Notes:
There is still approximately a 1:30 chance for the camera to still require a power cycle.

Call Camera_Comm_Check() from the slow loop (auto and regular). We do it in 
        Process_Data_From_Master_uP(), but our auto doesn't use a separate, independent loop.

Make the following global in camera.c Initialize_Camera() so they can be reset:
	 unsigned char boot_initialization_flag = 1;
	 unsigned char initialize_flag = 1;

#define PACKET_MISS_THRESH 8  // This is really looking for 2 missing packets in a row. (= #missing * 4)

/*******************************************************************************
*
*	FUNCTION:		Camera_Comm_Check()
*
*	PURPOSE:		This detects the failure of communications with the camera.		
*
*	CALLED FROM:    	Process_Data_From_Master_uP()
*
*	PARAMETERS:		none
*
*	RETURNS:		nothing
*
*	COMMENTS:
*       MLM - Written 3/20/06
*                  Several things here, such as "flag", are unnecessary and only used during debug.
*******************************************************************************/
#include "user_routines.h"
#include "clock_routines.h"

#define TIMEOUT 2   // (sec) Allow camera time to initialization before trying again
                    // A typical camera re-initialization takes 1.2 seconds

void Camera_Comm_Check(void)
{
    static unsigned int old_camera_t_packets=9999;  // Local check
    static unsigned long camera_init_timeout=TIMEOUT;
    static unsigned char packet_err_cnt = 0;
    static char flag=TRUE;

    // Is the camera still communicating?
    if(old_camera_t_packets == camera_t_packets)  // We didn't receive a new camera packet
    {
        if(packet_err_cnt >= PACKET_MISS_THRESH)
        {
            if (camera_init_timeout < Clocksec)
            { // Need to do periodically until power (& communication) is restored
                camera_init_timeout = Clocksec + TIMEOUT;
                Reset_Mode();
                Restart_Camera2();  
                flag = TRUE;
                printf("Restart Camera ****** Clockms=%ld\r", Clockms);
            }
            else // Just wait for the camera. Give it time.
            {
//              printf("Restart: bytecount=%d, ", Camera_Serial_Port_Byte_Count());
            }
        }
        else
        {
            packet_err_cnt++; // Normally see T packets at 10Hz. This count is ~4 times quicker.
            // Could check & increment at 10Hz as well...
        }
    }
    else
    {
        packet_err_cnt = 0;
        old_camera_t_packets = camera_t_packets;
        if (flag) printf("Received new packet ****** Clockms=%ld\r", Clockms);
        flag = FALSE;
    }
}

/*******************************************************************************
*
*	FUNCTION:		Reset_Mode()
*
*	PURPOSE:		Properly formats and sends a camera RS (Reset) command
*					to the camera assuming camera is in either raw or ascii mode.
*                   Too close together increases the camera hang rate.
*
*	CALLED FROM:    Camera_Comm_Check()
*
*	PARAMETERS:		unsigned char
*
*	RETURNS:		nothing
*
*	COMMENTS:		
*       MLM - Written 3/20/06
*******************************************************************************/
void Reset_Mode(void)
{
    // Raw mode
	Write_Camera_Serial_Port(255);  // Raw mode start flag
	Write_Camera_Serial_Port('R');
	Write_Camera_Serial_Port('S');
	Write_Camera_Serial_Port('\r');
    // Ascii mode
//	Write_Camera_Serial_Port('R');
//	Write_Camera_Serial_Port('S');
//	Write_Camera_Serial_Port('\r');
}


/*******************************************************************************
*
*	FUNCTION:		Restart_Camera2()
*
*	PURPOSE:		This command will force a camera reinitialization		
*
*	CALLED FROM:    Camera_Comm_Check()
*
*	PARAMETERS:		none
*
*	RETURNS:		nothing
*
*	COMMENTS:
*       MLM - Written 2/20/06
*                   Assumes the use of Kevin Watson's camera.c and serial communications code
*                   Requires a couple of internal variables be made global within 
*                   camera.c so they may be reset.
*                       unsigned char boot_initialization_flag = 1;
*                       unsigned char initialize_flag = 1;
*******************************************************************************/
void Restart_Camera2(void)
{
	camera_initialized = 0;

    //Added the following to original Restart_Camera()...
    camera_t_packets = 0;  // Counts new camera T packets received
	boot_initialization_flag = 1; // Reinitialize camera communication mode
	initialize_flag = 1;  // Reinitialize the camera.c state machine
}