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ipcam_packet.h File Reference

#include "build.h"
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
Include dependency graph for ipcam_packet.h:
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Go to the source code of this file.

Classes

struct  NetHost
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE
struct  PACKED_ATTRIBUTE

Defines

#define CAMERA_NAME_LEN   40
#define FLASH_CALIBRATION_PAGENO   (FLASH_MAX_PAGENO - 2)
#define FLASH_MAX_PAGENO   4095
#define FLASH_NAME_PAGENO   FLASH_MAX_PAGENO
#define FLASH_PAGE_SIZE   264
#define I2C_AUTO_REG_UNUSED   ((uint32_t)-1)
 Sentinel value that indicates no I2C read should be performed at that index.
#define I2C_REGS_PER_FRAME   4
 Number of I2C register to read during each video frame interval.
#define IMAGER_LINENO_ABORT   0xFFFC
 Flags this video packet as being an Abort packet.
#define IMAGER_LINENO_EOF   0xFFFF
 Flags this video packet as being an normal End Of Frame packet.
#define IMAGER_LINENO_ERR   0xFFFE
 Flags this video packet as being a General Error packet.
#define IMAGER_LINENO_OVF   0xFFFD
 Flags this video packet as being an Overflow packet.
#define IMAGER_LINENO_SHORT   0xFFFB
 Flags a frame as Short (used only by the library).
#define IMAGER_LINENO_XOR   0xFFFA
 (Not an error) provides an XOR line for the frame (used only by the library)
#define IMAGER_MAGICLINE_MASK   0xFFF0
 Line numbers that match this mask are reserved to indicate special packet types.
#define PKT_ERROR_INVALID   2
 Packet is not valid in this mode.
#define PKT_ERROR_SYSERR   1
 An internal system error occurred.
#define PKT_ERROR_TIMEOUT   0
 No valid response was received during the allotted interval.
#define PKT_MAX_ID   PKTT_RECONFIG_FPGA
#define PKT_STATUST_ERROR   1
 Command could not be completed. See status_code for details.
#define PKT_STATUST_OK   0
 Command completed successfully.
#define PKTT_ANNOUNCE   0x80
#define PKTT_CONFIGURE   1
#define PKTT_DISCOVER   0
#define PKTT_FLASHDATA   0x83
#define PKTT_FLASHREAD   6
#define PKTT_FLASHWRITE   7
#define PKTT_IMGRMODE   12
#define PKTT_IMGRSETRES   13
#define PKTT_RECONFIG_FPGA   15
#define PKTT_RESET   4
#define PKTT_SENSORDATA   0x84
#define PKTT_SENSORRD   9
#define PKTT_SENSORSEL   11
#define PKTT_SENSORWR   10
#define PKTT_STATUS   0x82
#define PKTT_SYSCONFIG   14
#define PKTT_TIMEREPLY   0x81
#define PKTT_TIMEREQ   5
#define PKTT_TRIGCTRL   8
#define PKTT_VIDSTART   2
#define PKTT_VIDSTOP   3
#define WG_CAMCMD_PORT   1627
#define WG_MAGIC_NO   0x00DEAF42UL

Typedefs

typedef struct PACKED_ATTRIBUTE HeaderVideoLine
typedef struct PACKED_ATTRIBUTE IdentityFlashPage
typedef uint32_t IPAddress
typedef uint8_t MACAddress [6]
typedef struct PACKED_ATTRIBUTE PacketAnnounce
typedef struct PACKED_ATTRIBUTE PacketConfigure
typedef struct PACKED_ATTRIBUTE PacketDiscover
typedef struct PACKED_ATTRIBUTE PacketEOF
typedef struct PACKED_ATTRIBUTE PacketFlashPayload
typedef struct PACKED_ATTRIBUTE PacketFlashRequest
typedef struct PACKED_ATTRIBUTE PacketGeneric
typedef struct PACKED_ATTRIBUTE PacketImagerMode
typedef struct PACKED_ATTRIBUTE PacketImagerSetRes
typedef struct PACKED_ATTRIBUTE PacketReconfigureFPGA
typedef struct PACKED_ATTRIBUTE PacketReset
typedef struct PACKED_ATTRIBUTE PacketSensorData
typedef struct PACKED_ATTRIBUTE PacketSensorRequest
typedef struct PACKED_ATTRIBUTE PacketSensorSelect
typedef struct PACKED_ATTRIBUTE PacketStatus
typedef struct PACKED_ATTRIBUTE PacketSysConfig
typedef struct PACKED_ATTRIBUTE PacketTimer
typedef struct PACKED_ATTRIBUTE PacketTimeRequest
typedef struct PACKED_ATTRIBUTE PacketTrigControl
typedef struct PACKED_ATTRIBUTE PacketVideoLine
typedef struct PACKED_ATTRIBUTE PacketVidStart
typedef struct PACKED_ATTRIBUTE PacketVidStop
typedef uint16_t UDPPort

Detailed Description

Contains definitions of all system command packet types.

Warning:
: Note that all fields of 16 bits or greater are to be sent in standard network byte order.

Definition in file ipcam_packet.h.


Define Documentation

#define CAMERA_NAME_LEN   40

Definition at line 64 of file ipcam_packet.h.

#define FLASH_CALIBRATION_PAGENO   (FLASH_MAX_PAGENO - 2)

Definition at line 63 of file ipcam_packet.h.

#define FLASH_MAX_PAGENO   4095

Definition at line 59 of file ipcam_packet.h.

#define FLASH_NAME_PAGENO   FLASH_MAX_PAGENO

Definition at line 62 of file ipcam_packet.h.

#define FLASH_PAGE_SIZE   264

Definition at line 60 of file ipcam_packet.h.

#define I2C_AUTO_REG_UNUSED   ((uint32_t)-1)

Sentinel value that indicates no I2C read should be performed at that index.

Definition at line 727 of file ipcam_packet.h.

#define I2C_REGS_PER_FRAME   4

Number of I2C register to read during each video frame interval.

Definition at line 704 of file ipcam_packet.h.

#define IMAGER_LINENO_ABORT   0xFFFC

Flags this video packet as being an Abort packet.

Definition at line 668 of file ipcam_packet.h.

#define IMAGER_LINENO_EOF   0xFFFF

Flags this video packet as being an normal End Of Frame packet.

Definition at line 659 of file ipcam_packet.h.

#define IMAGER_LINENO_ERR   0xFFFE

Flags this video packet as being a General Error packet.

Definition at line 662 of file ipcam_packet.h.

#define IMAGER_LINENO_OVF   0xFFFD

Flags this video packet as being an Overflow packet.

Definition at line 665 of file ipcam_packet.h.

#define IMAGER_LINENO_SHORT   0xFFFB

Flags a frame as Short (used only by the library).

Definition at line 671 of file ipcam_packet.h.

#define IMAGER_LINENO_XOR   0xFFFA

(Not an error) provides an XOR line for the frame (used only by the library)

Definition at line 674 of file ipcam_packet.h.

#define IMAGER_MAGICLINE_MASK   0xFFF0

Line numbers that match this mask are reserved to indicate special packet types.

Definition at line 656 of file ipcam_packet.h.

#define WG_CAMCMD_PORT   1627

All cameras will listen on this hard-coded port for commands

Todo:
Ask WG if they have a port number preference. This one is just a placeholder.

Definition at line 101 of file ipcam_packet.h.

#define WG_MAGIC_NO   0x00DEAF42UL

All non-video packets will include this pre-defined magic number to identify them.

Definition at line 94 of file ipcam_packet.h.


Typedef Documentation

This frame header is added to the beginning of every video line packet.

Structure of the last page of flash containing configuration information. The name is zero terminated. The 16-bit sum of the whole page should be 0xFFFF.

typedef uint32_t IPAddress

Definition at line 74 of file ipcam_packet.h.

typedef uint8_t MACAddress[6]

Definition at line 75 of file ipcam_packet.h.

The PacketAnnounce is generated by the camera in response to a PacketDiscover or PacketConfigure. It provides complete information about the camera and the versions of its subcomponents.

A PacketConfigure is generated by the host to configure the session IP address of a specific camera. After a reset, all camera will boot with the same default IP address; to prevent address conflicts, all cameras must be Configured before any further actions are taken.

Valid States: The PacketConfigure is valid in the Unconfigured and Configured states. It may not be sent while the camera is streaming video.

Addressing: This packet should normally be directed to the broadcast address to ensure that the desired camera receives it regardless of the state of the host system's ARP cache. If the product_id and ser_no fields do not match those stored in the camera, then the camera will drop it.

Response: Once a camera has received a PacketConfigure and set its IP address, it will generate an PacketAnnounce from the new address so that the remote host can verify it was correctly set.

Todo:
Review specified behavior when a camera is reconfigured

A PacketDiscover is sent from the host in order to detect cameras on the network segment and receive information about them. It can be directed to the broadcast address (MAC ff:ff:ff:ff:ff:ff) to detect all cameras or to the unicast address of one camera to detect only that specific camera.

The PacketDiscover is valid in all camera modes. It consists of a PacketGeneric with the type field set to PKTT_DISCOVER and an IP Address. When received, the camera will reply with a PacketAnnounce using the specified IP Address

See also:
PacketAnnounce
typedef struct PACKED_ATTRIBUTE PacketEOF

This packet is sent at the end of every normal video frame. It is also generated when an Imager failure (pipeline error or overflow) is detected.

Per Willow Garage request, the PacketEOF is a special case of the HeaderVideoLine, with the line number field set to 0xFFFF (IMAGER_LINENO_EOF).

A PacketFlashPayload may be generated by either the host or the camera. When generated by the camera, it is in response to a PacketFlashRequest and contains the flash data requested by that packet. In this case it will have type PKTT_FLASHDATA.

When generated by the host, it is sent to erase & write a page (264 bytes) worth of data into the Atmel dataflash. In this case it will have packet type PKTT_FLASHWRITE.

Valid States: A PKTT_FLASHWRITE is only valid in the Configured state due to the processing time required.

Addressing: A PKTT_FLASHWRITE packet may only be sent to the unicast address of a single camera.

Response: After the flash erase/write cycle has completed, the camera will respond to the originator of the PKTT_FLASHWRITE packet with a PacketStatus indicating success. The host should not send further packets until receiving the PacketStatus.

A PacketFlashRequest is sent by the host to request the contents of one Atmel dataflash page. Each page consists of 264 bytes and is requested by an address in the following format:

The address field Holds the 32 bit starting address:

  • 11 MSB must be zero
  • next 12 bits are page address
  • next 9 bits are start offset within the page (normally zero)

If the start offset is non-zero, then the data will wrap back from the end of the page to the beginning. Normally, this is undesirable, so a start offset of zero should be used.

The AT45DB161D Atmel Dataflash used in this product has 4096 user-accessible flash pages of 264 bytes each.

Valid States: The PacketFlashRequest is only valid in the Configured state due to the processing time required.

Addressing: This packet may only be sent to the unicast address of a single camera.

Response: The camera will read the requested flash page and reply to the originator of the PacketFlashRequest with a PacketFlashPayload containing the data.

See also:
PacketFlashPayload

A PacketGeneric contains only the basic elements that are included in all camera command packets. In conjunction with GenericFrame it is used for pre-validating packets. Functions that generate packets with no data other than the 'type' field may also use a PacketGeneric.

A PacketImagerMode packet is generated by the host to request a change in image sensor mode (resolution, framerate and binning) to one in a predefined list. In this product, there are 10 modes (0..9). The default mode after a reset is mode 2 (640x480x30fps). The specifics of these modes are defined elsewhere.

Valid States: The host may only generate a PacketImagerMode packet when the system is in the Configured state. Changing video mode while streaming is not allowed.

Addressing: A PacketSensorSelect packet may only be sent to the unicast address of a single camera.

Response: Once the camera has configured the requested mode, it will return a PacketStatus to the originating host to indicate success.

The PacketImagerSetRes packet is used only when configuring non-standard image modes. It allows the host to manually configure the camera firmware for arbitrary image dimensions. The camera firmware must always be configured to match the dimensions of the frame coming out of the imager; if the camera is incorrectly configured, system failure could result.

In any case, the maximum value of the horizontal parameter is 752 bytes.

Valid States: The host may only send a PacketImagerSetRes packet when the camera is in the Configured state. Changing imager resolution while streaming is not allowed.

Addressing: A PacketImagerSetRes packet may only be sent to the unicast address of a single camera.

Response: Once the camera has configured the requested resolution, it will return a PacketStatus to the originating host to indicate success.

A PacketReconfigureFPGA is generated by the host to immediately cause the camera to reconfigure the FPGA. All operations are terminated and all temporary state is reset. The PacketReconfigureCamera is a PacketGeneric with the type field set to PKTT_RECONFIG_FPGA.

Valid States: The PacketReset is valid in all operating modes

Addressing: This packet may be sent either to a unicast address of a single camera, or to all cameras on an Ethernet segment via the broadcast address.

Response: The camera reconfigures immediately about a second after receipt of this packet. There is no response generated, but the reconfiguration can be confirmed by subsequently sending a PacketDiscover.

typedef struct PACKED_ATTRIBUTE PacketReset

A PacketReset is generated by the host to immediately return the camera to its power-up default state. All operations are terminated and all temporary state is reset. The PacketReset is a PacketGeneric with the type field set to PKTT_RESET.

Valid States: The PacketReset is valid in all operating modes

Addressing: This packet may be sent either to a unicast address of a single camera, or to all cameras on an Ethernet segment via the broadcast address.

Response: The camera resets immediately after receipt of this packet. There is no response generated, but the reset can be confirmed by subsequently sending a PacketDiscover.

A PacketSensorData may be generated by either the host or the camera. When generated by the camera it will have a type of PKTT_SENSORDATA and will contain the 16-bit data 'data' read from 8-bit image sensor I2C address 'address'.

When generated by the host, the type PKTT_SENSORWR will be assigned. A PKTT_SENSORWR packet is used to instruct the camera to write a 16-bit value ('data') into a location on the image sensor I2C bus specified by the 8-bit address 'address'.

Valid States: PacketTrigControl is valid in both Configured and Video states. However, the Host should pace its requests during Video mode to avoid exceeding the available processor time and network bandwidth.

Addressing: A PKTT_SENSORWR packet may only be sent to the unicast address of a single camera.

Response: Once the camera has written the requested value, it will return a PacketStatus to the originating host to indicate success.

A PacketSensorRequest is generated by the host to request the 16-bit value of a specific image sensor I2C register.

Valid States: PacketTrigControl is valid in both Configured and Video states. However, the Host should pace its requests during Video mode to avoid exceeding the available processor time and network bandwidth.

Addressing: A PacketSensorRequest packet may only be sent to the unicast address of a single camera.

Response: Once the camera has read the requested value, it will return a PacketSensorData packet to the host. This packet will contain the 16-bit data.

See also:
PacketSensorData

A PacketSensorSelect is generated by the host to specify the address of one of the I2C registers to be automatically read once per video frame. In this product, a maximum of four registers can be read.

This packet can also be used to disable reading of a particular index position by specifying an address of I2C_AUTO_REG_UNUSED ((uint32_t)-1).

Valid States: PacketSensorSelect is valid in both Configured and Video states. However, in Video mode the value of the automatically read register at 'index' is undefined between the time the PacketSensorSelect is sent and the end of the frame after the PacketStatus response is received.

Addressing: A PacketSensorSelect packet may only be sent to the unicast address of a single camera.

Response: Once the camera has configured the requested value, it will return a PacketStatus to the originating host to indicate success.

A PacketStatus is generated by the camera in reply to a command from the host that does not require a detailed response. Normally it will indicate only success or failure. If failure, the type of failure is indicated by the status_code field.

A PacketSysConfig is a one-time use packet generated by a host after a unit's initial programming. It specifies the permanent unique MAC address and serial number for a camera.

Valid States: The host may only send a PacketSysConfig packet when the camera is in the Configured state.

Addressing: A PacketImagerSetRes packet may only be sent to the unicast address of a single camera.

Warning:
: Only ONE unprogrammed camera may be on the connected Ethernet segment when this command is sent
: Once the MAC and serial number have been set, the setting is permanent within the Atmel Dataflash chip.

Response: Once the camera has programmed the MAC and serial, it will return a PacketStatus to the originating host to indicate success. Once the PacketStatus has been received, a PacketReset should be sent for the changes to take effect.

typedef struct PACKED_ATTRIBUTE PacketTimer

A PacketTimer is generated by the camera in reply to a TimeRequest from the host. It contains the value of the 64-bit system time base, split between the ticks_hi and ticks_lo fields. The system time base is incremented once per clock cycle and is only reset after a hard reset of the camera board.

The system time base will roll over to zero after approximately 10,000 years of uptime.

An additional field 'ticks_per_sec' is supplied to convert time base clock ticks into seconds. To obtain microseconds from a PacketTimer, first combine ticks_hi and ticks_lo into a single 64-bit value, then divide by (ticks_per_sec/1000000). (Depending on host architecture, different numerical methods may be used to maintain precision)

A TimeRequest packet is generated by the host to request a reading of the camera's system time base. The TimeRequest packet is a PacketGeneric with the type field set to PKTT_TIMEREQ.

Valid States: The TimeRequest packet is valid in both the Configured and Video states. Higher latency will be present during the Video state due to increased processor and network load.

Addressing: This packet may only be sent to the unicast address of a single camera.

Response: The camera will read the system time base and respond to the originator of the TimeRequest with a PacketTimer.

See also:
PacketTimer

A PacketTrigControl will be generated by the host in order to set the type of trigger to use for a subsequent video stream. The change will not affect a stream in process; it is only activated at the reception of the next PacketVidStart.

Currently valid trigger types are Internal (0) and External (1).

Valid States: PacketTrigControl is valid in both Configured and Video states, but a change of trigger state will not take immediate effect when the camera is already in the Video state.

Addressing: A PKTT_FLASHWRITE packet may only be sent to the unicast address of a single camera.

Response: After the trigger type has been changed, the camera will respond to the originator of the PacketTrigControl with a Status packet indicating success.

This packet is a normal line of video.

The data field is sized to accomodate the widest frame possible.

Per Willow Garage request, the PacketEOF is a special case of the PacketVideoLine, with the line number field set to IMAGER_LINENO_NOERR (per client request).

A PacketVidStart is generated by the host to instruct a camera to begin streaming video in the currently configured video mode. The 'receiver' field instructs the camera where to send the video.

Valid States: The PacketVidStart is only valid in the Configured state. Unconfigured cameras and cameras currently streaming will not respond to this packet.

Addressing: This packet may only be addressed to the unicast address of a single camera.

Response: Before starting the video stream, the camera will reply to the originator of the PacketVidStart with a Status packet indicating success.

A PacketVidStop is generated by the host to terminate video streaming from a camera. After the camera receives the PacketVidStop it will wait for the current frame to complete, then end transmission and revert to Configured mode. The PacketVidStop is a PacketGeneric with the type field set to PKTT_VIDSTOP.

Valid States: A PacketVidStop is only valid in the Video state.

Addressing: This packet may only be sent to the unicast address of a single camera.

Response: After the current frame has completed, the camera will reply to the originator of the PacketVidStop with a Status packet indicating success.

typedef uint16_t UDPPort

Definition at line 76 of file ipcam_packet.h.

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wge100_camera
Author(s): Blaise Gassend, Patrick Mihelich, Eric MacIntosh, David Palchak
autogenerated on Sat Mar 2 12:11:39 2013