yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Camera trigger: Fix param handle names, enable trigger if mode set to > 1

Browse Source
This commit is contained in:
Lorenz Meier
2015-08-08 14:14:48 +02:00
parent f105d65ab1
commit 82dc382095
2 changed files with 23 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

31
src/drivers/camera_trigger/camera_trigger.cpp
View File

@@ -108,6 +108,7 @@ private:
int _gpio_fd;
int _polarity;
int _mode;
float _activation_time;
float _interval;
uint32_t _trigger_seq;
@@ -117,10 +118,10 @@ private:
orb_advert_t _trigger_pub;
param_t polarity;
param_t activation_time;
param_t interval;
param_t transfer_time ;
param_t _p_polarity;
param_t _p_mode;
param_t _p_activation_time;
param_t _p_interval;
static constexpr uint32_t _gpios[6] = {
GPIO_GPIO0_OUTPUT,
@@ -161,6 +162,7 @@ CameraTrigger::CameraTrigger() :
_disengagecall {},
_gpio_fd(-1),
_polarity(0),
_mode(0),
_activation_time(0.5f /* ms */),
_interval(100.0f /* ms */),
_trigger_seq(0),
@@ -171,9 +173,10 @@ CameraTrigger::CameraTrigger() :
memset(&_work, 0, sizeof(_work));
// Parameters
polarity = param_find("TRIG_POLARITY");
interval = param_find("TRIG_INTERVAL");
activation_time = param_find("TRIG_ACT_TIME");
_p_polarity = param_find("TRIG_POLARITY");
_p_interval = param_find("TRIG_INTERVAL");
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_ACT_TIME");
struct camera_trigger_s trigger = {};
@@ -206,9 +209,10 @@ void
CameraTrigger::start()
{
param_get(polarity, &_polarity);
param_get(activation_time, &_activation_time);
param_get(interval, &_interval);
param_get(_p_polarity, &_polarity);
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
param_get(_p_mode, &_mode);
stm32_configgpio(_gpios[_pin - 1]);
@@ -223,6 +227,11 @@ CameraTrigger::start()
stop();
}
// enable immediate if configured that way
if (_mode > 1) {
control(true);
}
// start to monitor at high rate for trigger enable command
work_queue(LPWORK, &_work, (worker_t)&CameraTrigger::cycle_trampoline, this, USEC2TICK(1));
}
@@ -266,7 +275,7 @@ CameraTrigger::cycle_trampoline(void *arg)
// Set trigger rate from command
if (cmd.param2 > 0) {
trig->_interval = cmd.param2;
param_set(trig->interval, &(trig->_interval));
param_set(trig->_p_interval, &(trig->_interval));
}
if (cmd.param1 < 1.0f) {