Rev 864 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
Rev | Author | Line No. | Line |
---|---|---|---|
728 | holgerb | 1 | #ifndef __CAMCTRL_H |
2 | #define __CAMCTRL_H |
||
3 | |||
4 | #define CAM_SLAVE_ADDRESS 0x26 |
||
790 | holgerb | 5 | #define LASER_SLAVE_ADDRESS 0x24 |
826 | holgerb | 6 | #define GIMBAL_SLAVE_ADDRESS 0x22 |
728 | holgerb | 7 | |
8 | // FromCamCtrl.CamStatus |
||
9 | #define CAM_STATE_RDY 0x80 // The camera seems to be ready |
||
10 | #define CAM_STATE_REC_ACTIVE 0x40 // Recording Video |
||
11 | #define CAM_STATE_PHOTO_MODE 0x20 // Camera is in Photo Mode |
||
12 | #define CAM_STATE_OFF 0x10 // Camera off but connected |
||
13 | #define CAM_STATE_CAM_DISCONN 0x08 // Camera is not connected |
||
14 | #define CAM_STATE_I2C_OK 0x04 // Cam_Ctrl is connected by I2C (set by NC) |
||
15 | #define CAM_STATE_ZOOM 0x02 // Zoom active |
||
16 | #define CAM_STATE_PIC_CAPTURED 0x01 // Bit for captured one Photo recently |
||
17 | |||
18 | |||
790 | holgerb | 19 | //FromLaserCtrl.LaserStatus |
20 | #define LASER_DATA_OK 0x01 |
||
21 | #define LASER_I2C_OK 0x80 |
||
22 | |||
826 | holgerb | 23 | //FromGimbalCtrl.GimbalStatus |
24 | #define GIMBAL_DATA_OK 0x01 |
||
25 | #define GIMBAL_I2C_OK 0x80 |
||
26 | |||
853 | holgerb | 27 | #define GIMBAL_CMD_BEEP 0x01 |
28 | #define GIMBAL_CMD_YW_REL_FRAME 0x02 |
||
29 | #define GIMBAL_CMD_SPEED 0x04 |
||
30 | #define GIMBAL_CMD_YW_ZERO 0x08 |
||
866 | holgerb | 31 | #define GIMBAL_CMD_OUT1 0x10 |
32 | #define GIMBAL_CMD_OUT2 0x20 |
||
33 | #define GIMBAL_CMD_OUT_TRIGGER 0x40 // will set the Hardware Triggeroutput on the GimbalCtrl |
||
826 | holgerb | 34 | |
728 | holgerb | 35 | // ToCamCtrl.CamCommand |
36 | #define CAM_CMD_SWITCH_ON 0x80 |
||
37 | #define CAM_CMD_SWITCH_OFF 0x40 |
||
38 | #define CAM_CMD_REC_ON 0x20 |
||
39 | #define CAM_CMD_REC_OFF 0x10 |
||
40 | #define CAM_CMD_SHUTTER 0x08 |
||
732 | holgerb | 41 | |
728 | holgerb | 42 | #define CAM_CMD_RESET_CAM 0x02 |
43 | |||
44 | //FromCamCtrl.Type |
||
45 | #define TYPE_LANC 1 |
||
46 | #define TYPE_IR 2 |
||
47 | #define TYPE_MULTI 3 |
||
48 | |||
859 | holgerb | 49 | extern s32 FromMenuGimbalYaw,FromMenuServoNickControl, MenuNickGimbalOffset; |
50 | |||
826 | holgerb | 51 | //ToGimbalCtrl.BitCmd |
728 | holgerb | 52 | |
53 | typedef struct |
||
54 | { |
||
55 | u8 CamStatus; |
||
56 | u16 PhotoCount; |
||
57 | u8 free1; |
||
58 | u8 PPM1Okay; |
||
59 | u8 PPM1Data; |
||
60 | u8 PPM2Okay; |
||
61 | u8 PPM2Data; |
||
62 | u8 Type; |
||
63 | u8 Version; // 4 = V1.04 104 = V2.04 |
||
64 | u8 Compatible; |
||
65 | } __attribute__((packed)) FromCamCtrl_t; |
||
66 | extern FromCamCtrl_t FromCamCtrl; |
||
67 | |||
68 | typedef struct |
||
69 | { |
||
70 | u8 CamCommand; |
||
71 | u8 ZoomInput; |
||
72 | u8 dummy; |
||
73 | } __attribute__((packed)) ToCamCtrl_t; |
||
74 | extern ToCamCtrl_t ToCamCtrl; |
||
790 | holgerb | 75 | |
826 | holgerb | 76 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
77 | //+ Laser |
||
78 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
790 | holgerb | 79 | typedef struct |
80 | { |
||
81 | u8 LaserStatus; |
||
82 | u16 Distance; |
||
83 | u8 free1; |
||
84 | u8 PPM1Okay; |
||
85 | u8 PPM1Data; |
||
86 | u8 PPM2Okay; |
||
87 | u8 PPM2Data; |
||
88 | u8 Type; |
||
89 | u8 Version; // 4 = V1.04 104 = V2.04 |
||
90 | u8 Compatible; |
||
91 | } __attribute__((packed)) FromLaserCtrl_t; |
||
92 | extern FromLaserCtrl_t FromLaserCtrl; |
||
93 | |||
94 | typedef struct |
||
95 | { |
||
96 | u8 CamCommand; |
||
97 | u8 ZoomInput; |
||
98 | u8 dummy; |
||
99 | } __attribute__((packed)) ToLaserCtrl_t; |
||
100 | extern ToLaserCtrl_t ToLaserCtrl; |
||
101 | |||
826 | holgerb | 102 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
103 | //+ Gimbal |
||
104 | //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
105 | typedef struct |
||
106 | { |
||
107 | u8 GimbalStatus; |
||
108 | s16 Nick; |
||
109 | s16 Roll; |
||
110 | s16 Yaw; |
||
111 | u8 Free1; |
||
112 | u8 Free2; |
||
113 | u8 Version; // 4 = V1.04 104 = V2.04 |
||
114 | u8 Compatible; |
||
115 | } __attribute__((packed)) FromGimbalCtrl_t; |
||
116 | extern FromGimbalCtrl_t FromGimbalCtrl; |
||
117 | |||
118 | typedef struct |
||
119 | { |
||
120 | s16 Nick; |
||
121 | s16 Roll; |
||
122 | s16 Yaw; |
||
123 | unsigned char NRY_Speed; |
||
124 | unsigned char Filter; |
||
125 | unsigned char BitCmd; |
||
845 | holgerb | 126 | unsigned char Crc; |
826 | holgerb | 127 | } __attribute__((packed)) ToGimbalCtrl_t; |
128 | extern ToGimbalCtrl_t ToGimbalCtrl; |
||
129 | |||
130 | |||
728 | holgerb | 131 | void CamCtrl_GetData(u8); |
132 | void InitCamCtrl(void); |
||
133 | extern u16 CamCtrlTimeout; |
||
790 | holgerb | 134 | extern u16 LaserCtrlTimeout; |
826 | holgerb | 135 | extern u16 GimbalCtrlTimeout; |
864 | holgerb | 136 | extern u16 I2C0_Timeout; |
845 | holgerb | 137 | extern u8 ResetNickServoValue; |
790 | holgerb | 138 | extern void CamCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize); |
139 | extern void LaserCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize); |
||
797 | holgerb | 140 | extern void LaserCtrl_GetData(u8 timeout); |
826 | holgerb | 141 | extern void GimbalCtrl_UpdateData(u8* pRxBuffer, u8 RxBufferSize); |
142 | extern void GimbalCtrl_GetData(u8 timeout); |
||
853 | holgerb | 143 | extern void CalcNickServoValue(void); |
728 | holgerb | 144 | #endif // __CAMCTRL_H |
145 |