/****************************************************************************/ /* Copyright 1995 MBARI */ /****************************************************************************/ /* Summary : Camera Application definitions */ /* Filename : camera.h */ /* Author : Douglas Au */ /* Project : Tiburon ROV */ /* Version : Version 1.0 */ /* Created : 02/23/95 */ /* Modified : 02/23/95 */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /* $Header: /usr/tiburon/.cvsroot/micro/h/cam.h,v 1.2 1997/09/09 17:30:33 pean Exp $ * $Log: cam.h,v $ * Revision 1.2 1997/09/09 17:30:33 pean * *** empty log message *** * * Revision 1.1.1.1 1997/05/02 19:17:18 pean * Initial check in of the camera microcontroller software * */ /****************************************************************************/ typedef struct { Byte dummy; Byte Status; Word time; } HSI_PTS_Entry; /* HSI_PTS_Entry recv_buf[40];*/ #define TEMP_WARN_THRESH 30 /* Temperature Warn Threshold degs */ #define TEMP_ALARM_THRESH 45 /* Temperature Alarm Threshold degs */ #define TEMPERATURE_HYSTERESIS 5 /* Temeprature Alarm Hystesis degs */ #define MAX_TEMP_VALUE 120 /* Maximum temperature measurement */ #define HUMIDITY_WARN_THRESH 10 /* Set humidity warning to 10% RH */ #define HUMIDITY_ALARM_THRESH 20 /* Set humidity alarm to 20% RH */ #define HUMIDITY_HYSTERESIS 2 /* Humidity sensor hysteresis 2% */ #define GET_TEMPERATURE 0x01 /* Get Temperature Sensor Value */ #define GET_TEMP_ALARM_STATUS 0x02 /* Get Temperature Alarm Status */ #define GET_TEMP_ALARM_THRESH 0x03 /* Get Temperature Alarm Threshold */ #define SET_TEMP_ALARM_THRESH 0x04 /* Set Temperature Alarm Threshold */ #define GET_HUMIDITY 0x06 /* Get Humidity Sensor Reading */ #define GET_HUMIDITY_ALARM 0x07 /* Get Humidity Alarm Status */ #define GET_HUMIDITY_THRESH 0x08 /* Get Humidity Alarm Threshold */ #define SET_HUMIDITY_THRESH 0x09 /* Set Humidity Alarm Threshold */ #define GET_WATER_ALARM 0x0a /* Get water alarm status word */ /* servo system */ #define SCALE_MULTIPLY(a, b) ((Int16)(( ((Int32) a) * b)>>8)) #define NUMBER_OF_SERVOS 2 /* Control Servos */ #define FOCUS_SERVO 0 #define ZOOM_SERVO 1 /* Analog FeedBack Channels */ #define ZOOM_CHANNEL 5 #define FOCUS_CHANNEL 3 #define ZOOM_TACH_CHANNEL 2 /* Stall Processing Constants */ #define SLOW_SPEED 10 #define STALL_COUNT_LIMIT 50 #define STALL_TIME_CONSTANT 253 #define CLOSE_COUNT 100 #define CLOSE_THRESHOLD 50 /* Control Modes */ #define POSITION_MODE 0 #define RATE_MODE 1 /* Control Law Defines */ #define MAX_SERVO_COMMAND 450 #define MAX_ERR 50 /* Camera Servo Commands */ #define SET_FOCUS_SET_POINT 0x10 #define SET_FOCUS_VELOCITY_GAIN 0x11 #define SET_FOCUS_CONTROL_MODE 0x12 #define GET_FOCUS_SET_POINT 0x16 #define GET_FOCUS_POSITION 0x17 #define GET_FOCUS_VELOCITY_GAIN 0x18 #define GET_FOCUS_CONTROL_MODE 0x19 #define SET_ZOOM_SET_POINT 0x20 #define SET_ZOOM_VELOCITY_GAIN 0x21 #define SET_ZOOM_CONTROL_MODE 0x22 #define SET_ZOOM_RATE 0x23 #define GET_ZOOM_RATE 0x24 #define GET_ZOOM_SET_POINT 0x26 #define GET_ZOOM_POSITION 0x27 #define GET_ZOOM_VELOCITY_GAIN 0x28 #define GET_ZOOM_CONTROL_MODE 0x29 #define SEND_CAMERA_COMMAND 0x2E #define CONTROLLER_STRING 0x2F /* Send String to */ #define GET_PWM_RATE 0x30 #define SET_PWM_RATE 0x31 #define SET_COLOR_BARS_MODE 0x32 /* Set color Bars On of Off */ #define GET_COLOR_BARS_MODE 0x33 #define SET_MENU_MODE 0x34 /* Turn Menu's On or OFF */ #define GET_MENU_MODE 0x35 #define SET_IRIS_MODE 0x36 /* Turn Manual IRIS on or off */ #define GET_IRIS_MODE 0x37 #define SET_IRIS_VALUE 0x38 #define GET_IRIS_VALUE 0x39 #define SET_GAIN_MODE 0x3A /* Set Auto Gain Low High or off */ #define GET_GAIN_MODE 0x3B #define SET_GAIN_VALUE 0x3C /* Set Manual Gain Value */ #define GET_GAIN_VALUE 0x3D #define SET_DETAIL_MODE 0x3E /* Set Detail Low High or Off */ #define GET_DETAIL_MODE 0x3F #define SET_SHUTTER_SPEED 0x40 /* Set Shutter Speed */ #define GET_SHUTTER_SPEED 0x41 #define SET_SCENE_FILE 0x42 /* Set Scene File */ #define GET_SCENE_FILE 0x43 #define SET_AWC_MODE 0x44 /* Set AWC Mode */ #define GET_AWC_MODE 0x45 #define SET_ATW_MODE 0x46 /* Set ATW Mode */ #define GET_ATW_MODE 0x47 #define SET_TOTAL_PEDSTAL 0x48 /* Set Total Pedstal */ #define GET_TOTAL_PEDSTAL 0x49 #define SET_RED_PEDSTAL 0x4A /* Set Red Pedstal */ #define GET_RED_PEDSTAL 0x4B #define SET_BLUE_PEDSTAL 0x4C /* Set Blue Pedstal */ #define GET_BLUE_PEDSTAL 0x4D #define SET_RED_GAIN 0x4E /* Set Red Gain */ #define GET_RED_GAIN 0x4F #define SET_BLUE_GAIN 0x50 /* Set Blue Gain */ #define GET_BLUE_GAIN 0x51 #define SET_PAGE_STATE 0x52 #define GET_PAGE_STATE 0x53 #define SET_ITEM_STATE 0x54 #define GET_ITEM_STATE 0x55 #define SET_UP_STATE 0x56 #define GET_UP_STATE 0x57 #define SET_DOWN_STATE 0x58 #define GET_DOWN_STATE 0x59 /* Dummy Command Transmission Message */ #define DCTM 0x33 /* CAMERA DATA TRANSMISSION REQUESTS */ #define DATA1_REQ0 0x81 #define DATA1_REQ1 0x82 #define DATA1_REQ2 0x80 #define DATA2_REQ 0x95 #define DATA3_REQ 0xA5 #define DATA4_REQ 0xB5 #define DATA5_REQ 0xC5 #define DATA6_REQ 0xD5 #define DATA7_REQ 0xE5 #define DATA8_REQ 0xF5 #define CCC_REQ 0xF9 #define DATA_RESP_NUM 9 #define DATA_RESP_SIZE 4 /* 4 byte data response */ #define DATA1 0 #define DATA2 1 #define DATA3 2 #define DATA4 3 #define DATA5 4 #define DATA6 5 #define DATA7 6 #define DATA8 7 #define CCC 8 #define BYTE0 0 #define BYTE1 1 #define BYTE2 2 #define CHECKSUM 3 #define DATA1_0 0x00 #define DATA1_1 0x26 /*0 = cam and 0 detail mode */ #define DATA1_2 0x15 #define DATA1_CS 0xC5 #define DATA2_0 0xD8 #define DATA2_1 0x03 #define DATA2_2 0x88 #define DATA2_CS 0x9D #define DATA4_0 0x8A #define DATA4_1 0x85 #define DATA4_2 DATA1_2 #define DATA4_CS 0xDC #define DATA3_0 0x00 #define DATA3_1 0x8B #define DATA3_2 0x81 #define DATA3_CS 0xF4 #define DATA5_0 0x00 #define DATA5_1 DATA1_2 #define DATA5_2 0x0F #define DATA5_CS 0xDC #define DATA7_0 0x00 #define DATA7_1 0x00 #define DATA7_2 0xE5 #define DATA7_CS 0x1B #define DATA6_0 DATA1_2 #define DATA6_1 0x02 #define DATA6_2 0x26 #define DATA6_CS 0xC3 #define DATA8_0 0x02 #define DATA8_1 0x13 #define DATA8_2 0x67 #define DATA8_CS 0x84 /* Circuit Confirmation Command */ #define CCC_0 0x12 #define CCC_1 0x34 #define CCC_2 0x78 #define CCC_CS 0x42 /* DATA1 Word 1 RESPONSES */ #define AWC_NON_RSP 0x03 #define AWC_RSP 0x01 #define ABC_RSP 0x02 #define PAGE_RSP 0x08 #define ITEM_RSP 0x10 #define UP_RSP 0x20 #define DOWN_RSP 0x40 /* DATA1 Word 2 RESPONSES */ #define VF_RSP 0x01 #define ENC_RSP 0x02 #define ATW_RSP 0x0C #define ACH_RSP 0x04 #define BCH_RSP 0x08 #define DETAIL_OFF_RSP 0x30 #define DETAIL_LOW_RSP 0x10 #define DETAIL_HIGH_RSP 0x20 #define BAR_RSP 0x80 /* DATA1 Word 3 RESPONSE Unused */ #define DATA1_WORD3 0x00 /* DATA1 Word 4 checksum */ /* DATA2 Word 1 RESPONSE */ #define GAIN_0dB_RSP 0x03 #define GAIN_9dB_RSP 0x01 #define GAIN_18dB_RSP 0x02 #define AGC_LOW_RSP 0x0C #define AGC_HIGH_RSP 0x04 #define AGC_OFF_RSP 0x08 #define AUTO_IRIS_RSP 0x10 #define SC_COARSE_90_RSP 0x00 #define SC_COARSE_180_RSP 0x40 #define SC_COARSE_270_RSP 0x80 #define SC_COARSE_0_RSP 0xC0 /* DATA2 Word 2 Response */ #define SCENE_FILE_USER_RSP 0x0C #define SCENE_FILE_1_RSP 0x04 #define SCENE_FILE_2_RSP 0x08 #define SCENE_FILE_3_RSP 0x0C #define SHUTTER_OFF_RSP 0xF0 #define SHUTTER_100_RSP 0x30 #define SHUTTER_500_RSP 0x50 #define SHUTTER_1000_RSP 0x60 #define SHUTTER_SYNCHRO_RSP 0x70 #define SHUTTER_ELC_RSP 0x80 /* DATA8 Word 2 Response */ #define MENU_RSP 0x80 /* Camera Application Service Requests */ #define HUMIDITY_ALARM_SRQ APPLIC_SRQ_BASE | 0x01 #define TEMPERATURE_ALARM_SRQ APPLIC_SRQ_BASE | 0x02 #define TEMPERATURE_SENSOR_CHAN 0 /* Temperature sensor */ #define CAMERA_LINK_UP TRUE #define CAMERA_LINK_DOWN FALSE #define BARS_ON TRUE #define BARS_OFF FALSE #define MENU_ON TRUE #define MENU_OFF FALSE #define PAGE_ON TRUE #define PAGE_OFF FALSE #define ITEM_ON TRUE #define ITEM_OFF FALSE #define UP_ON TRUE #define UP_OFF FALSE #define DOWN_ON TRUE #define DOWN_OFF FALSE #define AUTO_IRIS_OFF TRUE #define AUTO_IRIS_ON FALSE #define AUTO_GAIN_OFF 0 #define AUTO_GAIN_LOW 1 #define AUTO_GAIN_HIGH 2 #define GAIN_0DB 0 #define GAIN_9DB 1 #define GAIN_18DB 2 #define DETAIL_OFF 0 #define DETAIL_LOW 1 #define DETAIL_HIGH 2 #define SHUTTER_OFF 0 #define SHUTTER_100 1 #define SHUTTER_500 2 #define SHUTTER_1000 3 #define SHUTTER_SYNCHRO 4 #define SHUTTER_ELC 5 #define SCENE_USER 0 #define SCENE_1 1 #define SCENE_2 2 #define SCENE_3 3 #define HOLD 0 #define AWC 1 #define ABC 2 #define ATW 0 #define ACH 1 #define BCH 2 #define MAX_COUNT 10