0x88; //!!!!not byte 4 but 3
-const uint8_t PROGMEM OFF = 0x08;
+#define PAN_R 0x02
+#define PAN_L 0x04
 
-const uint8_t PROGMEM RESET = 0x29;
+#define TILT_U 0x08
+#define TILT_D 0x10
 
-const uint8_t PROGMEM SET_PRESET = 0x03;  // data preset id
-const uint8_t PROGMEM GOTO_PRESET = 0x05; // data preset id
-const uint8_t PROGMEM CLR_PRESET = 0x07;  // data preset id
+#define ZOOM_T 0x20
+#define ZOOM_W 0x40
 
-const uint8_t PROGMEM QUERY_PAN = 0x51;
-const uint8_t PROGMEM QUERY_TILT = 0x53;
-const uint8_t PROGMEM QUERY_ZOOM = 0x55;
-const uint8_t PROGMEM QUERY_FOCUS = 0x61;
+#define FOCUS_F 0x80
 
-const uint8_t PROGMEM RESP_PAN = 0x59;
-const uint8_t PROGMEM RESP_TILT = 0x5B;
-const uint8_t PROGMEM RESP_ZOOM = 0x5D;
-const uint8_t PROGMEM RESP_FOCUS = 0x63;
+#define PAN_L_TILT_U 0x0C
+#define PAN_R_TILT_U 0x0A
+#define PAN_L_TILT_D 0x14
+#define PAN_R_TILT_D 0x12
+
+/////Complex commands
+#define SET_PRESET 0x03  // byte6: preset id
+#define CLR_PRESET 0x05  // byte6: preset id
+#define GOTO_PRESET 0x07 // byte6: preset id
+
+// Predifined preset (everything is call (goto) unless mentioned otherwise):
+#define PRESET_FLIP 0x21
+#define PRESET_ZERO_PAN 0x22
+#define PRESET_AUX_1 0x54 // set: on ; call:off
+#define PRESET_AUX_2 0x55 // set: on ; call:off
+#define PRESET_WIPER 0x56
+#define PRESET_WASHER 0x57
+#define PRESET_IR_IN 0x58
+#define PRESET_IR_OUT 0x59
+//#define PRESET_CLEAR 0x5E  NOT CLEAR????
+#define PRESET_MAIN_MENU 0x5F // Brings up the main menu (set)
+//
+
+#define SET_AUX 0x09   // byte6: aux id
+#define CLEAR_AUX 0x0B // byte6: aux id
+
+#define DUMMY 0x0D //??
+
+#define REMOTE_RESET 0x0F
+
+#define WRITE_CHAR 0x15 // Byte5: column Byte6: ASCII code
+#define CLEAR_SCR 0x17
+
+#define ALARM_ACK 0x19 // byte6: ALARM id; ????
+
+#define SET_ZOOM_SPEED 0x25  // Param from 00 to 03
+#define SET_FOCUS_SPEED 0x27 // Param from 00 to 03
+
+#define RESET 0x29
+
+#define AUTO_FOCUS 0x2B             // Param from 00 to 02 (auto/on/off)
+#define AUTO_IRIS 0x2D              // Param from 00 to 02 (auto/on/off)
+#define AUTO_AGC 0x2F               // Param from 00 to 02 (auto/on/off)
+#define BACKLIGHT_COMPENSATION 0x31 // Param from 00 to 01 (on/off)
+#define AUTO_WHITE_BALANCE 0x33     // Param from 00 to 01 (on/off)
+
+#define QUERY 0x45 //???????????
+
+#define ZERO_POS 0x49
+#define SET_PAN 0x4B  // b5: MSB and b6: LSB
+#define SET_TILT 0x4D // b5: MSB and b6: LSB
+#define SET_ZOOM 0x4F // b5: MSB and b6: LSB
+
+#define QUERY_PAN 0x51
+#define QUERY_TILT 0x53
+#define QUERY_ZOOM 0x55
+
+#define RESP_PAN 0x59  // b5: MSB and b6: LSB
+#define RESP_TILT 0x5B // b5: MSB and b6: LSB
+#define RESP_ZOOM 0x5D // b5: MSB and b6: LSB
 
 /*
 
-A lot of commands is not implemented yet, I'll do it in the future!
+A lot of commands is not implemented yet, it is not "important" commands for now message me via github if you wanna get
+a command
  */
+//Special commands:
+
+const PROGMEM byte CMND1[5] = {FOCUS_N, IRIS_O, IRIS_C, OFF, ON}; //List of all commands that go on the byte3; a list with command 2 is not required, a bit of logic please
+
+const PROGMEM byte SETPOS[3] = {SET_PAN, SET_TILT, SET_ZOOM}; //List of all command that require an MSB and LSB
+
+const PROGMEM byte DATA1[2] = {PAN_L, PAN_R}; //List of all commands that use ONLY the DATA1 for data pass
+const PROGMEM byte DATA_BOTH[5]= {PAN_L_TILT_D, PAN_L_TILT_U, PAN_R_TILT_D, PAN_R_TILT_U, WRITE_CHAR};//List of all commands that use the DATA1 and DATA2 for data pass (excluding the SETPOS' commands)
+
+const PROGMEM byte PRESET_CMND[3] = {SET_PRESET, CLR_PRESET, GOTO_PRESET}; //will I use it?
+
+const PROGMEM byte QUERY_CMND[3] = {QUERY_PAN, QUERY_TILT, QUERY_ZOOM}; 
+const PROGMEM byte RESP_CMND[3] = {RESP_PAN, RESP_TILT, RESP_ZOOM}; 
 
 ///////////////////////////////////////////////// Constants for the config parameter
 
@@ -56,10 +117,7 @@ A lot of commands is not implemented yet, I'll do it in the future!
 #define PELCO_D2400 0xD24
 #define PELCO_D4800 0xD48
 #define PELCO_D9600 0xD96
-// P-protocol baud self-explaintory
-#define PELCO_P2400 0xE24
-#define PELCO_P4800 0xE48
-#define PELCO_P9600 0xE96
+
 
 //////////////////////////////////////////::