fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 11:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

stm32 : add new interface for PWM-based camera_trigger

Browse Source
This commit is contained in:
Mohammed Kabir
2017-04-13 20:21:40 +02:00
committed by Lorenz Meier
parent 2b838f5704
commit 82a1bd83bc
8 changed files with 249 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/camera_trigger/interfaces/src/pwm.cpp
+14 -15
View File
@@ -3,7 +3,7 @@
#include <sys/ioctl.h>
#include <lib/mathlib/mathlib.h>
#include "drivers/drv_pwm_output.h"
#include "drivers/drv_pwm_trigger.h"
#include "pwm.h"
// PWM levels of the interface to seagull MAP converter to
@@ -52,8 +52,7 @@ CameraInterfacePWM::CameraInterfacePWM():
CameraInterfacePWM::~CameraInterfacePWM()
{
// Deinitialise pwm channels
// Can currently not be used, because up_pwm_servo_deinit() will deinitialise all pwm channels
// up_pwm_servo_deinit();
up_pwm_trigger_deinit();
}
void CameraInterfacePWM::setup()
@@ -61,9 +60,9 @@ void CameraInterfacePWM::setup()
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
uint8_t pin_bitmask = (1 << _pins[i + 1]) | (1 << _pins[i]);
up_pwm_servo_init(pin_bitmask);
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
up_pwm_trigger_init(pin_bitmask);
up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
up_pwm_trigger_set(_pins[i], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
}
}
}
@@ -80,7 +79,7 @@ void CameraInterfacePWM::trigger(bool enable)
// Set all valid pins to shoot level
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_INSTANT_SHOOT, 1000, 2000));
up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_INSTANT_SHOOT, 1000, 2000));
}
}
@@ -88,7 +87,7 @@ void CameraInterfacePWM::trigger(bool enable)
// Set all valid pins back to neutral level
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
}
}
}
@@ -106,7 +105,7 @@ void CameraInterfacePWM::keep_alive(bool signal_on)
// Set channel 2 pin to keep_alive signal
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i], math::constrain(PWM_2_CAMERA_KEEP_ALIVE, 1000, 2000));
up_pwm_trigger_set(_pins[i], math::constrain(PWM_2_CAMERA_KEEP_ALIVE, 1000, 2000));
}
}
@@ -114,7 +113,7 @@ void CameraInterfacePWM::keep_alive(bool signal_on)
// Set channel 2 pin to neutral signal
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_trigger_set(_pins[i], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
}
}
}
@@ -126,8 +125,8 @@ void CameraInterfacePWM::turn_on_off(bool enable)
// For now, set channel one on neutral upon startup.
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_servo_set(_pins[i], math::constrain(PWM_2_CAMERA_ON_OFF, 1000, 2000));
up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_trigger_set(_pins[i], math::constrain(PWM_2_CAMERA_ON_OFF, 1000, 2000));
}
}
@@ -135,8 +134,8 @@ void CameraInterfacePWM::turn_on_off(bool enable)
// For now, set channel one on neutral upon startup.
for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
up_pwm_servo_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_servo_set(_pins[i], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
up_pwm_trigger_set(_pins[i], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));
}
}
@@ -146,7 +145,7 @@ void CameraInterfacePWM::turn_on_off(bool enable)
void CameraInterfacePWM::info()
{
warnx("PWM - interface, pin config: %d,%d,%d", _pins[0] + 1, _pins[1] + 1, _pins[2] + 1);
warnx("PWM trigger mode - pin config: %d,%d,%d", _pins[0] + 1, _pins[1] + 1, _pins[2] + 1);
}
#endif /* ifdef __PX4_NUTTX */