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Diffstat (limited to 'camera.c')
-rw-r--r--camera.c98
1 files changed, 52 insertions, 46 deletions
diff --git a/camera.c b/camera.c
index 8cb5734..a50bc36 100644
--- a/camera.c
+++ b/camera.c
@@ -14,27 +14,29 @@ void delay (unsigned int msecs) {
// Returns a file descriptor that can be used to
// talk to the camera
-int openCameraFd () {
+int openCameraFd (int nBytes, int timeout) {
int fd = le_tty_Open(SERIAL_PATH, O_RDWR);
- le_tty_SetBaudRate(fd, CAM_BAUD_RATE);
+ le_tty_SetBaudRate(fd, LE_TTY_SPEED_38400);
+ le_tty_SetRaw(fd, nBytes, timeout);
return fd;
}
// Send a command to the camera serial port
void sendCommand (Camera *cam, uint8_t cmd, uint8_t args[]) {
- uint8_t init = VC0706_PREFIX;
- write(cam->fd, &init, 1); // send the cmd prefix
- write(cam->fd, &(cam->serialNum), 1); // send the serial number
- write(cam->fd, &cmd, 1); // send the cmd
- for(int i = 0; i < NUM_ARRAY_MEMBERS(args); i++) { // send each arg
- write(cam->fd, &args[i], 1);
- }
+ uint8_t nArgs = sizeof(args);
+ uint8_t toWrite[100] = { VC0706_PREFIX, cam->serialNum, cmd };
+ int start = 3;
+ int end = nArgs + start;
+ for (int i = start; i < end; i++) {
+ toWrite[i] = args[i - start];
+ };
+ write(cam->fd, &toWrite[0], end);
}
// Run a command
-bool runCommand (Camera *cam, uint8_t cmd, uint8_t args[], int respLen) {
+bool runCommand (Camera *cam, uint8_t cmd, uint8_t args[], int respLen, bool flushFlag) {
// flush out the buffer
- readResponse(cam, 100, 10);
+ if (flushFlag) readResponse(cam, 100, 10);
sendCommand(cam, cmd, args);
if (readResponse(cam, respLen, TIMEOUT) != respLen)
return false;
@@ -43,27 +45,29 @@ bool runCommand (Camera *cam, uint8_t cmd, uint8_t args[], int respLen) {
return true;
}
+bool runCommandFlush (Camera *cam, uint8_t cmd, uint8_t args[], int respLen) {
+ return runCommand (cam, cmd, args, respLen, true);
+}
+
// Reads from the camera and returns how many bytes it read
uint8_t readResponse (Camera *cam, unsigned int nBytes, unsigned int timeout) {
- unsigned int counter = 0;
cam->bufferLen = 0;
- // read while below timeout and while the buffer
- // is still smaller than expected
- while(timeout >= counter && cam->bufferLen <= nBytes) {
- uint8_t *buffPtr = &(cam->buff[cam->bufferLen])
- ssize_t bytesRead = read(cam->fd, buffPtr, 1); // read one uint8_t at a time
- cam->bufferLen++;
- // bytesRead will be 0 or -1 if no data was received
- if (bytesRead <= 0) {
- delay(1);
- counter++;
- continue;
- }
- counter = 0;
- }
+ uint8_t *buffPtr = &(cam->buff[0]);
+ LE_INFO("Expecting %d bytes", nBytes);
+ ssize_t bytesRead = read(cam->fd, buffPtr, nBytes);
+ LE_INFO("Got %d bytes", bytesRead);
+ printBuffer(cam);
+ cam->bufferLen = bytesRead;
return cam->bufferLen;
}
+void printBuffer (Camera *cam) {
+ LE_INFO("Printing cam buffer");
+ for(int i = 0; i < NUM_ARRAY_MEMBERS(cam->buff); i++) {
+ LE_INFO("0x%d", cam->buff[i]);
+ }
+}
+
bool verifyResponse (Camera *cam, uint8_t cmd) {
// If any of these are not equal than
// the command failed
@@ -76,7 +80,7 @@ bool verifyResponse (Camera *cam, uint8_t cmd) {
bool cameraFrameBuffCtrl (Camera *cam, uint8_t cmd) {
uint8_t args[] = { 0x1, cmd };
- return runCommand(cam, VC0706_FBUF_CTRL, args, 5);
+ return runCommandFlush(cam, VC0706_FBUF_CTRL, args, 5);
}
bool takePicture (Camera *cam) {
@@ -86,17 +90,17 @@ bool takePicture (Camera *cam) {
bool reset (Camera *cam) {
uint8_t args[] = { 0x0 };
- return runCommand(cam, VC0706_RESET, args, 5);
+ return runCommandFlush(cam, VC0706_RESET, args, 5);
}
bool TVon (Camera *cam) {
uint8_t args[] = { 0x1, 0x1 };
- return runCommand(cam, VC0706_TVOUT_CTRL, args, 5);
+ return runCommandFlush(cam, VC0706_TVOUT_CTRL, args, 5);
}
bool TVOff (Camera *cam) {
uint8_t args[] = { 0x1, 0x0 };
- return runCommand(cam, VC0706_TVOUT_CTRL, args, 5);
+ return runCommandFlush(cam, VC0706_TVOUT_CTRL, args, 5);
}
uint8_t *readPicture (Camera *cam, uint8_t n) {
@@ -104,7 +108,7 @@ uint8_t *readPicture (Camera *cam, uint8_t n) {
0, 0, cam->frameptr >> 8, cam->frameptr & 0xFF,
0, 0, 0, n,
DELAY >> 8, DELAY & 0xFF };
- if (!runCommand(cam, VC0706_READ_FBUF, args, 5))
+ if (!runCommand(cam, VC0706_READ_FBUF, args, 5, false)) // don't flush
return 0;
if (readResponse(cam, n + 5, DELAY) == 0)
return 0;
@@ -121,7 +125,7 @@ bool resumeVideo (Camera *cam) {
uint32_t frameLength (Camera *cam) {
uint8_t args[] = { 0x01, 0x00 };
// return 0 if this fails
- if (!runCommand(cam, VC0706_GET_FBUF_LEN, args, 9))
+ if (!runCommandFlush(cam, VC0706_GET_FBUF_LEN, args, 9))
return 0;
uint32_t len;
@@ -139,8 +143,10 @@ uint32_t frameLength (Camera *cam) {
char *getVersion (Camera *cam) {
uint8_t args[] = { 0x01 };
sendCommand(cam, VC0706_GEN_VERSION, args);
- if (!readResponse(cam, BUFF_SIZE, 200))
+ if (!readResponse(cam, BUFF_SIZE, 200)) {
+ LE_INFO("Failed to get version, returning empty string");
return 0;
+ }
cam->buff[cam->bufferLen] = 0;
return (char*)&(cam->buff[0]);
}
@@ -151,38 +157,38 @@ uint8_t available (Camera *cam) {
uint8_t getDownsize (Camera *cam) {
uint8_t args[] = { 0x0 };
- if (!runCommand(cam, VC0706_DOWNSIZE_STATUS, args, 6))
+ if (!runCommandFlush(cam, VC0706_DOWNSIZE_STATUS, args, 6))
return -1;
return cam->buff[5];
}
bool setDownsize (Camera *cam, uint8_t newSize) {
uint8_t args[] = { 0x01, newSize };
- return runCommand(cam, VC0706_DOWNSIZE_CTRL, args, 5);
+ return runCommandFlush(cam, VC0706_DOWNSIZE_CTRL, args, 5);
}
uint8_t getImageSize (Camera *cam) {
uint8_t args[] = { 0x4, 0x4, 0x1, 0x00, 0x19 };
- if (!runCommand(cam, VC0706_READ_DATA, args, 6))
+ if (!runCommandFlush(cam, VC0706_READ_DATA, args, 6))
return -1;
return cam->buff[5];
}
bool setImageSize (Camera *cam, uint8_t x) {
uint8_t args[] = { 0x05, 0x04, 0x01, 0x00, 0x19, x };
- return runCommand(cam, VC0706_WRITE_DATA, args, 5);
+ return runCommandFlush(cam, VC0706_WRITE_DATA, args, 5);
}
bool getMotionDetect (Camera *cam) {
uint8_t args[] = { 0x0 };
- if (!runCommand(cam, VC0706_COMM_MOTION_STATUS, args, 6))
+ if (!runCommandFlush(cam, VC0706_COMM_MOTION_STATUS, args, 6))
return false;
return cam->buff[5];
}
uint8_t getMotionStatus(Camera *cam, uint8_t x) {
uint8_t args[] = { 0x01, x };
- return runCommand(cam, VC0706_MOTION_STATUS, args, 5);
+ return runCommandFlush(cam, VC0706_MOTION_STATUS, args, 5);
}
bool motionDetected (Camera *cam) {
@@ -197,29 +203,29 @@ bool setMotionDetect (Camera *cam, bool flag) {
if (!setMotionStatus(cam, VC0706_MOTIONCONTROL, VC0706_UARTMOTION, VC0706_ACTIVATEMOTION))
return false;
uint8_t args[] = { 0x1, flag };
- return runCommand(cam, VC0706_MOTION_STATUS, args, 5);
+ return runCommandFlush(cam, VC0706_MOTION_STATUS, args, 5);
}
bool setMotionStatus (Camera *cam, uint8_t x, uint8_t d1, uint8_t d2) {
uint8_t args[] = { 0x03, x, d1, d2 };
- return runCommand(cam, VC0706_MOTION_CTRL, args, 5);
+ return runCommandFlush(cam, VC0706_MOTION_CTRL, args, 5);
}
uint8_t getCompression (Camera *cam) {
uint8_t args[] = { 0x4, 0x1, 0x1, 0x12, 0x04 };
- runCommand(cam, VC0706_READ_DATA, args, 6);
+ runCommandFlush(cam, VC0706_READ_DATA, args, 6);
return cam->buff[5];
}
bool setCompression (Camera *cam, uint8_t c) {
uint8_t args[] = { 0x5, 0x1, 0x1, 0x12, 0x04, c };
- return runCommand(cam, VC0706_WRITE_DATA, args, 5);
+ return runCommandFlush(cam, VC0706_WRITE_DATA, args, 5);
}
bool getPTZ(Camera *cam, uint16_t *w, uint16_t *h, uint16_t *wz, uint16_t *hz, uint16_t *pan, uint16_t *tilt) {
- uint8_t args[] = {0x0};
+ uint8_t args[] ={ 0x0 };
- if (!runCommand(cam, VC0706_GET_ZOOM, args, 16))
+ if (!runCommandFlush(cam, VC0706_GET_ZOOM, args, 16))
return false;
*w = cam->buff[5];
*w <<= 8;
@@ -255,7 +261,7 @@ bool setPTZ(Camera *cam, uint16_t wz, uint16_t hz, uint16_t pan, uint16_t tilt)
pan>>8, pan,
tilt>>8, tilt
};
- return !runCommand(cam, VC0706_SET_ZOOM, args, 5);
+ return !runCommandFlush(cam, VC0706_SET_ZOOM, args, 5);
}
bool snapshotToFile (Camera *cam, char *path, uint8_t imgSize) {
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-01 01:32:05 +0000