diff --git a/misc/camera/a8/.gitignore b/misc/camera/a8/.gitignore new file mode 100644 index 0000000..4a0b530 --- /dev/null +++ b/misc/camera/a8/.gitignore @@ -0,0 +1,74 @@ +# This file is used to ignore files which are generated +# ---------------------------------------------------------------------------- + +*~ +*.autosave +*.a +*.core +*.moc +*.o +*.obj +*.orig +*.rej +*.so +*.so.* +*_pch.h.cpp +*_resource.rc +*.qm +.#* +*.*# +core +!core/ +tags +.DS_Store +.directory +*.debug +Makefile* +*.prl +*.app +moc_*.cpp +ui_*.h +qrc_*.cpp +Thumbs.db +*.res +*.rc +/.qmake.cache +/.qmake.stash + +# qtcreator generated files +*.pro.user* +CMakeLists.txt.user* + +# xemacs temporary files +*.flc + +# Vim temporary files +.*.swp + +# Visual Studio generated files +*.ib_pdb_index +*.idb +*.ilk +*.pdb +*.sln +*.suo +*.vcproj +*vcproj.*.*.user +*.ncb +*.sdf +*.opensdf +*.vcxproj +*vcxproj.* + +# MinGW generated files +*.Debug +*.Release + +# Python byte code +*.pyc + +# Binaries +# -------- +*.dll +*.exe + diff --git a/misc/camera/a8/a8.pro b/misc/camera/a8/a8.pro new file mode 100644 index 0000000..e43b1c6 --- /dev/null +++ b/misc/camera/a8/a8.pro @@ -0,0 +1,24 @@ +QT += core serialport + +CONFIG += c++17 console + +TARGET = a8 + +QMAKE_CXXFLAGS = -O0 -g -ggdb -fsanitize=undefined,bounds,float-divide-by-zero,integer-divide-by-zero,null,return,signed-integer-overflow,unreachable,shift,alignment,nonnull-attribute,returns-nonnull-attribute,enum +QMAKE_LFLAGS = -O0 -g -ggdb -fsanitize=undefined,bounds,float-divide-by-zero,integer-divide-by-zero,null,return,signed-integer-overflow,unreachable,shift,alignment,nonnull-attribute,returns-nonnull-attribute,enum + +QMAKE_CXX = clang++ +QMAKE_CC = clang + +# Not nice, but for some reason QtCreator doesn't use /usr/lib/ccache/g++ from the PATH +linux-g++ { + QMAKE_CXX = clang++ + QMAKE_CC = clang +} + +#LIBS += $$PWD/some-library.a + +SOURCES += *.cpp +HEADERS += *.h + +#INCLUDEPATH += $$QT5_INCLUDES_DIR diff --git a/misc/camera/a8/crc16.cpp b/misc/camera/a8/crc16.cpp new file mode 100644 index 0000000..cf14a04 --- /dev/null +++ b/misc/camera/a8/crc16.cpp @@ -0,0 +1,52 @@ +#include "crc16.h" + +static const uint16_t crc16Table[256] = { + 0x0, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, + 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x210, + 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, + 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x420, 0x1401, + 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, + 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x630, 0x76d7, 0x66f6, + 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, + 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x840, 0x1861, 0x2802, 0x3823, + 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, + 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0xa50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, + 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, + 0x5cc5, 0x2c22, 0x3c03, 0xc60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, + 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, + 0x2e32, 0x1e51, 0xe70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, + 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, + 0xe16f, 0x1080, 0xa1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, + 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x2b1, + 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, + 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0, + 0x481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, + 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x691, 0x16b0, 0x6657, + 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, + 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x8e1, 0x3882, + 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, + 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0xaf1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, + 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, + 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0xcc1, 0xef1f, 0xff3e, 0xcf5d, + 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, + 0x2e93, 0x3eb2, 0xed1, 0x1ef0}; + +uint16_t CRC16::calculate(const uint8_t *ptr, uint32_t len, uint16_t crcInit) { + uint16_t crc = crcInit; + uint8_t temp; + + while (len-- != 0) { + temp = (crc >> 8) & 0xFF; + crc = (crc << 8) ^ crc16Table[*ptr ^ temp]; + ptr++; + } + + return crc; +} + +void CRC16::getCRCBytes(const QByteArray &data, uint8_t *bytes) { + uint16_t crc16 = calculate( + reinterpret_cast(data.constData()), data.size(), 0); + bytes[0] = crc16 & 0xFF; + bytes[1] = crc16 >> 8; +} diff --git a/misc/camera/a8/crc16.h b/misc/camera/a8/crc16.h new file mode 100644 index 0000000..57ef403 --- /dev/null +++ b/misc/camera/a8/crc16.h @@ -0,0 +1,12 @@ +#pragma once + +#include +#include + +class CRC16 { +public: + static void getCRCBytes(const QByteArray &data, uint8_t *bytes); + +private: + static uint16_t calculate(const uint8_t *ptr, uint32_t len, uint16_t crcInit); +}; diff --git a/misc/camera/a8/defines.h b/misc/camera/a8/defines.h new file mode 100644 index 0000000..5e47d57 --- /dev/null +++ b/misc/camera/a8/defines.h @@ -0,0 +1,12 @@ +#pragma once + + +enum MESSAGE_IDX +{ + STX = 0, + CTRL = 2, + Data_len = 3, + SEQ = 5, + CMD_ID = 7, + DATA = 8 +}; diff --git a/misc/camera/a8/main.cpp b/misc/camera/a8/main.cpp new file mode 100644 index 0000000..c65d36d --- /dev/null +++ b/misc/camera/a8/main.cpp @@ -0,0 +1,59 @@ +#include "serialCommand.h" +#include "serialPort.h" +#include "serialResponse.h" +#include +#include +#include + +int main(int argc, char *argv[]) { + QCoreApplication app(argc, argv); + + // Replace with your actual port name + const QString portName = "/dev/ttyUSB0"; + + // Create SerialPort object + SerialPort serial(portName); + + // Open the serial port + if (!serial.openPort()) { + qDebug() << "Failed to open serial port"; + return 1; + } + + SerialCommand commands; + + while (true) { + commands.printCommands(); + + // Get user input + std::cout << "Enter a command (0 to exit): "; + int16_t number; + std::cin >> number; + + // Check if the input is within the valid range for uint8_t + if (number < 0 || number > commands.getCommandCount() - 1) { + qWarning() << "Number (" << qPrintable(QString::number(number)) + << ") out of range 0 -" + << qPrintable(QString::number(commands.getCommandCount() - 1)); + continue; + } + + // Exit loop if user enters 0 + if (number == 0) + break; + + // Example command to send (replace with actual Siyi A8 mini camera + // commands) + QByteArray command = commands.getCommand((uint8_t)number); + serial.sendCommand(command); + + // Read response from the camera + QByteArray response = serial.readResponse(); + SerialResponse::printResponse(response); + } + + // Close the serial port + serial.closePort(); + + return 0; +} diff --git a/misc/camera/a8/serialCommand.cpp b/misc/camera/a8/serialCommand.cpp new file mode 100644 index 0000000..7e844ff --- /dev/null +++ b/misc/camera/a8/serialCommand.cpp @@ -0,0 +1,175 @@ +#include "serialCommand.h" +#include "crc16.h" +#include +#include + +SerialCommand::SerialCommand() { + /* + Field Index Bytes Description + STX 0 2 0x6655: starting mark. Low byte in the front + CTRL 2 1 0: need_ack (if the current data pack need “ack”) + 1: ack_pack (if the current data pack is an “ack” package) 2-7: reserved + Data_len 3 2 Data field byte length. Low byte in the front + SEQ 5 2 Frame sequence (0 ~ 65535). Low byte in the front + CMD_ID 7 1 Command ID + DATA 8 Data_len Data + CRC16 2 CRC16 check to the complete data package. Low + byte in the front + */ + + mSerialCommands.append({createByteArray({0x00, 0x00}), "Exit program"}); + mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x04, 0x00, 0x00, + 0x00, 0x0E, 0x00, 0x00, 0x00, 0x00}), + "Degrees"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x08, 0x01}), + "Auto Centering"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0x01}), + "Zoom +1"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x05, 0xFF}), + "Zoom -1"}); + mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x01, + 0x00, 0x0F, 0x04, 0x05}), + "4.5x"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0x01}), + "Manual Focus +1"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x06, 0xff}), + "Manual Focus -1"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x04, 0x01}), + "Auto Focus"}); + mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, + 0x00, 0x07, 0x00, 0x2D}), + "Rotate Up"}); + mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, + 0x00, 0x07, 0x00, -0x2D}), + "Rotate Down"}); + mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, + 0x00, 0x07, 0x2D, 0x00}), + "Rotate Right"}); + mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, + 0x00, 0x07, -0x2D, 0x00}), + "Rotate Left"}); + mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, + 0x00, 0x07, 0x00, 0x00}), + "Stop rotation"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x16}), + "Acquire the Max Zoom Value"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x00}), + "Take Pictures"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x02}), + "Record Video"}); + mSerialCommands.append({createByteArray({0x55, 0x66, 0x01, 0x02, 0x00, 0x00, + 0x00, 0x07, 0x64, 0x64}), + "Rotate 100 100"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0a}), + "Gimbal Status Information"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x02}), + "Acquire Hardware ID"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x01}), + "Acquire Firmware Version"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x03}), + "Lock Mode"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x04}), + "Follow Mode"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x05}), + "FPV Mode"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x0d}), + "Acquire Attitude Data"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x06}), + "Set Video Output as HDMI (Only available on A8 mini, restart to take " + "effect)"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x07}), + "Set Video Output as CVBS (Only available on A8 mini, restart to take " + "effect)"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x0c, 0x08}), + "Turn Off both CVBS and HDMI Output (Only available on A8 mini, restart " + "to take effect)"}); + mSerialCommands.append( + {createByteArray({0x55, 0x66, 0x01, 0x00, 0x00, 0x00, 0x00, 0x15}), + "Read Range from Laser Rangefinder(Low byte in the front, high byte in " + "the back, available on ZT30)"}); +} + +SerialCommand::~SerialCommand() { + // Do something? +} + +QByteArray +SerialCommand::createByteArray(const std::initializer_list &bytes) { + QByteArray byteArray; + for (int byte : bytes) { + byteArray.append(static_cast(byte)); + } + return byteArray; +} + +void SerialCommand::printCommands() { + uint8_t index = 0; + foreach (Command command, mSerialCommands) { + qInfo().noquote() << QString::number(index) + ": " + command.description; + index++; + } +} + +void SerialCommand::setExtraValues(uint8_t number) { + if (number == 1) { + QByteArray command = mSerialCommands.at(number).command; + int16_t degrees; + + std::cout << "Enter yaw degrees (-135 -> 135): "; + std::cin >> degrees; + degrees = degrees * 10; + command[8] = degrees & 0xFF; + command[9] = degrees >> 8; + + std::cout << "Enter pitch degrees (-90 -> 25): "; + std::cin >> degrees; + degrees = degrees * 10; + command[10] = degrees & 0xFF; + command[11] = degrees >> 8; + + mSerialCommands[number].command = command; + } +} + +QByteArray SerialCommand::getCommand(uint8_t number) { + setExtraValues(number); + + QByteArray command = mSerialCommands.at(number).command; + + uint8_t crcBytes[2]; + CRC16::getCRCBytes(command, crcBytes); + + command.resize(command.size() + + 2); // Increase array size to accommodate CRC bytes + command[command.size() - 2] = crcBytes[0]; // Set LSB + command[command.size() - 1] = crcBytes[1]; // Set MSB + + QString commandStr; + for (int i = 0; i < command.size(); i++) { + commandStr += QString("%1").arg(command.at(i), 2, 16, QChar('0')).toUpper(); + } + qDebug() << "Command: " << commandStr; + + return command; +} + +uint8_t SerialCommand::getCommandCount() { return mSerialCommands.size(); } diff --git a/misc/camera/a8/serialCommand.h b/misc/camera/a8/serialCommand.h new file mode 100644 index 0000000..b2fd9d7 --- /dev/null +++ b/misc/camera/a8/serialCommand.h @@ -0,0 +1,23 @@ +#pragma once + +#include +#include + +struct Command { + QByteArray command; + QString description; +}; + +class SerialCommand { +public: + SerialCommand(); + ~SerialCommand(); + QByteArray createByteArray(const std::initializer_list &bytes); + void printCommands(void); + QByteArray getCommand(uint8_t number); + void setExtraValues(uint8_t number); + uint8_t getCommandCount(); + +private: + QList mSerialCommands; +}; diff --git a/misc/camera/a8/serialPort.cpp b/misc/camera/a8/serialPort.cpp new file mode 100644 index 0000000..abfb50a --- /dev/null +++ b/misc/camera/a8/serialPort.cpp @@ -0,0 +1,53 @@ +#include "serialPort.h" +#include + +SerialPort::SerialPort(const QString &portName) : mSerialPort(portName) { + mSerialPort.setPortName(portName); + mSerialPort.setBaudRate(QSerialPort::Baud115200); + mSerialPort.setDataBits(QSerialPort::Data8); + mSerialPort.setStopBits(QSerialPort::OneStop); + mSerialPort.setFlowControl(QSerialPort::NoFlowControl); +} + +SerialPort::~SerialPort() { + closePort(); // Close port if open on destruction +} + +bool SerialPort::openPort() { + if (mSerialPort.isOpen()) { + qDebug() << "Port already open"; + return true; + } + + return mSerialPort.open(QIODevice::ReadWrite); +} + +void SerialPort::closePort() { + if (mSerialPort.isOpen()) { + mSerialPort.close(); + } +} + +void SerialPort::sendCommand(const QByteArray &command) { + if (!mSerialPort.isOpen()) { + qDebug() << "Error: Port not open"; + return; + } + + mSerialPort.write(command); +} + +QByteArray SerialPort::readResponse() { + if (!mSerialPort.isOpen()) { + qDebug() << "Error: Port not open"; + return QByteArray(); + } + + // Read data from serial port until timeout or specific criteria met + QByteArray response; + while (mSerialPort.waitForReadyRead(5000)) { // Adjust timeout as needed + response.append(mSerialPort.readAll()); + } + + return response; +} diff --git a/misc/camera/a8/serialPort.h b/misc/camera/a8/serialPort.h new file mode 100644 index 0000000..bcf701e --- /dev/null +++ b/misc/camera/a8/serialPort.h @@ -0,0 +1,18 @@ +#pragma once + +#include +#include + +class SerialPort { +public: + SerialPort(const QString& portName); + ~SerialPort(); + + bool openPort(); + void closePort(); + void sendCommand(const QByteArray& command); + QByteArray readResponse(); + +private: + QSerialPort mSerialPort; +}; diff --git a/misc/camera/a8/serialResponse.cpp b/misc/camera/a8/serialResponse.cpp new file mode 100644 index 0000000..20dfdbf --- /dev/null +++ b/misc/camera/a8/serialResponse.cpp @@ -0,0 +1,48 @@ +#include "serialResponse.h" +#include "crc16.h" +#include "defines.h" +#include +#include + +void SerialResponse::printResponse(QByteArray response) { + QString responseStr; + for (int i = 0; i < response.size(); i++) { + responseStr += + QString("%1").arg(response.at(i), 2, 16, QChar('0')).toUpper(); + } + qDebug() << "Response: " << responseStr; + + responseStr = ""; + uint8_t command = response.at(MESSAGE_IDX::CMD_ID); + + // Check response data validity + uint8_t crcCheck[2]; + CRC16::getCRCBytes(response.mid(0, response.size() - 2), crcCheck); + + // Data not OK + if (crcCheck[0] != response.at(response.size() - 2) || + crcCheck[1] != response.at(response.size() - 1)) { + qWarning() << "Response data not valid"; + return; + } + qInfo() << "Response data is valid"; + + if (command == 0x0E) { + int16_t yaw = (static_cast(response.at(9)) << 8) | + static_cast(response.at(8)); + int16_t pitch = (static_cast(response.at(11)) << 8) | + static_cast(response.at(10)); + int16_t roll = (static_cast(response.at(13)) << 8) | + static_cast(response.at(12)); + + qInfo().noquote() << "Yaw: " << QString::number(yaw / 10) + "°"; + qInfo().noquote() << "Pitch: " << QString::number(pitch / 10) + "°"; + qInfo().noquote() << "Roll: " << QString::number(roll / 10) + "°"; + } else { + for (int i = 0; i < response.size(); i++) { + responseStr += + QString("%1").arg(response.at(i), 2, 16, QChar('0')).toUpper(); + } + qInfo() << "Response: " << responseStr; + } +} diff --git a/misc/camera/a8/serialResponse.h b/misc/camera/a8/serialResponse.h new file mode 100644 index 0000000..d8542e9 --- /dev/null +++ b/misc/camera/a8/serialResponse.h @@ -0,0 +1,8 @@ +#pragma once + +#include + +class SerialResponse { +public: + static void printResponse(QByteArray response); +};