cam.h File Reference

Pan/Tilt camera API. More...

#include <inttypes.h>
#include "inter_mcu.h"

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Macros
#define	CAM_MODE_OFF   0 /* Do nothing */
#define	CAM_MODE_ANGLES   1 /* Input: servo angles */
#define	CAM_MODE_NADIR   2 /* Input: () */
#define	CAM_MODE_XY_TARGET   3 /* Input: target_x, target_y */
#define	CAM_MODE_WP_TARGET   4 /* Input: waypoint no */
#define	CAM_MODE_AC_TARGET   5 /* Input: ac id */
#define	CAM_MODE_STABILIZED   6
#define	CAM_MODE_RC   7
#define	CAM_PAN_MAX   90
#define	CAM_PAN_MIN   -90
#define	CAM_TILT_MAX   90
#define	CAM_TILT_MIN   -90
#define	cam_SetPanCommand(x)   { ap_state->commands[COMMAND_CAM_PAN] = cam_pan_command = x;}
#define	cam_SetTiltCommand(x)   { ap_state->commands[COMMAND_CAM_TILT] = cam_tilt_command = x;}

Functions
void	cam_periodic (void)
	For CAM_MODE_AC_TARGET mode. More...
void	cam_init (void)

Variables
uint8_t	cam_mode
uint8_t	cam_lock
float	cam_phi_c
float	cam_theta_c
float	cam_pan_c
float	cam_tilt_c
float	cam_target_x
	Radians, for CAM_MODE_ANGLES mode. More...
float	cam_target_y
float	cam_target_alt
uint8_t	cam_target_wp
	For CAM_MODE_XY_TARGET mode. More...
uint8_t	cam_target_ac
	For CAM_MODE_WP_TARGET mode. More...
int16_t	cam_pan_command
int16_t	cam_tilt_command

Detailed Description

Pan/Tilt camera API.

Definition in file cam.h.

Macro Definition Documentation

#define CAM_MODE_AC_TARGET   5 /* Input: ac id */

Definition at line 38 of file cam.h.

Referenced by cam_periodic().

#define CAM_MODE_ANGLES   1 /* Input: servo angles */

Definition at line 34 of file cam.h.

Referenced by cam_periodic().

#define CAM_MODE_NADIR   2 /* Input: () */

Definition at line 35 of file cam.h.

Referenced by cam_periodic().

#define CAM_MODE_OFF   0 /* Do nothing */

Definition at line 33 of file cam.h.

Referenced by cam_periodic(), and cam_segment_stop().

#define CAM_MODE_RC   7

Definition at line 40 of file cam.h.

Referenced by cam_periodic(), and vPoint().

#define CAM_MODE_STABILIZED   6

Definition at line 39 of file cam.h.

Referenced by cam_periodic(), and vPoint().

#define CAM_MODE_WP_TARGET   4 /* Input: waypoint no */

Definition at line 37 of file cam.h.

Referenced by cam_periodic(), and vPoint().

#define CAM_MODE_XY_TARGET   3 /* Input: target_x, target_y */

Definition at line 36 of file cam.h.

Referenced by cam_periodic(), cam_segment_periodic(), and vPoint().

#define CAM_PAN_MAX   90

Definition at line 44 of file cam.h.

Referenced by cam_angles(), and vPoint().

#define CAM_PAN_MIN   -90

Definition at line 47 of file cam.h.

Referenced by cam_angles(), and vPoint().

#define cam_SetPanCommand

(

x

)

{ ap_state->commands[COMMAND_CAM_PAN] = cam_pan_command = x;}

Definition at line 78 of file cam.h.

#define cam_SetTiltCommand

(

x

)

{ ap_state->commands[COMMAND_CAM_TILT] = cam_tilt_command = x;}

Definition at line 80 of file cam.h.

#define CAM_TILT_MAX   90

Definition at line 50 of file cam.h.

Referenced by cam_angles(), and vPoint().

#define CAM_TILT_MIN   -90

Definition at line 53 of file cam.h.

Referenced by cam_angles(), and vPoint().

Function Documentation

void cam_init

(

void

)

Definition at line 120 of file cam.c.

References cam_mode, CAM_MODE0, DefaultPeriodic, register_periodic_telemetry(), and send_cam().

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void cam_periodic

(

void

)

For CAM_MODE_AC_TARGET mode.

Definition at line 130 of file cam.c.

References ap_state, cam_ac_target(), cam_angles(), cam_mode, CAM_MODE_AC_TARGET, CAM_MODE_ANGLES, CAM_MODE_NADIR, CAM_MODE_OFF, CAM_MODE_RC, CAM_MODE_STABILIZED, CAM_MODE_WP_TARGET, CAM_MODE_XY_TARGET, cam_nadir(), CAM_PAN0, cam_pan_c, cam_target(), CAM_TILT0, cam_tilt_c, cam_waypoint_target(), LED_OFF, LED_ON, MAX_PPRZ, MIN_PPRZ, pprz_mode, PPRZ_MODE_AUTO1, and PPRZ_MODE_AUTO2.

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Variable Documentation

uint8_t cam_lock

Definition at line 92 of file cam.c.

Referenced by vPoint().

uint8_t cam_mode

Definition at line 91 of file cam.c.

Referenced by cam_init(), cam_periodic(), cam_segment_periodic(), cam_segment_stop(), and vPoint().

float cam_pan_c

Definition at line 73 of file cam.c.

Referenced by cam_angles(), cam_periodic(), and cam_target().

int16_t cam_pan_command

Definition at line 94 of file cam.c.

float cam_phi_c

Definition at line 81 of file cam.c.

Referenced by cam_angles(), and send_cam().

uint8_t cam_target_ac

For CAM_MODE_WP_TARGET mode.

Definition at line 86 of file cam.c.

Referenced by cam_ac_target().

float cam_target_alt

Definition at line 84 of file cam.c.

Referenced by cam_ac_target(), cam_nadir(), cam_segment_periodic(), cam_target(), and cam_waypoint_target().

uint8_t cam_target_wp

For CAM_MODE_XY_TARGET mode.

Definition at line 85 of file cam.c.

Referenced by cam_waypoint_target().

float cam_target_x

Radians, for CAM_MODE_ANGLES mode.

Definition at line 84 of file cam.c.

Referenced by cam_ac_target(), cam_nadir(), cam_segment_periodic(), cam_target(), cam_waypoint_target(), and send_cam().

float cam_target_y

Definition at line 84 of file cam.c.

Referenced by cam_ac_target(), cam_nadir(), cam_segment_periodic(), cam_target(), cam_waypoint_target(), and send_cam().

float cam_theta_c

Definition at line 82 of file cam.c.

Referenced by cam_angles(), and send_cam().

float cam_tilt_c

Definition at line 79 of file cam.c.

Referenced by cam_angles(), cam_periodic(), and cam_target().

int16_t cam_tilt_command

Definition at line 95 of file cam.c.