pelican_ptu.h
Go to the documentation of this file.
00001 /*
00002 
00003 Copyright (c) 2011, Ascending Technologies GmbH
00004 All rights reserved.
00005 
00006 Redistribution and use in source and binary forms, with or without
00007 modification, are permitted provided that the following conditions are met:
00008 
00009  * Redistributions of source code must retain the above copyright notice,
00010    this list of conditions and the following disclaimer.
00011  * Redistributions in binary form must reproduce the above copyright
00012    notice, this list of conditions and the following disclaimer in the
00013    documentation and/or other materials provided with the distribution.
00014 
00015 THIS SOFTWARE IS PROVIDED BY THE AUTHOR AND CONTRIBUTORS ``AS IS'' AND ANY
00016 EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00017 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00018 DISCLAIMED. IN NO EVENT SHALL THE AUTHOR OR CONTRIBUTORS BE LIABLE FOR ANY
00019 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00020 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00021 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00022 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00023 LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
00024 OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
00025 DAMAGE.
00026 
00027  */
00028 
00029 #ifndef PELICAN_PTU_H_
00030 #define PELICAN_PTU_H_
00031 
00032 
00033 #define HUMMINGBIRD_ROLL_SERVO  //generate roll servo output and use HL serial 0 TX for PWM 1
00034 #define HUMMINGBIRD_ROLL_SERVO_ON_SSEL0 //SSEL0 is used for Roll servo, serial 0 TX stays TX pin!
00035 #define CAMMOUNT_XCONFIG // turn roll/pitch commands for camera compensation by 45°
00036 #define PELICAN_PTU //roll/nick servo offset and scales for standard Pelican camera mount, pitch dir -1, roll dir 1
00037 #define CAM_FACING_FRONT_RIGHT  //define if camera is facing to the front right, for front left leave undefined
00038 
00039 //Servo angle offsets in degrees*1000 => change this value if camera mount is not leveled
00040 #define CAMERA_OFFSET_HUMMINGBIRD_PITCH 0
00041 #define CAMERA_OFFSET_HUMMINGBIRD_ROLL  0
00042 
00043 #define HUMMINGBIRD_SERVO_DIRECTION_PITCH 1 //1: servo mounted on right hand side of camera, -1: left
00044 #define HUMMINGBIRD_SERVO_DIRECTION_ROLL  -1
00045 
00046 void PTU_init(void);
00047 void PTU_update(void);
00048 void SERVO_pitch_move(int);
00049 void SERVO_roll_move(int);
00050 
00051 
00052 struct CAMERA_PTU {     //Pan Tilt Unit Data
00053 
00054         int servo_roll_offset;
00055         int servo_pitch_offset;
00056 
00057         int servo_roll_scale;
00058         int servo_pitch_scale;
00059 
00060         int servo_pitch_min;
00061         int servo_pitch_max;
00062 
00063         int servo_roll_min;
00064         int servo_roll_max;
00065 };
00066 
00067 extern struct CAMERA_PTU CAMERA_ptu;
00068 
00069 struct CAMERA_COMMANDS {
00070 
00071     unsigned short status;     //0x01 => camera power on; 0x00 => camera power off
00072     short chksum;  //status + desired_angle_pitch + desired_angle_roll;
00073         int desired_angle_pitch;        //desired angles in 1/1000th degree
00074         int desired_angle_roll;
00075 };
00076 
00077 extern struct CAMERA_COMMANDS CAMERA_Commands;
00078 
00079 #endif /*PELICAN_PTU_H_*/
00080 


asctec_hl_firmware
Author(s): Markus Achtelik, Michael Achtelik, Stephan Weiss, Laurent Kneip
autogenerated on Tue Dec 17 2013 11:39:27