fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-21 10:07:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

camera_trigger : direct GPIO access. finally working.

Browse Source
This commit is contained in:
Mohammed Kabir
2015-06-15 23:24:14 +05:30
parent e6752e43b2
commit 0dc6e65d7a
2 changed files with 11 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/camera_trigger/camera_trigger.cpp
+11 -28
View File
@@ -59,6 +59,8 @@
#include <drivers/drv_hrt.h>
#include <mavlink/mavlink_log.h>
#include <board_config.h>
extern "C" __EXPORT int camera_trigger_main(int argc, char *argv[]);
class CameraTrigger
@@ -181,17 +183,6 @@ void
CameraTrigger::start()
{
_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
if (_gpio_fd < 0) {
warnx("GPIO device open fail");
stop();
}
else
{
warnx("GPIO device opened");
}
_sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
_vcommand_sub = orb_subscribe(ORB_ID(vehicle_command));
@@ -199,24 +190,21 @@ CameraTrigger::start()
param_get(activation_time, &_activation_time);
param_get(integration_time, &_integration_time);
param_get(transfer_time, &_transfer_time);
px4_ioctl(_gpio_fd, GPIO_SET_OUTPUT, pin);
if(_polarity == 0)
{
px4_ioctl(_gpio_fd, GPIO_SET, pin); /* GPIO pin pull high */
//px4_ioctl(_gpio_fd, GPIO_SET, pin); /* GPIO pin pull high */
}
else if(_polarity == 1)
{
px4_ioctl(_gpio_fd, GPIO_CLEAR, pin); /* GPIO pin pull low */
//px4_ioctl(_gpio_fd, GPIO_CLEAR, pin); /* GPIO pin pull low */
}
else
{
warnx(" invalid trigger polarity setting. stopping.");
stop();
}
close(_gpio_fd);
poll(this); /* Trampoline call */
}
@@ -302,19 +290,17 @@ CameraTrigger::engage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
trig->_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
if(trig->_gpio_fd == -1) return;
stm32_configgpio(GPIO_GPIO0_OUTPUT);
if(trig->_polarity == 0) // ACTIVE_LOW
{
px4_ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0);
}
else if(trig->_polarity == 1) // ACTIVE_HIGH
{
px4_ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1);
}
close(trig->_gpio_fd);
}
@@ -324,19 +310,16 @@ CameraTrigger::disengage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
trig->_gpio_fd = open(PX4FMU_DEVICE_PATH, 0);
if(trig->_gpio_fd == -1) return;
stm32_configgpio(GPIO_GPIO0_OUTPUT);
if(trig->_polarity == 0) // ACTIVE_LOW
{
px4_ioctl(trig->_gpio_fd, GPIO_SET, trig->pin);
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1);
}
else if(trig->_polarity == 1) // ACTIVE_HIGH
{
px4_ioctl(trig->_gpio_fd, GPIO_CLEAR, trig->pin);
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0);
}
close(trig->_gpio_fd);
}
src/modules/camera_trigger/module.mk
-1
View File
@@ -39,5 +39,4 @@ MODULE_COMMAND = camera_trigger
SRCS = camera_trigger.cpp \
camera_trigger_params.c
MODULE_STACKSIZE = 1000
MAXOPTIMIZATION = -Os