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camera trigger : multipin support

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This commit is contained in:
Mohammed Kabir
2015-07-17 14:51:12 +05:30
committed by Lorenz Meier
parent aa61d3b2d6
commit 7812aabbd7
1 changed files with 30 additions and 18 deletions
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src/modules/camera_trigger/camera_trigger.cpp
+30 -18
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@@ -120,6 +120,15 @@ private:
param_t integration_time ;
param_t transfer_time ;
int32_t _gpios[6] = {
GPIO_GPIO0_OUTPUT,
GPIO_GPIO1_OUTPUT,
GPIO_GPIO2_OUTPUT,
GPIO_GPIO3_OUTPUT,
GPIO_GPIO4_OUTPUT,
GPIO_GPIO5_OUTPUT
};
/**
* Topic poller to check for fire info.
*/
@@ -143,8 +152,8 @@ CameraTrigger *g_camera_trigger;
CameraTrigger::CameraTrigger() :
pin(1),
_pollcall{},
_firecall{},
_pollcall {},
_firecall {},
_gpio_fd(-1),
_polarity(0),
_activation_time(0.0f),
@@ -155,16 +164,19 @@ CameraTrigger::CameraTrigger() :
_sensor_sub(-1),
_vcommand_sub(-1),
_trigger_pub(nullptr),
_trigger{},
_sensor{},
_command{}
{
_trigger {},
_sensor {},
_command {},
_gpios{} {
memset(&_pollcall, 0, sizeof(_pollcall));
memset(&_firecall, 0, sizeof(_firecall));
memset(&_trigger, 0, sizeof(_trigger));
memset(&_sensor, 0, sizeof(_sensor));
memset(&_command, 0, sizeof(_command));
memset(&_pollcall, 0, sizeof(_pollcall));
memset(&_firecall, 0, sizeof(_firecall));
memset(&_gpios, 0, sizeof(_gpios));
// Parameters
polarity = param_find("TRIG_POLARITY");
@@ -190,13 +202,13 @@ CameraTrigger::start()
param_get(integration_time, &_integration_time);
param_get(transfer_time, &_transfer_time);
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(_gpios[pin - 1]);
if (_polarity == 0) {
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1); // GPIO pin pull high
stm32_gpiowrite(_gpios[pin - 1], 1); // GPIO pin pull high
} else if (_polarity == 1) {
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0); // GPIO pin pull low
stm32_gpiowrite(_gpios[pin - 1], 0); // GPIO pin pull low
} else {
warnx(" invalid trigger polarity setting. stopping.");
@@ -283,13 +295,13 @@ CameraTrigger::engage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(trig->_gpios[trig->pin - 1]);
if (trig->_polarity == 0) { // ACTIVE_LOW
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0);
stm32_gpiowrite(trig->_gpios[trig->pin - 1], 0);
} else if (trig->_polarity == 1) { // ACTIVE_HIGH
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1);
stm32_gpiowrite(trig->_gpios[trig->pin - 1], 1);
}
@@ -301,13 +313,13 @@ CameraTrigger::disengage(void *arg)
CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
stm32_configgpio(GPIO_GPIO0_OUTPUT);
stm32_configgpio(trig->_gpios[trig->pin - 1]);
if (trig->_polarity == 0) { // ACTIVE_LOW
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 1);
if (trig->_polarity == 0) { // ACTIVE_LOW
stm32_gpiowrite(trig->_gpios[trig->pin - 1], 1);
} else if (trig->_polarity == 1) { // ACTIVE_HIGH
stm32_gpiowrite(GPIO_GPIO0_OUTPUT, 0);
stm32_gpiowrite(trig->_gpios[trig->pin - 1], 0);
}
}