camera_trigger:Support more than 8 channles

ROMFS/px4fmu_common/init.d/rcS

@@ -376,6 +376,8 @@ else
 	fi
 
 	if param greater -s TRIG_MODE 0
+	then
+		if param compare TRIG_PINS_EX 0
 		then
 			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
 			if param compare TRIG_PINS 56
@@ -394,6 +396,13 @@ else
 					set AUX_MODE none
 				fi
 			fi
+		else
+			if param compare TRIG_PINS_EX 12288
+			then
+				set FMU_MODE pwm12
+				set AUX_MODE pwm12
+			fi
+		fi
 
 		camera_trigger start
 		camera_feedback start

src/drivers/camera_trigger/camera_trigger_params.c

@@ -148,6 +148,24 @@ PARAM_DEFINE_INT32(TRIG_MODE, 0);
  */
 PARAM_DEFINE_INT32(TRIG_PINS, 56);
 
+/**
+ * Camera trigger pin extended
+ *
+ * This Bit mask selects which FMU pin is used (range: AUX9-AUX32)
+ * If the value is not 0 it takes precedence over TRIG_PINS.
+ *
+ * If bits above 8 are set that value is used as the selector for trigger pins.
+ * greater then 8. 0x00000300 Would be Pins 9,10. If the value is
+ *
+ *
+ * @min 0
+ * @max 4294967040
+ * @decimal 0
+ * @reboot_required true
+ * @group Camera trigger
+ */
+PARAM_DEFINE_INT32(TRIG_PINS_EX, 0);
+
 /**
  * Camera trigger distance
  *

src/drivers/camera_trigger/interfaces/src/camera_interface.cpp

@@ -36,23 +36,37 @@
 
 void CameraInterface::get_pins()
 {
+
 	// Get parameter handle
 	_p_pin = param_find("TRIG_PINS");
 
-	if (_p_pin == PARAM_INVALID) {
+	_p_pin_ex = param_find("TRIG_PINS_EX");
+
+	if (_p_pin == PARAM_INVALID && _p_pin_ex == PARAM_INVALID) {
 		PX4_ERR("param TRIG_PINS not found");
 		return;
 	}
 
-	int pin_list;
-	param_get(_p_pin, &pin_list);
-
 	// Set all pins as invalid
 	for (unsigned i = 0; i < arraySize(_pins); i++) {
 		_pins[i] = -1;
 	}
 
+	int pin_list = 0;
+	int pin_list_ex = 0;
+
+	if (_p_pin_ex != PARAM_INVALID) {
+		param_get(_p_pin_ex, &pin_list_ex);
+	}
+
+	if (_p_pin != PARAM_INVALID) {
+		param_get(_p_pin, &pin_list);
+	}
+
+	if (pin_list_ex == 0) {
+
 		// Convert number to individual channels
+
 		unsigned i = 0;
 		int single_pin;
 
@@ -68,4 +82,15 @@ void CameraInterface::get_pins()
 			i++;
 		}
 
+	} else {
+		unsigned int p = 0;
+
+		for (unsigned int i = 0; i < arraySize(_pins); i++) {
+			int32_t v = (pin_list_ex & (1 << i)) ? i  : -1;
+
+			if (v > 0) {
+				_pins[p++] = v;
+			}
+		}
+	}
 }

src/drivers/camera_trigger/interfaces/src/camera_interface.h

@@ -98,7 +98,8 @@ protected:
 	void get_pins();
 
 	param_t _p_pin{PARAM_INVALID};
+	param_t _p_pin_ex{PARAM_INVALID};
 
-	int _pins[6] {};
+	int _pins[32] {};
 
 };

src/drivers/camera_trigger/interfaces/src/gpio.cpp

@@ -80,7 +80,11 @@ void CameraInterfaceGPIO::info()
 	PX4_INFO_RAW("GPIO trigger mode, pins enabled: ");
 
 	for (unsigned i = 0; i < arraySize(_pins); ++i) {
-		PX4_INFO_RAW("[%d]", _pins[i]);
+		if (_pins[i] < 0) {
+			continue;
+		}
+
+		PX4_INFO_RAW("[%d]", _pins[i] + 1);
 	}
 
 	PX4_INFO_RAW(", polarity : %s\n", _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");

src/drivers/camera_trigger/interfaces/src/gpio.h

@@ -56,7 +56,7 @@ public:
 	void info();
 
 private:
-	static const int num_gpios = DIRECT_PWM_OUTPUT_CHANNELS > 6 ? 6 : DIRECT_PWM_OUTPUT_CHANNELS;
+	static const int num_gpios = 32;
 
 	void setup();
 

src/drivers/camera_trigger/interfaces/src/pwm.cpp

@@ -91,8 +91,17 @@ void CameraInterfacePWM::trigger(bool trigger_on_true)
 
 void CameraInterfacePWM::info()
 {
-	PX4_INFO("PWM trigger mode (generic), pins enabled : [%d][%d][%d][%d][%d][%d]",
-		 _pins[5], _pins[4], _pins[3], _pins[2], _pins[1], _pins[0]);
+	PX4_INFO_RAW("PWM trigger mode, pins enabled: ");
+
+	for (unsigned i = 0; i < arraySize(_pins); ++i) {
+		if (_pins[i] < 0) {
+			continue;
+		}
+
+		PX4_INFO_RAW("[%d]", _pins[i] + 1);
+	}
+
+	PX4_INFO_RAW("\n");
 }
 
 #endif /* ifdef __PX4_NUTTX */