Simple Security System

/***************************
PIR Motion Detection - Camera Capture

by Jennifer Case
5/21/2013

Parts:
-PIR Sensor
-SD Card Breakout Board
-TTL Camera

Pin 2,3 - Camera
Pin 8 - PIR Sensor
Pin 10 - CS/D3
Pin 11 - CMD
Pin 12 - D0
Pin 13 - CLK
****************************/
#include <SoftwareSerial.h>
#include <SdFat.h>

//SD Card
SdFat sd;
SdFile myFile;
int picCnt = 0;

//Camera
byte incomingbyte;
SoftwareSerial cameraSerial = SoftwareSerial(2, 3);   //Configure pin 2 and 3 as soft serial port
int a=0x0000,j=0,k=0,count=0;   //Read Starting address       
uint8_t MH,ML;
boolean EndFlag=0;

//Declare pins
const int chipSelect = 10;
int pirPin = 8;

void setup() { 
  Serial.begin(19200); //start serial
  cameraSerial.begin(38400); //start serial with camera
  
  // Initialize SdFat or print a detailed error message and halt
  // Use half speed like the native library.
  // change to SPI_FULL_SPEED for more performance.
  if (!sd.begin(chipSelect, SPI_HALF_SPEED)) sd.initErrorHalt();
  
  SendResetCmd(); //allows camera to take pictures
  delay(3000); //delay necessary for camera reset
}

void loop() {
  int val = digitalRead(pirPin); //read from PIR sensor
  
  //when val is HIGH, there is motion -> take pictures
  if (val == HIGH) {
    //create title for images
    char photoTitle[25] = {};
    sprintf(photoTitle, "pic%d.txt", picCnt);
    //Serial.println(photoTitle);
    
    //make sure file can be created, otherwise print error
    if (!myFile.open(photoTitle, O_RDWR | O_CREAT | O_AT_END)) {
      sd.errorHalt("opening photoTitle.txt for write failed");
    }
    
    //Serial.print("Writing to file...");
    
    SendTakePhotoCmd(); //take photo
    delay(200); //delay to make sure there is no drop in the data
    //Serial.println("Start pic"); 
  
    while(cameraSerial.available()>0) {
      incomingbyte=cameraSerial.read(); //clear unneccessary serial from camera
    }
    byte b[32];
    
    while(!EndFlag) {  
      j=0;
      k=0;
      count=0;
      SendReadDataCmd(); //command to get picture from camera
             
      delay(75); //delay necessary for data not to be lost
      while(cameraSerial.available()>0) {
        incomingbyte=cameraSerial.read(); //read serial from camera
        k++;
        if((k>5)&&(j<32)&&(!EndFlag)) {
          b[j]=incomingbyte;
          if((b[j-1]==0xFF)&&(b[j]==0xD9))
          EndFlag=1; //when end of picture appears, stop reading data                          
          j++;
          count++;
        }
      }
              
      for(j=0;j<count;j++) { //store picture into file
        if(b[j]<0x10)
          myFile.print("0");
        myFile.print(b[j], HEX);
      }
      myFile.println();
    }
    
    StopTakePhotoCmd(); //stop this picture so another one can be taken
    EndFlag = 0; // reset flag to allow another picture to be read
    //Serial.println("End of pic");
    
    myFile.close(); //close file
    //Serial.println("done.");
    //Serial.println();
    
    picCnt++; //increment value for next picture
  }
}

//Send Reset command
void SendResetCmd() {
  cameraSerial.write((byte)0x56);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x26);
  cameraSerial.write((byte)0x00);   
}

//Send take picture command
void SendTakePhotoCmd() {
  cameraSerial.write((byte)0x56);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x36);
  cameraSerial.write((byte)0x01);
  cameraSerial.write((byte)0x00);
    
  a = 0x0000; //reset so that another picture can taken
}

void FrameSize() {
  cameraSerial.write((byte)0x56);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x34);
  cameraSerial.write((byte)0x01);
  cameraSerial.write((byte)0x00);  
}

//Read data
void SendReadDataCmd() {
  MH=a/0x100;
  ML=a%0x100;
      
  cameraSerial.write((byte)0x56);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x32);
  cameraSerial.write((byte)0x0c);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x0a);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)MH);
  cameraSerial.write((byte)ML);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x20);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x0a);

  a+=0x20; 
}

void StopTakePhotoCmd() {
  cameraSerial.write((byte)0x56);
  cameraSerial.write((byte)0x00);
  cameraSerial.write((byte)0x36);
  cameraSerial.write((byte)0x01);
  cameraSerial.write((byte)0x03);        
}