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add camera capture mode and edge params

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This commit is contained in:
DanielePettenuzzo
2019-02-10 18:07:44 -05:00
committed by Daniel Agar
parent d49752141d
commit 42e2bd47c4
3 changed files with 62 additions and 5 deletions
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src/drivers/camera_capture/camera_capture.cpp
+32 -4
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@@ -54,6 +54,8 @@ CameraCapture::CameraCapture() :
_command_ack_pub(nullptr),
_command_sub(-1),
_camera_capture_feedback(false),
_camera_capture_mode(0),
_camera_capture_edge(0),
_capture_seq(0),
_last_fall_time(0),
_last_exposure_time(0),
@@ -69,6 +71,12 @@ CameraCapture::CameraCapture() :
_p_camera_capture_feedback = param_find("CAM_CAP_FBACK");
param_get(_p_camera_capture_feedback, &_camera_capture_feedback);
_p_camera_capture_mode = param_find("CAM_CAP_MODE");
param_get(_p_camera_capture_mode, &_camera_capture_mode);
_p_camera_capture_edge = param_find("CAM_CAP_EDGE");
param_get(_p_camera_capture_edge, &_camera_capture_edge);
if (_camera_capture_feedback != 0) {
struct camera_trigger_s trigger = {};
_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
@@ -88,7 +96,13 @@ CameraCapture::capture_callback(uint32_t chan_index,
if (_last_fall_time > 0) {
struct camera_trigger_s trigger {};
trigger.timestamp = edge_time - ((edge_time - _last_fall_time) / 2); // Get timestamp of mid-exposure
if (_camera_capture_mode == 0) {
trigger.timestamp = hrt_absolute_time();
} else {
trigger.timestamp = edge_time - ((edge_time - _last_fall_time) / 2); // Get timestamp of mid-exposure
}
trigger.seq = _capture_seq++;
if (_camera_capture_feedback != 0) {
@@ -182,12 +196,26 @@ CameraCapture::set_capture_control(bool enabled)
{
if (enabled) {
// register callbacks
//up_input_capture_set(4, Both, 0, &CameraCapture::capture_trampoline, this);
up_input_capture_set(5, Falling, 0, &CameraCapture::capture_trampoline, this);
switch (_camera_capture_edge) {
case 0:
up_input_capture_set(5, Rising, 0, &CameraCapture::capture_trampoline, this);
break;
case 1:
up_input_capture_set(5, Falling, 0, &CameraCapture::capture_trampoline, this);
break;
case 2:
up_input_capture_set(5, Both, 0, &CameraCapture::capture_trampoline, this);
break;
default:
break;
}
_capture_enabled = true;
} else {
//up_input_capture_set(4, Disabled, 0, NULL, NULL);
up_input_capture_set(5, Disabled, 0, NULL, NULL);
_capture_enabled = false;
}