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Set rtc_edge_time also in capture_callback

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When using an FMU channel as PPS capture GPIO, the rtc_edge_time is now set as well. The delay between actual capture and callback is compensated with the elapsed time of the rtc clock.
This commit is contained in:
Michael Schaeuble 2021-11-05 18:01:52 +01:00 committed by Beat Küng
parent 43bc6db99e
commit 3e4031cf0f
2 changed files with 12 additions and 3 deletions
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13
src/drivers/camera_capture/camera_capture.cpp
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@ -106,6 +106,11 @@ CameraCapture::capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint
{
_trigger.chan_index = chan_index;
_trigger.hrt_edge_time = edge_time;
timespec tv{};
px4_clock_gettime(CLOCK_REALTIME, &tv);
_trigger.rtc_edge_time = ts_to_abstime(&tv) - hrt_elapsed_time(&edge_time);
_trigger.edge_state = edge_state;
_trigger.overflow = overflow;
@ -119,7 +124,11 @@ CameraCapture::gpio_interrupt_routine(int irq, void *context, void *arg)
dev->_trigger.chan_index = 0;
dev->_trigger.hrt_edge_time = hrt_absolute_time();
px4_clock_gettime(CLOCK_REALTIME, &dev->_trigger.rtc_edge_time);
timespec tv{};
px4_clock_gettime(CLOCK_REALTIME, &tv);
dev->_trigger.rtc_edge_time = ts_to_abstime(&tv);
dev->_trigger.edge_state = 0;
dev->_trigger.overflow = 0;
@ -191,7 +200,7 @@ CameraCapture::publish_trigger()
_rtc_drift_time = pps_capture.rtc_drift_time;
}
trigger.timestamp_utc = ts_to_abstime(&_trigger.rtc_edge_time) + _rtc_drift_time;
trigger.timestamp_utc = _trigger.rtc_edge_time + _rtc_drift_time;
_trigger_pub.publish(trigger);
}

2
src/drivers/camera_capture/camera_capture.hpp
View File

@ -110,7 +110,7 @@ private:
struct _trig_s {
uint32_t chan_index;
hrt_abstime hrt_edge_time;
timespec rtc_edge_time;
uint64_t rtc_edge_time;
uint32_t edge_state;
uint32_t overflow;
} _trigger{};