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