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camera_trigger: Add one-shot operation

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This commit is contained in:
Lorenz Meier
2016-01-02 21:19:38 +01:00
parent 32d9bae44d
commit 41883a08d8
1 changed files with 20 additions and 11 deletions
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31
src/drivers/camera_trigger/camera_trigger.cpp
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@@ -146,6 +146,8 @@ private:
*/
static void disengage(void *arg);
static void trigger(CameraTrigger *trig, bool trigger);
};
struct work_s CameraTrigger::_work;
@@ -314,6 +316,12 @@ CameraTrigger::cycle_trampoline(void *arg)
// need to poll at a very high rate
poll_interval_usec = 100000;
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL) {
if (cmd.param5 > 0) {
// One-shot trigger, default 1 ms interval
trig->_interval = 1000;
trig->control(true);
}
}
}
@@ -327,21 +335,16 @@ CameraTrigger::engage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
struct camera_trigger_s trigger;
struct camera_trigger_s report = {};
/* set timestamp the instant before the trigger goes off */
trigger.timestamp = hrt_absolute_time();
report.timestamp = hrt_absolute_time();
for (unsigned i = 0; i < sizeof(trig->_pins) / sizeof(trig->_pins[0]); i++) {
if (trig->_pins[i] >= 0) {
// ACTIVE_LOW == 0
stm32_gpiowrite(trig->_gpios[trig->_pins[i]], trig->_polarity);
}
}
CameraTrigger::trigger(trig, trig->_polarity);
trigger.seq = trig->_trigger_seq++;
report.seq = trig->_trigger_seq++;
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &report);
}
void
@@ -350,10 +353,16 @@ CameraTrigger::disengage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
CameraTrigger::trigger(trig, !(trig->_polarity));
}
void
CameraTrigger::trigger(CameraTrigger *trig, bool trigger)
{
for (unsigned i = 0; i < sizeof(trig->_pins) / sizeof(trig->_pins[0]); i++) {
if (trig->_pins[i] >= 0) {
// ACTIVE_LOW == 1
stm32_gpiowrite(trig->_gpios[trig->_pins[i]], !(trig->_polarity));
stm32_gpiowrite(trig->_gpios[trig->_pins[i]], trigger);
}
}
}