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f8e0441e7b
Script to update include paths: for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
154 lines
4.5 KiB
C++
154 lines
4.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file camera_capture.hpp
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*
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*/
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#pragma once
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#include <drivers/device/ringbuffer.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_input_capture.h>
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#include <drivers/drv_pwm_output.h>
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#include <lib/parameters/param.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_module.h>
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#include <px4_tasks.h>
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#include <px4_workqueue.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/PublicationQueued.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/camera_trigger.h>
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#include <uORB/topics/vehicle_command.h>
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#include <uORB/topics/vehicle_command_ack.h>
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#define PX4FMU_DEVICE_PATH "/dev/px4fmu"
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// For AV-X board
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#define GPIO_TRIG_AVX /* PD14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)
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class CameraCapture : public px4::ScheduledWorkItem
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{
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public:
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/**
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* Constructor
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*/
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CameraCapture();
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/**
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* Destructor, also kills task.
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*/
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~CameraCapture();
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/**
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* Start the task.
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*/
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int start();
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/**
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* Stop the task.
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*/
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void stop();
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void status();
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// Low-rate command handling loop
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void Run() override;
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static void capture_trampoline(void *context, uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state,
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uint32_t overflow);
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void set_capture_control(bool enabled);
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void reset_statistics(bool reset_seq);
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void publish_trigger();
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static struct work_s _work_publisher;
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private:
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// Publishers
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uORB::PublicationQueued<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
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uORB::Publication<camera_trigger_s> _trigger_pub{ORB_ID(camera_trigger)};
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// Subscribers
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uORB::Subscription _command_sub{ORB_ID(vehicle_command)};
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// Trigger Buffer
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struct _trig_s {
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uint32_t chan_index;
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hrt_abstime edge_time;
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uint32_t edge_state;
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uint32_t overflow;
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} _trigger{};
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ringbuffer::RingBuffer *_trig_buffer{nullptr};
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bool _capture_enabled{false};
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bool _gpio_capture{false};
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// Parameters
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param_t _p_strobe_delay{PARAM_INVALID};
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float _strobe_delay{0.0f};
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param_t _p_camera_capture_mode{PARAM_INVALID};
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int32_t _camera_capture_mode{0};
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param_t _p_camera_capture_edge{PARAM_INVALID};
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int32_t _camera_capture_edge{0};
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// Signal capture statistics
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uint32_t _capture_seq{0};
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hrt_abstime _last_trig_begin_time{0};
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hrt_abstime _last_exposure_time{0};
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hrt_abstime _last_trig_time{0};
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uint32_t _capture_overflows{0};
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// Signal capture callback
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void capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
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// GPIO interrupt routine (for AV_X board)
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static int gpio_interrupt_routine(int irq, void *context, void *arg);
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// Signal capture publish
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static void publish_trigger_trampoline(void *arg);
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};
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struct work_s CameraCapture::_work_publisher;
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