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add camera capture support for av_x board (not timer capture but gpio capture)

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This commit is contained in:
DanielePettenuzzo 2019-01-31 21:47:52 +01:00 committed by Daniel Agar
parent b12b4e1222
commit 3e9acee83e
3 changed files with 42 additions and 1 deletions
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1
boards/av/x-v1/default.cmake
View File

@ -20,6 +20,7 @@ px4_add_board(
barometer # all available barometer drivers
batt_smbus
camera_trigger
camera_capture
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
gps

34
src/drivers/camera_capture/camera_capture.cpp
View File

@ -50,6 +50,7 @@ CameraCapture *g_camera_capture;
CameraCapture::CameraCapture() :
_capture_enabled(false),
_gpio_capture(false),
_trigger_pub(nullptr),
_command_ack_pub(nullptr),
_command_sub(-1),
@ -100,6 +101,22 @@ CameraCapture::capture_callback(uint32_t chan_index,
work_queue(HPWORK, &_work_publisher, (worker_t)&CameraCapture::publish_trigger_trampoline, this, 0);
}
int
CameraCapture::gpio_interrupt_routine(int irq, void *context, void *arg)
{
CameraCapture *dev = reinterpret_cast<CameraCapture *>(arg);
dev->_trigger.chan_index = 0;
dev->_trigger.edge_time = hrt_absolute_time();
dev->_trigger.edge_state = 0;
dev->_trigger.overflow = 0;
work_queue(HPWORK, &_work_publisher, (worker_t)&CameraCapture::publish_trigger_trampoline, dev, 0);
return PX4_OK;
}
void
CameraCapture::publish_trigger_trampoline(void *arg)
{
@ -116,7 +133,7 @@ CameraCapture::publish_trigger()
struct camera_trigger_s trigger {};
// MODES 1 and 2 are not fully tested
if (_camera_capture_mode == 0) {
if (_camera_capture_mode == 0 || _gpio_capture) {
trigger.timestamp = _trigger.edge_time - uint64_t(1000 * _strobe_delay);
trigger.seq = _capture_seq++;
_last_trig_time = trigger.timestamp;
@ -248,6 +265,8 @@ CameraCapture::cycle()
void
CameraCapture::set_capture_control(bool enabled)
{
#if !defined CONFIG_ARCH_BOARD_AV_X_V1
int fd = -1;
fd = ::open(PX4FMU_DEVICE_PATH, O_RDWR);
@ -295,6 +314,7 @@ CameraCapture::set_capture_control(bool enabled)
if (::ioctl(fd, INPUT_CAP_SET_CALLBACK, (unsigned long)&conf) == 0) {
_capture_enabled = enabled;
_gpio_capture = false;
} else {
PX4_ERR("Unable to set capture callback for chan %u\n", conf.channel);
@ -302,9 +322,21 @@ CameraCapture::set_capture_control(bool enabled)
goto err_out;
}
#else
px4_arch_gpiosetevent(GPIO_TRIG_AVX, true, false, true, &CameraCapture::gpio_interrupt_routine, this);
_capture_enabled = enabled;
_gpio_capture = true;
#endif
reset_statistics(false);
#if !defined CONFIG_ARCH_BOARD_AV_X_V1
err_out:
::close(fd);
#endif
return;
}

8
src/drivers/camera_capture/camera_capture.hpp
View File

@ -66,6 +66,10 @@
#define PX4FMU_DEVICE_PATH "/dev/px4fmu"
// For AV-X board
#define GPIO_TRIG_AVX /* PD14 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)
class CameraCapture
{
public:
@ -110,6 +114,7 @@ public:
private:
bool _capture_enabled;
bool _gpio_capture;
// Publishers
orb_advert_t _trigger_pub;
@ -149,6 +154,9 @@ private:
void capture_callback(uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
// GPIO interrupt routine (for AV_X board)
static int gpio_interrupt_routine(int irq, void *context, void *arg);
// Signal capture publish
static void publish_trigger_trampoline(void *arg);