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fixing cherry-picking divergences

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This commit is contained in:
Andreas Bircher
2016-06-16 15:40:01 +02:00
committed by Lorenz Meier
parent 6bd17c7ba4
commit 46ec1e6b95
6 changed files with 57 additions and 75 deletions
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ROMFS/px4fmu_common/init.d/rcS
+2 -2
View File
@@ -537,7 +537,7 @@ then
# Get FMU driver out of the way
set MIXER_AUX none
set AUX_MODE none
camera_trigger start --pwm
camera_trigger start
fi
fi
@@ -606,7 +606,7 @@ then
# Try to get an USB console
nshterm /dev/ttyACM0 &
else
mavlink start -r 80000 -d /dev/ttyACM0 -m config -x
mavlink start -r 800000 -d /dev/ttyACM0 -m config -x
fi
#
src/drivers/camera_trigger/camera_trigger.cpp
+33 -53
View File
@@ -36,7 +36,11 @@
*
* External camera-IMU synchronisation and triggering via FMU auxiliary pins.
*
* Support for camera manipulation via PWM signal over servo pins.
*
* @author Mohammed Kabir <mhkabir98@gmail.com>
* @author Kelly Steich <kelly.steich@wingtra.com>
* @author Andreas Bircher <andreas@wingtra.com>
*/
#include <stdio.h>
@@ -63,10 +67,19 @@
#include <drivers/drv_hrt.h>
#include <board_config.h>
#include "interfaces/src/pwm.h"
#include "interfaces/src/relay.h"
#define TRIGGER_PIN_DEFAULT 1
extern "C" __EXPORT int camera_trigger_main(int argc, char *argv[]);
typedef enum {
CAMERA_INTERFACE_MODE_NONE = 0,
CAMERA_INTERFACE_MODE_RELAY,
CAMERA_INTERFACE_MODE_PWM
} camera_interface_mode_t;
class CameraTrigger
{
public:
@@ -105,8 +118,6 @@ public:
*/
void info();
int _pins[6];
private:
struct hrt_call _engagecall;
@@ -115,7 +126,6 @@ private:
int _gpio_fd;
int _polarity;
int _mode;
float _activation_time;
float _interval;
@@ -130,7 +140,6 @@ private:
orb_advert_t _trigger_pub;
param_t _p_polarity;
param_t _p_mode;
param_t _p_activation_time;
param_t _p_interval;
@@ -153,12 +162,9 @@ private:
*/
static void disengage(void *arg);
static void trigger(CameraTrigger *trig, bool trigger);
};
struct work_s CameraTrigger::_work;
constexpr uint32_t CameraTrigger::_gpios[6];
namespace camera_trigger
{
@@ -170,7 +176,6 @@ CameraTrigger::CameraTrigger(camera_interface_mode_t camera_interface_mode) :
_engagecall {},
_disengagecall {},
_gpio_fd(-1),
_polarity(0),
_mode(0),
_activation_time(0.5f /* ms */),
_interval(100.0f /* ms */),
@@ -185,44 +190,38 @@ CameraTrigger::CameraTrigger(camera_interface_mode_t camera_interface_mode) :
_camera_interface_mode(camera_interface_mode),
_camera_interface(nullptr)
{
//Initiate Camera interface basedon camera_interface_mode
if (_camera_interface != nullptr) {
delete(_camera_interface);
/* set to zero to ensure parser is not used while not instantiated */
_camera_interface = nullptr;
}
switch (_camera_interface_mode) {
case CAMERA_INTERFACE_MODE_RELAY:
_camera_interface = new CameraInterfaceRelay;
break;
case CAMERA_INTERFACE_MODE_PWM:
_camera_interface = new CameraInterfacePWM;
break;
default:
break;
}
memset(&_work, 0, sizeof(_work));
// Parameters
_p_polarity = param_find("TRIG_POLARITY");
_p_interval = param_find("TRIG_INTERVAL");
_p_distance = param_find("TRIG_DISTANCE");
_p_activation_time = param_find("TRIG_ACT_TIME");
_p_mode = param_find("TRIG_MODE");
_p_pin = param_find("TRIG_PINS");
param_get(_p_polarity, &_polarity);
param_get(_p_activation_time, &_activation_time);
param_get(_p_interval, &_interval);
param_get(_p_distance, &_distance);
param_get(_p_mode, &_mode);
int pin_list;
param_get(_p_pin, &pin_list);
// Set all pins as invalid
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
_pins[i] = -1;
}
// Convert number to individual channels
unsigned i = 0;
int single_pin;
while ((single_pin = pin_list % 10)) {
_pins[i] = single_pin - 1;
if (_pins[i] < 0 || _pins[i] >= static_cast<int>(sizeof(_gpios) / sizeof(_gpios[0]))) {
_pins[i] = -1;
}
pin_list /= 10;
i++;
}
struct camera_trigger_s camera_trigger = {};
@@ -278,12 +277,6 @@ CameraTrigger::shootOnce()
void
CameraTrigger::start()
{
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
px4_arch_configgpio(_gpios[_pins[i]]);
px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
}
// enable immediate if configured that way
if (_mode == 2) {
control(true);
@@ -438,23 +431,10 @@ CameraTrigger::disengage(void *arg)
trig->_camera_interface->trigger(false);
}
void
CameraTrigger::trigger(CameraTrigger *trig, bool trigger)
{
for (unsigned i = 0; i < sizeof(trig->_pins) / sizeof(trig->_pins[0]); i++) {
if (trig->_pins[i] >= 0) {
// ACTIVE_LOW == 1
px4_arch_gpiowrite(trig->_gpios[trig->_pins[i]], trigger);
}
}
}
void
CameraTrigger::info()
{
warnx("state : %s", _trigger_enabled ? "enabled" : "disabled");
warnx("pins 1-3 : %d,%d,%d polarity : %s", _pins[0], _pins[1], _pins[2],
_polarity ? "ACTIVE_HIGH" : "ACTIVE_LOW");
warnx("mode : %i", _mode);
warnx("interval : %.2f [ms]", (double)_interval);
warnx("distance : %.2f [m]", (double)_distance);
src/drivers/camera_trigger/interfaces/src/camera_interface.cpp
+14
View File
@@ -0,0 +1,14 @@
#include "camera_interface.h"
/**
* @file camera_interface.cpp
*
*/
CameraInterface::CameraInterface()
{
}
CameraInterface::~CameraInterface()
{
}
src/drivers/camera_trigger/interfaces/src/pwm.cpp
+4 -2
View File
@@ -1,7 +1,8 @@
#include <px4.h>
#include <sys/ioctl.h>
#include <lib/helpfuncs/helpfuncs.h>
#include <lib/mathlib/mathlib.h>
#include "drivers/drv_pwm_output.h"
#include "pwm.h"
// PWM levels of the interface to seagull MAP converter to
@@ -41,6 +42,7 @@ CameraInterfacePWM::CameraInterfacePWM():
pin_list /= 10;
i++;
}
setup();
}
@@ -118,7 +120,7 @@ int CameraInterfacePWM::powerOff()
return 0;
}
void CameraInterfaceRelay::info()
void CameraInterfacePWM::info()
{
warnx("PWM - camera triggering, pins 1-3 : %d,%d,%d", _pins[0], _pins[1], _pins[2]);
}
src/drivers/camera_trigger/interfaces/src/pwm.h
-14
View File
@@ -11,20 +11,6 @@
#include <uORB/topics/vehicle_status.h>
#include "camera_interface.h"
// TODO(birchera): check if this is the right device and addresses
#define PWM_DEVICE_PATH "/dev/pwm_output0"
#define PWM_CAMERA_BASE 0x2a00
#define PWM_CAMERA_SET(_pin) _PX4_IOC(PWM_CAMERA_BASE, 0x30 + _pin)
// PWM levels of the interface to seagull MAP converter to
// Multiport (http://www.seagulluav.com/manuals/Seagull_MAP2-Manual.pdf)
#define PWM_CAMERA_DISARMED 90 // TODO(birchera): check here value
#define PWM_CAMERA_ON 1100
#define PWM_CAMERA_AUTOFOCUS_SHOOT 1300
#define PWM_CAMERA_NEUTRAL 1500
#define PWM_CAMERA_INSTANT_SHOOT 1700
#define PWM_CAMERA_OFF 1900
class CameraInterfacePWM : public CameraInterface
{
public:
src/drivers/camera_trigger/interfaces/src/relay.cpp
+4 -4
View File
@@ -45,8 +45,8 @@ CameraInterfaceRelay::~CameraInterfaceRelay()
void CameraInterfaceRelay::setup()
{
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
stm32_configgpio(_gpios[_pins[i]]);
stm32_gpiowrite(_gpios[_pins[i]], !_polarity);
px4_arch_configgpio(_gpios[_pins[i]]);
px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
}
}
@@ -56,7 +56,7 @@ void CameraInterfaceRelay::trigger(bool enable)
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
if (_pins[i] >= 0) {
// ACTIVE_LOW == 1
stm32_gpiowrite(_gpios[_pins[i]], _polarity);
px4_arch_gpiowrite(_gpios[_pins[i]], _polarity);
}
}
@@ -64,7 +64,7 @@ void CameraInterfaceRelay::trigger(bool enable)
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
if (_pins[i] >= 0) {
// ACTIVE_LOW == 1
stm32_gpiowrite(_gpios[_pins[i]], !_polarity);
px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
}
}
}