WIP hacks

src/drivers/camera_trigger/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__camera_trigger
 	MAIN camera_trigger
 	COMPILE_FLAGS
+		-O0
 	SRCS
 		camera_trigger.cpp
                 interfaces/src/camera_interface.cpp

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

@@ -1,20 +1,8 @@
 #include "camera_interface.h"
 #include <px4_platform_common/log.h>
 
-/**
- * @file camera_interface.cpp
- *
- */
-
-CameraInterface::CameraInterface():
-	_p_pin(PARAM_INVALID),
-	_pins{}
-{
-}
-
 void CameraInterface::get_pins()
 {
-
 	// Get parameter handle
 	_p_pin = param_find("TRIG_PINS");
 

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

@@ -12,15 +12,7 @@
 class CameraInterface
 {
 public:
-
+	CameraInterface() = default;
-	/**
-	 * Constructor
-	 */
-	CameraInterface();
-
-	/**
-	 * Destructor.
-	 */
 	virtual ~CameraInterface() = default;
 
 	/**
@@ -72,8 +64,8 @@ protected:
 	 */
 	void get_pins();
 
-	param_t _p_pin;
+	param_t _p_pin{PARAM_INVALID};
 
-	int _pins[6];
+	int _pins[6]{};
 
 };

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

@@ -4,15 +4,12 @@
 #include <cstring>
 #include <px4_arch/io_timer.h>
 
-CameraInterfaceGPIO::CameraInterfaceGPIO():
+CameraInterfaceGPIO::CameraInterfaceGPIO()
-	CameraInterface(),
-	_trigger_invert(false),
-	_triggers{}
 {
 	_p_polarity = param_find("TRIG_POLARITY");
 
 	// polarity of the trigger (0 = active low, 1 = active high )
-	int32_t polarity;
+	int32_t polarity = 0;
 	param_get(_p_polarity, &polarity);
 	_trigger_invert = (polarity == 0);
 
@@ -23,7 +20,6 @@ CameraInterfaceGPIO::CameraInterfaceGPIO():
 void CameraInterfaceGPIO::setup()
 {
 	for (unsigned i = 0, t = 0; i < arraySize(_pins); i++) {
-
 		// Pin range is from 0 to num_gpios - 1
 		if (_pins[i] >= 0 && t < (int)arraySize(_triggers)) {
 			uint32_t gpio = io_timer_channel_get_gpio_output(_pins[i]);
@@ -39,10 +35,9 @@ void CameraInterfaceGPIO::trigger(bool trigger_on_true)
 	bool trigger_state = trigger_on_true ^ _trigger_invert;
 
 	for (unsigned i = 0; i < arraySize(_triggers); i++) {
-
+		if (_triggers[i] != 0) {
-		if (_triggers[i] == 0) { break; }
+			px4_arch_gpiowrite(_triggers[i], trigger_state);
-
+		}
-		px4_arch_gpiowrite(_triggers[i], trigger_state);
 	}
 }
 

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

@@ -27,11 +27,11 @@ private:
 
 	void setup();
 
-	param_t _p_polarity;
+	param_t _p_polarity{PARAM_INVALID};
 
-	bool _trigger_invert;
+	bool _trigger_invert{false};
 
-	uint32_t _triggers[num_gpios];
+	uint32_t _triggers[num_gpios]{};
 };
 
 #endif /* ifdef __PX4_NUTTX */

src/drivers/camera_trigger/interfaces/src/pwm.h

@@ -25,10 +25,10 @@ public:
 	void info();
 
 private:
-	int32_t _pwm_camera_shoot = 0;
-	int32_t _pwm_camera_neutral = 0;
 	void setup();
 
+	int32_t _pwm_camera_shoot{0};
+	int32_t _pwm_camera_neutral{0};
 };
 
 #endif /* ifdef __PX4_NUTTX */

src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp

@@ -17,9 +17,7 @@
 #define PWM_2_CAMERA_KEEP_ALIVE		1700
 #define PWM_2_CAMERA_ON_OFF			1900
 
-CameraInterfaceSeagull::CameraInterfaceSeagull():
+CameraInterfaceSeagull::CameraInterfaceSeagull()
-	CameraInterface(),
-	_camera_is_on(false)
 {
 	//get_pins();
 
@@ -80,9 +78,7 @@ void CameraInterfaceSeagull::trigger(bool trigger_on_true)
 
 void CameraInterfaceSeagull::send_keep_alive(bool enable)
 {
-	fprintf(stderr, "seagull keep alive %d (camera is on: %d)\n", enable, _camera_is_on);
 	// This should alternate between enable and !enable to keep the camera alive
-
 	if (!_camera_is_on) {
 		return;
 	}
@@ -90,7 +86,6 @@ void CameraInterfaceSeagull::send_keep_alive(bool enable)
 	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 			// Set channel 2 pin to keep_alive or netural signal
-			fprintf(stderr, "seagull keep alive pin %d %d\n", i, _pins[i]);
 			up_pwm_trigger_set(_pins[i], enable ? PWM_2_CAMERA_KEEP_ALIVE : PWM_CAMERA_NEUTRAL);
 		}
 	}
@@ -98,9 +93,7 @@ void CameraInterfaceSeagull::send_keep_alive(bool enable)
 
 void CameraInterfaceSeagull::send_toggle_power(bool enable)
 {
-	fprintf(stderr, "seagull toggle power %d\n", enable);
 	// This should alternate between enable and !enable to toggle camera power
-
 	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 			// Set channel 1 to neutral
@@ -110,7 +103,9 @@ void CameraInterfaceSeagull::send_toggle_power(bool enable)
 		}
 	}
 
-	if (!enable) { _camera_is_on = !_camera_is_on; }
+	if (!enable) {
+		_camera_is_on = !_camera_is_on;
+	}
 }
 
 void CameraInterfaceSeagull::info()

src/drivers/camera_trigger/interfaces/src/seagull_map2.h

@@ -33,7 +33,7 @@ public:
 private:
 	void setup();
 
-	bool _camera_is_on;
+	bool _camera_is_on{false};
 
 };