samsung.c

本人写的linux下云台控制程序

/****************************************************************************
 * Resource of the protocol switch.
 * Name: protocol.c
 * Author: EdgarLiu
 * Date: 2004/9/6
****************************************************************************/
#include <stdio.h>

#include "protocol.h"

#ifndef BASE_ID
#define BASE_ID SPECIAL_COMMAND_BASE_ID
#endif
//  samsung 命令 
#define ACTION_NUMERIC_KEY              BASE_ID
#define ACTION_SCAN                     BASE_ID + 1
#define ACTION_PRESET_MOVE              BASE_ID + 2
#define ACTION_AUTO_PAN                 BASE_ID + 3
#define ACTION_RESET                    BASE_ID + 4
#define ACTION_PRESET_SAVE              BASE_ID + 5
#define ACTION_PRESET_DELETE            BASE_ID + 6

struct TDVSSS_command samsung_cmd[] = {
	{ACTION_SCAN,		"scan"},
	{ACTION_PRESET_MOVE,	"pm"},
	{ACTION_AUTO_PAN,	"ap"},
	{ACTION_RESET,		"rs"},
	{ACTION_PRESET_SAVE,	"ps"},
	{ACTION_PRESET_DELETE,	"pd"},
	{ACTION_NUMERIC_KEY,	"nk"},
	{0,0}
};


static unsigned char g_pan_speed_samsung  = 0x20;
static unsigned char g_tilt_speed_samsung = 0x20;
//The implement of samsung protocol
static unsigned char checksum_lsb(struct TDVSSS_protocol* tp,int start,int end)
{
	int sum = 0,i;
	for(i = start;i <= end;i++)
		sum += tp->out[i];
	return (unsigned char)sum % 256;
}


static int samsung_cmd_PanTilt(struct TDVSSS_protocol* tp )
{
	tp->out[3] = 0x01;

	switch (tp->user_input.cmd_id)
	{
	case ACTION_LEFT:
		tp->out[4] = 0x00;
		tp->out[5] = 0x01;
		break;
	case ACTION_RIGHT:
		tp->out[4] = 0x00;
		tp->out[5] = 0x02;
		break;
	case ACTION_UP:
		tp->out[4] = 0x00;
		tp->out[5] = 0x04;
		break;
	case ACTION_DOWN:
		tp->out[4] = 0x00;
		tp->out[5] = 0x08;
		break;
	case ACTION_ZOOM_OUT:
		tp->out[4] = 0x40;
		tp->out[5] = 0x00;
		break;
	case ACTION_ZOOM_IN:
		tp->out[4] = 0x20;
		tp->out[5] = 0x00;
		break;
	case ACTION_FOCUS_NEAR:
		tp->out[4] = 0x02;
		tp->out[5] = 0x00;
		break;
	case ACTION_FOCUS_FAR:
		tp->out[4] = 0x01;
		tp->out[5] = 0x00;
		break;
	case ACTION_IRIS_OPEN:
		tp->out[4] = 0x08;
		tp->out[5] = 0x00;
		break;
	case ACTION_IRIS_CLOSE:
		tp->out[4] = 0x10;
		tp->out[5] = 0x00;
		break;

	}

	tp->out[6] = g_pan_speed_samsung;
	tp->out[7] = g_tilt_speed_samsung;
	return SUCCESSFULLY;
}

static int samsung_cmd_System(struct TDVSSS_protocol* tp )
{
	tp->out[3] = 0x03;
	tp->out[5] = 0xff;
	tp->out[6] = 0xff;
	tp->out[7] = 0xff;
	
	switch (tp->user_input.cmd_id)
	{
	case ACTION_STOP:
		tp->out[4] = 0x1a;
		tp->out[5] = 0x00;
		break;	
	case ACTION_NUMERIC_KEY:
		if(tp->user_input.param1[1] > 0x0a)
			return INVALID_ARGUMENT;
		tp->out[4] = tp->user_input.param1[1];
		break;
	case ACTION_SCAN:
		if(tp->user_input.param1[1] != 0 && tp->user_input.param1[1] != 1)
			return INVALID_ARGUMENT;
		tp->out[4] = 0x13;
		tp->out[5] = tp->user_input.param1[1]; //01H start 00H stop
		break;
	case ACTION_PRESET_MOVE:
		if(tp->user_input.param1[1] > 127)
			return INVALID_ARGUMENT;
		tp->out[4] = 0x19;
		tp->out[5] = tp->user_input.param1[1]; //0 -- 127
		break;
	case ACTION_AUTO_PAN:
		if(tp->user_input.param1[1] != 0 && tp->user_input.param1[1] != 1)
			return INVALID_ARGUMENT;
		tp->out[4] = 0x1a;
		tp->out[5] = tp->user_input.param1[1]; //01H start 00H stop
		break;
	case ACTION_RESET:
		tp->out[4] = 0x1e;
		break;
	case ACTION_PRESET_SAVE:
		if(tp->user_input.param1[1] > 127)
			return INVALID_ARGUMENT;
		tp->out[4] = 0x50;
		tp->out[5] = tp->user_input.param1[1]; //0 -- 127
		break;
	case ACTION_PRESET_DELETE:		
		if(tp->user_input.param1[1] > 127)
			return INVALID_ARGUMENT;
		tp->out[4] = 0x51;
		tp->out[5] = tp->user_input.param1[1]; //0 -- 127
		break;
	}
	return SUCCESSFULLY;
}

int samsung_protocol(struct TDVSSS_protocol* tp )
{
	int ret;

	tp->out_len = 9;
	tp->out[0] = 0xa0;
	tp->out[1] = tp->address;
	tp->out[2] = tp->address;

	switch (tp->user_input.cmd_id)
	{
	case ACTION_LEFT:
	case ACTION_RIGHT:
	case ACTION_UP:
	case ACTION_DOWN:
	case ACTION_ZOOM_OUT:
	case ACTION_ZOOM_IN:
	case ACTION_FOCUS_NEAR:
	case ACTION_FOCUS_FAR:
	case ACTION_IRIS_OPEN:
	case ACTION_IRIS_CLOSE:
		ret = samsung_cmd_PanTilt(tp);
		break;
	
	case ACTION_STOP:
	case ACTION_NUMERIC_KEY:
	case ACTION_SCAN:
	case ACTION_PRESET_MOVE:
	case ACTION_AUTO_PAN:
	case ACTION_RESET:
	case ACTION_PRESET_SAVE:
	case ACTION_PRESET_DELETE:
		ret = samsung_cmd_System(tp);
		break;
	default:
		return NO_SUCH_COMMAND;
	}

	if(ret == SUCCESSFULLY)
		tp->out[8] = checksum_lsb(tp,0,7);

	return ret;
}