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Camera trigger: Support N pins to be triggered in parallel if needed

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This commit is contained in:
Lorenz Meier
2015-08-10 21:58:56 +02:00
parent f3b66fa426
commit 7170c76fff
2 changed files with 48 additions and 58 deletions
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102
src/drivers/camera_trigger/camera_trigger.cpp
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@@ -97,7 +97,7 @@ public:
*/
void info();
int _pin;
int _pins[6];
private:
@@ -158,7 +158,7 @@ CameraTrigger *g_camera_trigger;
}
CameraTrigger::CameraTrigger() :
_pin(TRIGGER_PIN_DEFAULT),
_pins{},
_engagecall {},
_disengagecall {},
_gpio_fd(-1),
@@ -178,7 +178,34 @@ CameraTrigger::CameraTrigger() :
_p_interval = param_find("TRIG_INTERVAL");
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
_p_pin = param_find("TRIG_PIN");
_p_pin = param_find("TRIG_PINS");
param_get(_p_polarity, &_polarity);
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
param_get(_p_mode, &_mode);
int pin_list;
param_get(_p_pin, &pin_list);
// Set all pins as invalid
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
_pins[i] = -1;
}
// Convert number to individual channels
unsigned i = 0;
int single_pin;
while ((single_pin = pin_list % 10)) {
_pins[i] = single_pin - 1;
if (_pins[i] < 0 || _pins[i] >= static_cast<int>(sizeof(_gpios) / sizeof(_gpios[0]))) {
_pins[i] = -1;
}
pin_list /= 10;
i++;
}
struct camera_trigger_s trigger = {};
@@ -220,27 +247,9 @@ void
CameraTrigger::start()
{
param_get(_p_polarity, &_polarity);
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
param_get(_p_mode, &_mode);
param_get(_p_pin, &_pin);
if (_pin < 1 || _pin > static_cast<int>(sizeof(_gpios) / sizeof(_gpios[0]))) {
_pin = TRIGGER_PIN_DEFAULT;
}
stm32_configgpio(_gpios[_pin - 1]);
if (_polarity == 0) {
stm32_gpiowrite(_gpios[_pin - 1], 1); // GPIO pin pull high
} else if (_polarity == 1) {
stm32_gpiowrite(_gpios[_pin - 1], 0); // GPIO pin pull low
} else {
warnx(" invalid trigger polarity setting. stopping.");
stop();
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
stm32_configgpio(_gpios[_pins[i]]);
stm32_gpiowrite(_gpios[_pins[i]], !_polarity);
}
// enable immediate if configured that way
@@ -316,18 +325,16 @@ CameraTrigger::engage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
stm32_configgpio(trig->_gpios[trig->_pin - 1]);
struct camera_trigger_s trigger;
/* set timestamp the instant before the trigger goes off */
trigger.timestamp = hrt_absolute_time();
if (trig->_polarity == 0) { // ACTIVE_LOW
stm32_gpiowrite(trig->_gpios[trig->_pin - 1], 0);
} else if (trig->_polarity == 1) { // ACTIVE_HIGH
stm32_gpiowrite(trig->_gpios[trig->_pin - 1], 1);
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);
}
}
trigger.seq = trig->_trigger_seq++;
@@ -341,30 +348,26 @@ CameraTrigger::disengage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
stm32_configgpio(trig->_gpios[trig->_pin - 1]);
if (trig->_polarity == 0) { // ACTIVE_LOW
stm32_gpiowrite(trig->_gpios[trig->_pin - 1], 1);
} else if (trig->_polarity == 1) { // ACTIVE_HIGH
stm32_gpiowrite(trig->_gpios[trig->_pin - 1], 0);
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));
}
}
}
void
CameraTrigger::info()
{
warnx("state : %s", _trigger_enabled ? "enabled" : "disabled");
warnx("pin : %i, polarity : %s", _pin, _polarity ? "ACTIVE_HIGH" : "ACTIVE_LOW");
warnx("pins 1-3 : %d,%d,%d polarity : %s", _pins[0], _pins[1], _pins[2],
_polarity ? "ACTIVE_HIGH" : "ACTIVE_LOW");
warnx("interval : %.2f", (double)_interval);
}
static void usage()
{
errx(1, "usage: camera_trigger {start|stop|info} [-p <n>]\n"
"\t-p <n>\tUse specified AUX OUT pin number (default: %d)", TRIGGER_PIN_DEFAULT
);
errx(1, "usage: camera_trigger {start|stop|info} [-p <n>]\n");
}
int camera_trigger_main(int argc, char *argv[])
@@ -385,19 +388,6 @@ int camera_trigger_main(int argc, char *argv[])
errx(1, "alloc failed");
}
if (argc > 3) {
camera_trigger::g_camera_trigger->_pin = (int)argv[3];
if (atoi(argv[3]) > 0 && atoi(argv[3]) < 6) {
warnx("starting trigger on pin : %li ", atoi(argv[3]));
camera_trigger::g_camera_trigger->_pin = atoi(argv[3]);
} else {
usage();
}
}
camera_trigger::g_camera_trigger->start();
return 0;