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[modules] digital_cam_x: specify times in seconds, don't limit periodic to 4Hz

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This commit is contained in:
Felix Ruess
2015-05-04 13:56:25 +02:00
committed by Gautier Hattenberger
parent f8678e3eb5
commit d412bc4519
28 changed files with 135 additions and 114 deletions
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conf/airframes/CDW/ChimuTinyFwSpi.xml
+1 -1
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@@ -144,7 +144,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/CDW/classix.xml
+1 -1
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@@ -171,7 +171,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="8" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="2.0" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/CDW/test/ChimuJTinyFwSpi.xml
+1 -1
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@@ -144,7 +144,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/CDW/test/ChimuTinyFw.xml
+1 -1
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@@ -144,7 +144,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/CDW/test/yapa3_aspirin2.xml
+1 -1
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@@ -194,7 +194,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/CDW/tiny2_chimu_spi_pt.xml
+1 -1
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@@ -151,7 +151,7 @@ YAPA + XSens + XBee
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/CDW/yapa_xsens.xml
+1 -1
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@@ -206,7 +206,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/OpenUAS/openuas_vivify_mk1.xml
+1 -1
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@@ -227,7 +227,7 @@
<!-- <load name="geo_mag.xml"/> --> <!-- simplify the setup of magneto in various part of the world TODO needs fixing now aircarft in flight (strange)rule-->
<load name="digital_cam_uart.xml">
<define name="DC_AUTOSHOOT_QUARTERSEC_PERIOD" value="22" unit="quarter_second"/>
<define name="DC_AUTOSHOOT_PERIOD" value="5.0" unit="sec"/>
<configure name="CAMERA_PORT" value="UART5"/>
</load>
conf/airframes/examples/MentorEnergy.xml
+1 -1
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@@ -244,7 +244,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/examples/Twinstar_energyadaptive.xml
+1 -1
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@@ -244,7 +244,7 @@ twog_1.0 + aspirin + ETS baro + ETS speed
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="12" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="3.0" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/examples/separate_fbw_ap.xml
+1 -1
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@@ -196,7 +196,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/airframes/examples/yapaChimuSpi.xml
+1 -1
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@@ -175,7 +175,7 @@
</section>
<section name="DIGITAL_CAMERA" prefix="DC_">
<define name="AUTOSHOOT_QUARTERSEC_PERIOD" value="6" unit="quarter_second"/>
<define name="AUTOSHOOT_PERIOD" value="1.5" unit="sec"/>
<define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" unit="meter"/>
</section>
conf/flight_plans/OpenUAS/include_obc2014_mission.xml
+1 -1
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@@ -74,7 +74,7 @@ TESTS:
#include "generated/airframe.h"
// Completly replace with onboard recon copmpter interface
#ifdef DC_AUTOSHOOT_QUARTERSEC_PERIOD
#ifdef DC_AUTOSHOOT_PERIOD
//TODO make shooting distance not periodic
#define LINE_START_FUNCTION dc_autoshoot = DC_AUTOSHOOT_PERIODIC;
#define LINE_STOP_FUNCTION dc_autoshoot = DC_AUTOSHOOT_STOP;
conf/messages.xml
+1 -1
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@@ -542,7 +542,7 @@
<field name="angle" type="float" unit="deg"/>
<field name="last_block" type="float"/>
<field name="count" type="uint16" unit=""/>
<field name="shutter" type="uint8" unit="s"/>
<field name="shutter" type="uint8" unit="decisec" alt_unit="sec" alt_unit_coef="0.1"/>
</message>
<message name="AMSYS_BARO" id="65">
conf/modules/digital_cam.xml
+5 -5
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@@ -11,10 +11,10 @@
<define name="DC_POWER_OFF_GPIO" value="GPIOC,GPIO1" description="optional, gpio to turn power off"/>
<define name="DC_PUSH" value="gpio_set|gpio_clear" description="specifies whether to set or clear gpio to push the shutter (default: gpio_set)"/>
<define name="DC_RELEASE" value="gpio_clear|gpio_set" description="specifies whether to set or clear gpio to release the shutter (default: gpio_clear)"/>
<define name="DC_SHUTTER_DELAY" value="2" description="how long to push shutter in periodic cycles (default of 2 = 0.5s at 4Hz periodic)"/>
<define name="DC_POWER_OFF_DELAY" value="3" description="how long to send power off in periodic cycles (default: 3 = 0.75s at 4Hz periodic)"/>
<define name="DC_SHUTTER_DELAY" value="0.5" description="how long to push shutter in seconds"/>
<define name="DC_POWER_OFF_DELAY" value="0.75" description="how long to send power off in seconds"/>
<define name="DC_AUTOSHOOT_QUARTERSEC_PERIOD" value="6" description="quarter_second"/>
<define name="DC_AUTOSHOOT_PERIOD" value="1.0" description="time period for DC_AUTOSHOOT_PERIODIC in seconds"/>
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="50" description="distance interval for DC_AUTOSHOOT_DISTANCE in meters"/>
<define name="DC_AUTOSHOOT_SURVEY_INTERVAL" value="50" description="distance interval for DC_AUTOSHOOT_SURVEY in meters"/>
<define name="DC_SHOT_SYNC_SEND" value="TRUE|FALSE" description="send DC_SHOT message when photo was taken (default: TRUE)"/>
@@ -35,7 +35,7 @@
<strip_button name="Stop Autoshoot" icon="off.png" value="0" group="dcauto"/>
</dl_setting>
<dl_setting max="255" min="1" step="1" var="dc_autoshoot_quartersec_period" shortname="Periodic" param="DC_AUTOSHOOT_QUARTERSEC_PERIOD" unit="quarter-sec"/>
<dl_setting max="60" min="0.1" step="0.5" var="dc_autoshoot_period" shortname="Periodic" param="DC_AUTOSHOOT_PERIOD" unit="sec"/>
<dl_setting max="255" min="0" step="1" var="dc_distance_interval" shortname="dist" param="DC_AUTOSHOOT_DISTANCE_INTERVAL" unit="meter"/>
<dl_setting max="250" min="0" step="5" module="digital_cam/dc" var="dc_survey_interval" handler="Survey" shortname="Survey-Interval"/>
@@ -54,7 +54,7 @@
<init fun="gpio_cam_ctrl_init()"/>
<periodic fun="gpio_cam_ctrl_periodic()" freq="4" autorun="TRUE"/>
<periodic fun="gpio_cam_ctrl_periodic()" freq="10" autorun="TRUE"/>
<makefile target="ap|sim|nps">
<define name="DIGITAL_CAM" />
conf/modules/digital_cam_i2c.xml
+1 -1
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@@ -16,7 +16,7 @@
</header>
<init fun="atmega_i2c_cam_ctrl_init()"/>
<periodic fun="atmega_i2c_cam_ctrl_periodic()" autorun="TRUE" freq="4"/>
<periodic fun="atmega_i2c_cam_ctrl_periodic()" autorun="TRUE" freq="10"/>
<event fun="atmega_i2c_cam_ctrl_event()"/>
<datalink message="PAYLOAD_COMMAND" fun="ParseCameraCommand()"/>
conf/modules/digital_cam_servo.xml
+2 -2
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@@ -8,7 +8,7 @@
<define name="DC_ZOOM_IN_SERVO" value="servo" description="optional, Servo to activate zoom in"/>
<define name="DC_ZOOM_OUT_SERVO" value="servo" description="optional, Servo to activate zoom out"/>
<define name="DC_POWER_SERVO" value="servo" description="optional, Servo to control power"/>
<define name="DC_AUTOSHOOT_QUARTERSEC_PERIOD" value="6" description="quarter_second"/>
<define name="DC_AUTOSHOOT_PERIOD" value="0.5" description="time period for DC_AUTOSHOOT_PERIODIC in seconds"/>
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="50" description="grid in meters"/>
</doc>
@@ -21,7 +21,7 @@
<init fun="servo_cam_ctrl_init()"/>
<periodic fun="servo_cam_ctrl_periodic()" freq="4" autorun="TRUE"/>
<periodic fun="servo_cam_ctrl_periodic()" freq="10" autorun="TRUE"/>
<makefile target="ap|sim|nps">
<define name="DIGITAL_CAM"/>
conf/modules/digital_cam_uart.xml
+3 -3
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@@ -4,7 +4,7 @@
<description>
Digital Camera Triggering over UART link.
Send attitude and other relevant data to a computer based photocamera after a shootphoto command is given. And in return get certain value back from the computerbased photocamera to be able to intercat with the flightplan.</description>
<define name="DC_AUTOSHOOT_QUARTERSEC_PERIOD" value="6" description="quarter_second"/>
<define name="DC_AUTOSHOOT_PERIOD" value="0.5" description="time period for DC_AUTOSHOOT_PERIODIC in seconds"/>
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="50" description="grid in meters"/>
<define name="DC_SHOT_SYNC_SEND" value="TRUE|FALSE" description="send DC_SHOT message when photo was taken (default: TRUE)"/>
</doc>
@@ -21,7 +21,7 @@
<strip_button name="Stop Autoshoot" icon="off.png" value="0" group="dcauto"/>
</dl_setting>
<dl_setting max="255" min="1" step="1" var="dc_autoshoot_quartersec_period" shortname="Periodic" param="DC_AUTOSHOOT_QUARTERSEC_PERIOD" unit="quarter-sec"/>
<dl_setting max="60" min="0.1" step="0.5" var="dc_autoshoot_period" shortname="Periodic" param="DC_AUTOSHOOT_PERIOD" unit="sec"/>
<dl_setting max="255" min="0" step="1" var="dc_distance_interval" shortname="dist" param="DC_AUTOSHOOT_DISTANCE_INTERVAL" unit="meter"/>
<dl_setting max="250" min="0" step="5" module="digital_cam/dc" var="dc_survey_interval" handler="Survey" shortname="Survey-Interval"/>
@@ -44,7 +44,7 @@
<file name="dc.h"/>
</header>
<init fun="digital_cam_uart_init()"/>
<periodic fun="digital_cam_uart_periodic()" freq="4" autorun="TRUE"/>
<periodic fun="digital_cam_uart_periodic()" freq="10" autorun="TRUE"/>
<event fun="digital_cam_uart_event()"/>
<makefile target="sim">
<file name="catia/serial.c"/>
sw/airborne/modules/digital_cam/atmega_i2c_cam_ctrl.c
+1 -1
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@@ -65,7 +65,7 @@ void atmega_i2c_cam_ctrl_init(void)
void atmega_i2c_cam_ctrl_periodic(void)
{
atmega_i2c_cam_ctrl_just_sent_command = 0;
dc_periodic_4Hz();
dc_periodic();
// Request Status
if (atmega_i2c_cam_ctrl_just_sent_command == 0) {
sw/airborne/modules/digital_cam/dc.c
+17 -15
View File
@@ -41,9 +41,11 @@
#include "firmwares/rotorcraft/navigation.h"
#endif
/** default quartersec perioid = 0.5s */
#ifndef DC_AUTOSHOOT_QUARTERSEC_PERIOD
#define DC_AUTOSHOOT_QUARTERSEC_PERIOD 2
#include "mcu_periph/sys_time.h"
/** default time interval for periodic mode: 1sec */
#ifndef DC_AUTOSHOOT_PERIOD
#define DC_AUTOSHOOT_PERIOD 1.0
#endif
/** default distance interval for distance mode: 50m */
@@ -74,8 +76,7 @@ float dc_gps_y = 0;
static struct FloatVect2 last_shot_pos = {0.0, 0.0};
float dc_distance_interval;
uint8_t dc_autoshoot_quartersec_period;
float dc_autoshoot_period;
/** by default send DC_SHOT message when photo was taken */
#ifndef DC_SHOT_SYNC_SEND
@@ -131,7 +132,7 @@ void dc_send_shot_position(void)
void dc_init(void)
{
dc_autoshoot = DC_AUTOSHOOT_STOP;
dc_autoshoot_quartersec_period = DC_AUTOSHOOT_QUARTERSEC_PERIOD;
dc_autoshoot_period = DC_AUTOSHOOT_PERIOD;
dc_distance_interval = DC_AUTOSHOOT_DISTANCE_INTERVAL;
}
@@ -140,6 +141,7 @@ uint8_t dc_info(void)
#ifdef DOWNLINK_SEND_DC_INFO
float course = DegOfRad(stateGetNedToBodyEulers_f()->psi);
int16_t mode = dc_autoshoot;
uint8_t shutter = dc_autoshoot_period * 10;
DOWNLINK_SEND_DC_INFO(DefaultChannel, DefaultDevice,
&mode,
&stateGetPositionLla_i()->lat,
@@ -155,7 +157,7 @@ uint8_t dc_info(void)
&dc_circle_interval,
&dc_circle_last_block,
&dc_gps_count,
&dc_autoshoot_quartersec_period);
&shutter);
#endif
return 0;
}
@@ -235,20 +237,20 @@ static float dim_mod(float a, float b, float m)
return fminf(a - b, b + m - a);
}
void dc_periodic_4Hz(void)
void dc_periodic(void)
{
static uint8_t dc_shutter_timer = 0;
static float last_shot_time = 0.;
switch (dc_autoshoot) {
case DC_AUTOSHOOT_PERIODIC:
if (dc_shutter_timer) {
dc_shutter_timer--;
} else {
dc_shutter_timer = dc_autoshoot_quartersec_period;
case DC_AUTOSHOOT_PERIODIC: {
float now = get_sys_time_float();
if (now - last_shot_time > dc_autoshoot_period) {
last_shot_time = now;
dc_send_command(DC_SHOOT);
}
break;
}
break;
case DC_AUTOSHOOT_DISTANCE: {
struct FloatVect2 cur_pos;
sw/airborne/modules/digital_cam/dc.h
+4 -4
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@@ -52,8 +52,8 @@ extern uint16_t dc_gps_count;
/*
* Variables for PERIODIC mode.
*/
/** AutoShoot photos every X quarter_second */
extern uint8_t dc_autoshoot_quartersec_period;
/** AutoShoot photos every X seconds */
extern float dc_autoshoot_period;
/*
@@ -151,8 +151,8 @@ void dc_send_shot_position(void);
/** initialize settings */
extern void dc_init(void);
/** periodic 4Hz function */
extern void dc_periodic_4Hz(void);
/** periodic function */
extern void dc_periodic(void);
/**
* Sets the dc control in distance mode.
sw/airborne/modules/digital_cam/gpio_cam_ctrl.c
+9 -5
View File
@@ -35,6 +35,7 @@
#include "gpio_cam_ctrl.h"
#include "generated/airframe.h"
#include "generated/modules.h"
// Include Standard Camera Control Interface
#include "dc.h"
@@ -49,12 +50,14 @@
#define DC_RELEASE gpio_clear
#endif
/** how long to push shutter in seconds */
#ifndef DC_SHUTTER_DELAY
#define DC_SHUTTER_DELAY 2 /* 4Hz -> 0.5s */
#define DC_SHUTTER_DELAY 0.5
#endif
/** how long to send power off in seconds */
#ifndef DC_POWER_OFF_DELAY
#define DC_POWER_OFF_DELAY 3
#define DC_POWER_OFF_DELAY 0.75
#endif
#ifdef DC_SHUTTER_LED
@@ -123,13 +126,14 @@ void gpio_cam_ctrl_periodic(void)
}
// Common DC Periodic task
dc_periodic_4Hz();
dc_periodic();
}
/* Command The Camera */
void dc_send_command(uint8_t cmd)
{
dc_timer = DC_SHUTTER_DELAY;
dc_timer = DC_SHUTTER_DELAY * GPIO_CAM_CTRL_PERIODIC_FREQ;
switch (cmd) {
case DC_SHOOT:
DC_PUSH(DC_SHUTTER_GPIO);
@@ -155,7 +159,7 @@ void dc_send_command(uint8_t cmd)
#ifdef DC_POWER_OFF_GPIO
case DC_OFF:
DC_PUSH(DC_POWER_OFF_GPIO);
dc_timer = DC_POWER_OFF_DELAY;
dc_timer = DC_POWER_OFF_DELAY * GPIO_CAM_CTRL_PERIODIC_FREQ;
break;
#endif
default:
sw/airborne/modules/digital_cam/gpio_cam_ctrl.h
+2 -2
View File
@@ -25,7 +25,7 @@
* Provides the control of the shutter and the zoom of a digital camera
* through standard binary IOs of the board.
*
* The required initialization (dc_init()) and periodic (4Hz) process.
* The required initialization (dc_init()) and periodic process.
*/
#ifndef GPIO_CAM_CTRL_H
@@ -33,7 +33,7 @@
extern void gpio_cam_ctrl_init(void);
/** 4Hz Periodic */
/** Periodic */
extern void gpio_cam_ctrl_periodic(void);
#endif // GPIO_CAM_CTRL_H
sw/airborne/modules/digital_cam/servo_cam_ctrl.c
+70 -4
View File
@@ -20,15 +20,83 @@
*
*/
/** @file modules/digital_cam/servo_cam_ctrl.c
* @brief Digital Camera Control
*
* Provides the control of the shutter and the zoom of a digital camera
* via servos.
*
*/
#include "servo_cam_ctrl.h"
#include "generated/modules.h"
// Include Servo and airframe servo channels
#include "std.h"
#include "inter_mcu.h"
#include "generated/airframe.h"
#define DC_PUSH(X) ap_state->commands[X] = -MAX_PPRZ;
#define DC_RELEASE(X) ap_state->commands[X] = MAX_PPRZ;
/** how long to push shutter in seconds */
#ifndef DC_SHUTTER_DELAY
#define DC_SHUTTER_DELAY 0.5
#endif
#ifndef DC_SHUTTER_SERVO
#error DC: Please specify at least a DC_SHUTTER_SERVO
#endif
// Button Timer
uint8_t dc_timer;
static uint8_t dc_timer;
void servo_cam_ctrl_init(void)
{
// Call common DC init
dc_init();
// Do Servo specific DC init
dc_timer = 0;
}
/* Periodic */
void servo_cam_ctrl_periodic(void)
{
#ifdef DC_SHOOT_ON_BUTTON_RELEASE
if (dc_timer == 1) {
dc_send_shot_position();
}
#endif
if (dc_timer) {
dc_timer--;
} else {
DC_RELEASE(DC_SHUTTER_SERVO);
#ifdef DC_ZOOM_IN_SERVO
DC_RELEASE(DC_ZOOM_IN_SERVO);
#endif
#ifdef DC_ZOOM_OUT_SERVO
DC_RELEASE(DC_ZOOM_OUT_SERVO);
#endif
#ifdef DC_POWER_SERVO
DC_RELEASE(DC_POWER_SERVO);
#endif
}
// Common DC Periodic task
dc_periodic();
}
/* Command The Camera */
void dc_send_command(uint8_t cmd)
{
dc_timer = DC_SHUTTER_DELAY;
dc_timer = DC_SHUTTER_DELAY * SERVO_CAM_CTRL_PERIODIC_FREQ;
switch (cmd) {
case DC_SHOOT:
DC_PUSH(DC_SHUTTER_SERVO);
@@ -56,5 +124,3 @@ void dc_send_command(uint8_t cmd)
}
}
sw/airborne/modules/digital_cam/servo_cam_ctrl.h
+4 -54
View File
@@ -33,7 +33,7 @@
* <define name="DC_POWER_SERVO" value="9"/>
* @endcode
*
* Provides the required initialization (dc_init()) and periodic (4Hz) process.
* Provides the required initialization (dc_init()) and periodic process.
*/
#ifndef SERVO_CAM_CTRL_H
@@ -42,60 +42,10 @@
// Include Standard Camera Control Interface
#include "dc.h"
// Include Servo and airframe servo channels
#include "std.h"
#include "inter_mcu.h"
#include "generated/airframe.h"
extern uint8_t dc_timer;
extern void servo_cam_ctrl_init(void);
static inline void servo_cam_ctrl_init(void)
{
// Call common DC init
dc_init();
// Do LED specific DC init
dc_timer = 0;
}
#define DC_PUSH(X) ap_state->commands[X] = -MAX_PPRZ;
#define DC_RELEASE(X) ap_state->commands[X] = MAX_PPRZ;
#ifndef DC_SHUTTER_DELAY
#define DC_SHUTTER_DELAY 2 /* 4Hz -> 0.5s */
#endif
#ifndef DC_SHUTTER_SERVO
#error DC: Please specify at least a DC_SHUTTER_SERVO
#endif
/* 4Hz Periodic */
static inline void servo_cam_ctrl_periodic(void)
{
#ifdef DC_SHOOT_ON_BUTTON_RELEASE
if (dc_timer == 1) {
dc_send_shot_position();
}
#endif
if (dc_timer) {
dc_timer--;
} else {
DC_RELEASE(DC_SHUTTER_SERVO);
#ifdef DC_ZOOM_IN_SERVO
DC_RELEASE(DC_ZOOM_IN_SERVO);
#endif
#ifdef DC_ZOOM_OUT_SERVO
DC_RELEASE(DC_ZOOM_OUT_SERVO);
#endif
#ifdef DC_POWER_SERVO
DC_RELEASE(DC_POWER_SERVO);
#endif
}
// Common DC Periodic task
dc_periodic_4Hz();
}
/* Periodic */
extern void servo_cam_ctrl_periodic(void);
#endif // SERVO_CAM_CONTROL_H
sw/airborne/modules/digital_cam/sim_i2c_cam_ctrl.c
+1 -1
View File
@@ -43,7 +43,7 @@ void atmega_i2c_cam_ctrl_init(void)
void atmega_i2c_cam_ctrl_periodic(void)
{
dc_periodic_4Hz();
dc_periodic();
// Request Status
dc_send_command(DC_GET_STATUS);
sw/airborne/modules/digital_cam/uart_cam_ctrl.c
+1 -1
View File
@@ -140,7 +140,7 @@ void digital_cam_uart_init(void)
void digital_cam_uart_periodic(void)
{
// Common DC Periodic task
dc_periodic_4Hz();
dc_periodic();
}
sw/airborne/modules/digital_cam/uart_cam_ctrl.h
+1 -2
View File
@@ -25,7 +25,7 @@
* Provides the control of a camera over serial, typically connected to a computer which has
* full control of all camera functions via USB, including downloading of digital thumbnails
*
* The required initialization (digital_cam_uart_init()) and periodic (4Hz) process.
* The required initialization (digital_cam_uart_init()) and periodic process.
*/
#ifndef DIGITAL_CAM_UART_H
@@ -35,7 +35,6 @@
extern void digital_cam_uart_init(void);
/** 4Hz Periodic */
extern void digital_cam_uart_periodic(void);
extern void digital_cam_uart_event(void);