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camera_trigger:Refacter GPIO camera triggering

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Refactored for efficiency and simplicity.
This commit is contained in:
David Sidrane 2018-06-14 08:43:44 -10:00 committed by Beat Küng
parent ff365cad08
commit 4e5e0c6921
3 changed files with 30 additions and 23 deletions
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3
src/drivers/camera_trigger/camera_trigger_params.c
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@ -115,6 +115,9 @@ PARAM_DEFINE_INT32(TRIG_MODE, 0);
* Selects which pin is used, ranges from 1 to 6 (AUX1-AUX6 on px4fmu-v2 and the rail
* pins on px4fmu-v4). The PWM interface takes two pins per camera, while relay
* triggers on every pin individually. Example: Value 56 would trigger on pins 5 and 6.
* For GPIO mode Pin 6 will be triggered followed by 5. With a value of 65 pin 5 will
* be triggered followed by 6. Pins may be non contiguous. I.E. 16 or 61.
* for GPIO mode the delay pin to pin is < .2 uS.
*
* @min 1
* @max 123456

47
src/drivers/camera_trigger/interfaces/src/gpio.cpp
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@ -1,15 +1,20 @@
#ifdef __PX4_NUTTX
#include "gpio.h"
#include <cstring>
constexpr uint32_t CameraInterfaceGPIO::_gpios[6];
CameraInterfaceGPIO::CameraInterfaceGPIO():
CameraInterface(),
_polarity(0)
_trigger_invert(false)
{
_p_polarity = param_find("TRIG_POLARITY");
param_get(_p_polarity, &_polarity);
// polarity of the trigger (0 = active low, 1 = active high )
int polarity;
param_get(_p_polarity, &polarity);
_trigger_invert = (polarity == 0);
get_pins();
setup();
@ -21,32 +26,30 @@ CameraInterfaceGPIO::~CameraInterfaceGPIO()
void CameraInterfaceGPIO::setup()
{
for (unsigned i = 0; i < arraySize(_pins); i++) {
// Pin range is from 0 to 5
memset(_triggers, 0, sizeof(_triggers));
for (unsigned i = 0, t = 0; i < arraySize(_pins); i++) {
// Pin range is from 1 to 6, indexes are 0 to 5
if (_pins[i] >= 0 && _pins[i] < (int)arraySize(_gpios)) {
px4_arch_configgpio(_gpios[_pins[i]]);
px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
uint32_t gpio = _gpios[_pins[i]];
_triggers[t++] = gpio;
px4_arch_configgpio(gpio);
px4_arch_gpiowrite(gpio, false ^ _trigger_invert);
}
}
}
void CameraInterfaceGPIO::trigger(bool enable)
void CameraInterfaceGPIO::trigger(bool trigger_on_true)
{
if (enable) {
for (unsigned i = 0; i < arraySize(_pins); i++) {
if (_pins[i] >= 0 && _pins[i] < (int)arraySize(_gpios)) {
// ACTIVE_LOW == 1
px4_arch_gpiowrite(_gpios[_pins[i]], _polarity);
}
}
bool trigger_state = trigger_on_true ^ _trigger_invert;
} else {
for (unsigned i = 0; i < arraySize(_pins); i++) {
if (_pins[i] >= 0 && _pins[i] < (int)arraySize(_gpios)) {
// ACTIVE_LOW == 1
px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
}
}
for (unsigned i = 0; i < arraySize(_triggers); i++) {
if (_triggers[i] == 0) { break; }
px4_arch_gpiowrite(_triggers[i], trigger_state);
}
}
@ -54,7 +57,7 @@ void CameraInterfaceGPIO::info()
{
PX4_INFO("GPIO trigger mode, pins enabled : [%d][%d][%d][%d][%d][%d], polarity : %s",
_pins[5], _pins[4], _pins[3], _pins[2], _pins[1], _pins[0],
_polarity ? "ACTIVE_HIGH" : "ACTIVE_LOW");
_trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
}
#endif /* ifdef __PX4_NUTTX */

3
src/drivers/camera_trigger/interfaces/src/gpio.h
View File

@ -28,7 +28,7 @@ private:
param_t _p_polarity;
int _polarity;
bool _trigger_invert;
static constexpr uint32_t _gpios[6] = {
GPIO_GPIO0_OUTPUT,
@ -39,6 +39,7 @@ private:
GPIO_GPIO5_OUTPUT
};
uint32_t _triggers[arraySize(_gpios) + 1];
};
#endif /* ifdef __PX4_NUTTX */