Mirrors_Framework/PX4-Autopilot
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removing unnecessary parts

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This commit is contained in:
Andreas Bircher
2016-08-02 14:05:26 +02:00
committed by Lorenz Meier
parent 70cd06bc84
commit 9fe95275bb
4 changed files with 8 additions and 60 deletions
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src/drivers/camera_trigger/camera_trigger.cpp
+2 -2
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@@ -392,7 +392,6 @@ CameraTrigger::test()
{ {
struct vehicle_command_s cmd = {}; struct vehicle_command_s cmd = {};
cmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL; cmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
cmd.param5 = 1.0f; cmd.param5 = 1.0f;
orb_advert_t pub; orb_advert_t pub;
@@ -478,7 +477,8 @@ CameraTrigger::cycle_trampoline(void *arg)
if (cmd.param1 > 0.0f && !trig->_trigger_enabled) { if (cmd.param1 > 0.0f && !trig->_trigger_enabled) {
trig->turnOnOff(); trig->turnOnOff();
trig->keepAlive(true); trig->keepAlive(true);
poll_interval_usec = 2000000; // Give the camera time to turn on, before starting to send trigger signals
poll_interval_usec = 5000000;
turning_on = true; turning_on = true;
} else if (cmd.param1 <= 0.0f && trig->_trigger_enabled) { } else if (cmd.param1 <= 0.0f && trig->_trigger_enabled) {
src/drivers/camera_trigger/camera_trigger_params.c
+3 -3
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@@ -67,7 +67,7 @@ PARAM_DEFINE_INT32(TRIG_INTERFACE, 2);
* @decimal 1 * @decimal 1
* @group Camera trigger * @group Camera trigger
*/ */
PARAM_DEFINE_FLOAT(TRIG_INTERVAL, 3000.0f); PARAM_DEFINE_FLOAT(TRIG_INTERVAL, 40.0f);
/** /**
* Camera trigger polarity * Camera trigger polarity
@@ -93,7 +93,7 @@ PARAM_DEFINE_INT32(TRIG_POLARITY, 0);
* @decimal 1 * @decimal 1
* @group Camera trigger * @group Camera trigger
*/ */
PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 500.0f); PARAM_DEFINE_FLOAT(TRIG_ACT_TIME, 0.5f);
/** /**
* Camera trigger mode * Camera trigger mode
@@ -115,7 +115,7 @@ PARAM_DEFINE_INT32(TRIG_MODE, 0);
* *
* Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail * Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail
* pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay * pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay
* triggers on every pin individually. Example: Value 34 would trigger on pins 3 and 4. * triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.
* *
* @min 1 * @min 1
* @max 123456 * @max 123456
src/drivers/camera_trigger/interfaces/src/pwm.cpp
+1 -50
View File
@@ -2,7 +2,6 @@
#include <sys/ioctl.h> #include <sys/ioctl.h>
#include <lib/mathlib/mathlib.h> #include <lib/mathlib/mathlib.h>
#include <uORB/topics/trigger_pwm.h>
#include "drivers/drv_pwm_output.h" #include "drivers/drv_pwm_output.h"
#include "pwm.h" #include "pwm.h"
@@ -19,7 +18,6 @@
CameraInterfacePWM::CameraInterfacePWM(): CameraInterfacePWM::CameraInterfacePWM():
CameraInterface(), CameraInterface(),
_pwm_pub {nullptr, nullptr},
_camera_is_on(false) _camera_is_on(false)
{ {
_p_pin = param_find("TRIG_PINS"); _p_pin = param_find("TRIG_PINS");
@@ -36,24 +34,17 @@ CameraInterfacePWM::CameraInterfacePWM():
int single_pin; int single_pin;
while ((single_pin = pin_list % 10)) { while ((single_pin = pin_list % 10)) {
_pins[i] = single_pin - 1; _pins[i] = single_pin - 1;
if (_pins[i] < 0) { if (_pins[i] < 0) {
_pins[i] = -1; _pins[i] = -1;
} }
// Wingtra safety check, pins can only be on 5 or 6!!!
if (_pins[i] != 4 && _pins[i] != 5) {
_pins[i] = -1;
}
pin_list /= 10; pin_list /= 10;
i++; i++;
} }
_orb_id[0] = 0;
_orb_id[1] = 1;
setup(); setup();
} }
@@ -72,13 +63,6 @@ void CameraInterfacePWM::setup()
up_pwm_servo_init(pin_bitmask); up_pwm_servo_init(pin_bitmask);
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000)); up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000)); up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
trigger_pwm_s pwm;
pwm.timestamp = hrt_absolute_time();
pwm.pwm = PWM_CAMERA_DISARMED;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[1]), &pwm, &(_orb_id[1]), ORB_PRIO_DEFAULT);
pwm.pwm = PWM_CAMERA_DISARMED;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[0]), &pwm, &(_orb_id[0]), ORB_PRIO_DEFAULT);
} }
} }
} }
@@ -91,18 +75,11 @@ void CameraInterfacePWM::trigger(bool enable)
return; return;
} }
trigger_pwm_s pwm;
pwm.timestamp = hrt_absolute_time();
if (enable) { if (enable) {
// Set all valid pins to shoot level // Set all valid pins to shoot level
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) { for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) { if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_INSTANT_SHOOT, 1000, 2000)); up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_INSTANT_SHOOT, 1000, 2000));
pwm.pwm = PWM_CAMERA_INSTANT_SHOOT;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[1]), &pwm, &(_orb_id[1]), ORB_PRIO_DEFAULT);
} }
} }
@@ -111,9 +88,6 @@ void CameraInterfacePWM::trigger(bool enable)
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) { for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) { if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000)); up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
pwm.pwm = PWM_CAMERA_NEUTRAL;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[1]), &pwm, &(_orb_id[1]), ORB_PRIO_DEFAULT);
} }
} }
} }
@@ -127,17 +101,11 @@ void CameraInterfacePWM::keep_alive(bool signal_on)
return; return;
} }
trigger_pwm_s pwm;
pwm.timestamp = hrt_absolute_time();
if (signal_on) { if (signal_on) {
// Set channel 2 pin to keep_alive signal // Set channel 2 pin to keep_alive signal
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) { for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) { if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i], math::constrain(PWM_2_CAMERA_KEEP_ALIVE, 1000, 2000)); up_pwm_servo_set(_pins[i], math::constrain(PWM_2_CAMERA_KEEP_ALIVE, 1000, 2000));
pwm.pwm = PWM_2_CAMERA_KEEP_ALIVE;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[0]), &pwm, &(_orb_id[0]), ORB_PRIO_DEFAULT);
} }
} }
@@ -146,9 +114,6 @@ void CameraInterfacePWM::keep_alive(bool signal_on)
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) { for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) { if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000)); up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
pwm.pwm = PWM_CAMERA_NEUTRAL;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[0]), &pwm, &(_orb_id[0]), ORB_PRIO_DEFAULT);
} }
} }
} }
@@ -156,21 +121,12 @@ void CameraInterfacePWM::keep_alive(bool signal_on)
void CameraInterfacePWM::turn_on_off(bool enable) void CameraInterfacePWM::turn_on_off(bool enable)
{ {
trigger_pwm_s pwm;
pwm.timestamp = hrt_absolute_time();
if (enable) { if (enable) {
// For now, set channel one on neutral upon startup. // For now, set channel one on neutral upon startup.
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) { for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) { if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000)); up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_servo_set(_pins[i], math::constrain(PWM_2_CAMERA_ON_OFF, 1000, 2000)); up_pwm_servo_set(_pins[i], math::constrain(PWM_2_CAMERA_ON_OFF, 1000, 2000));
pwm.pwm = PWM_CAMERA_NEUTRAL;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[1]), &pwm, &(_orb_id[1]), ORB_PRIO_DEFAULT);
pwm.pwm = PWM_2_CAMERA_ON_OFF;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[0]), &pwm, &(_orb_id[0]), ORB_PRIO_DEFAULT);
} }
} }
@@ -180,11 +136,6 @@ void CameraInterfacePWM::turn_on_off(bool enable)
if (_pins[i] >= 0 && _pins[i + 1] >= 0) { if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000)); up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000)); up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
pwm.pwm = PWM_CAMERA_NEUTRAL;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[1]), &pwm, &(_orb_id[1]), ORB_PRIO_DEFAULT);
pwm.pwm = PWM_CAMERA_NEUTRAL;
orb_publish_auto(ORB_ID(trigger_pwm), &(_pwm_pub[0]), &pwm, &(_orb_id[0]), ORB_PRIO_DEFAULT);
} }
} }
src/drivers/camera_trigger/interfaces/src/pwm.h
+2 -5
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@@ -29,10 +29,7 @@ public:
private: private:
void setup(); void setup();
param_t _p_pin; param_t _p_pin;
orb_advert_t _pwm_pub[2]; bool _camera_is_on;
int _orb_id[2];
bool _camera_is_on;
}; };