mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-09 08:00:35 +08:00
Michael Schaeuble
85a5dd87cd
If the capture GPIO is exposed to a signal with high frequency changes, a lot of interrupts are scheduled and the handling of these call can worst-case starve flight critical processes leading to a loss of control. Since camera capture is not flight critical, we now give up the capture functionality and stop the interrupts to prevent the starvation of other processes.
152 lines
4.6 KiB
C++
152 lines
4.6 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file camera_capture.hpp
|
|
*
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <drivers/drv_hrt.h>
|
|
#include <drivers/drv_input_capture.h>
|
|
#include <drivers/drv_pwm_output.h>
|
|
#include <lib/parameters/param.h>
|
|
#include <px4_platform_common/px4_config.h>
|
|
#include <px4_platform_common/defines.h>
|
|
#include <px4_platform_common/module.h>
|
|
#include <px4_platform_common/tasks.h>
|
|
#include <px4_platform_common/workqueue.h>
|
|
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
#include <uORB/Publication.hpp>
|
|
#include <uORB/Subscription.hpp>
|
|
#include <uORB/topics/camera_trigger.h>
|
|
#include <uORB/topics/pps_capture.h>
|
|
#include <uORB/topics/vehicle_command.h>
|
|
#include <uORB/topics/vehicle_command_ack.h>
|
|
|
|
class CameraCapture : public px4::ScheduledWorkItem
|
|
{
|
|
public:
|
|
/**
|
|
* Constructor
|
|
*/
|
|
CameraCapture();
|
|
|
|
/**
|
|
* Destructor, also kills task.
|
|
*/
|
|
~CameraCapture();
|
|
|
|
/**
|
|
* Start the task.
|
|
*/
|
|
int start();
|
|
|
|
/**
|
|
* Stop the task.
|
|
*/
|
|
void stop();
|
|
|
|
void status();
|
|
|
|
// Low-rate command handling loop
|
|
void Run() override;
|
|
|
|
static void capture_trampoline(void *context, uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state,
|
|
uint32_t overflow);
|
|
|
|
void set_capture_control(bool enabled);
|
|
|
|
void reset_statistics(bool reset_seq);
|
|
|
|
void publish_trigger();
|
|
|
|
|
|
static struct work_s _work_publisher;
|
|
|
|
private:
|
|
int _capture_channel = 5; ///< by default, use FMU output 6
|
|
|
|
// Publishers
|
|
uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
|
|
uORB::Publication<camera_trigger_s> _trigger_pub{ORB_ID(camera_trigger)};
|
|
|
|
// Subscribers
|
|
uORB::Subscription _command_sub{ORB_ID(vehicle_command)};
|
|
uORB::Subscription _pps_capture_sub{ORB_ID(pps_capture)};
|
|
|
|
// Trigger Buffer
|
|
struct _trig_s {
|
|
uint32_t chan_index;
|
|
hrt_abstime hrt_edge_time;
|
|
uint32_t edge_state;
|
|
uint32_t overflow;
|
|
} _trigger{};
|
|
|
|
bool _capture_enabled{false};
|
|
bool _gpio_capture{false};
|
|
|
|
// Parameters
|
|
param_t _p_strobe_delay{PARAM_INVALID};
|
|
float _strobe_delay{0.0f};
|
|
param_t _p_camera_capture_mode{PARAM_INVALID};
|
|
int32_t _camera_capture_mode{0};
|
|
param_t _p_camera_capture_edge{PARAM_INVALID};
|
|
int32_t _camera_capture_edge{0};
|
|
|
|
// Signal capture statistics
|
|
uint32_t _capture_seq{0};
|
|
hrt_abstime _last_trig_begin_time{0};
|
|
hrt_abstime _last_exposure_time{0};
|
|
hrt_abstime _last_trig_time{0};
|
|
uint32_t _capture_overflows{0};
|
|
|
|
hrt_abstime _pps_hrt_timestamp{0};
|
|
uint64_t _pps_rtc_timestamp{0};
|
|
uint8_t _trigger_rate_exceeded_counter{0};
|
|
px4::atomic<bool> _trigger_rate_failure{false};
|
|
|
|
orb_advert_t _mavlink_log_pub{nullptr};
|
|
|
|
// Signal capture callback
|
|
void capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
|
|
|
|
// GPIO interrupt routine
|
|
static int gpio_interrupt_routine(int irq, void *context, void *arg);
|
|
|
|
// Signal capture publish
|
|
static void publish_trigger_trampoline(void *arg);
|
|
|
|
};
|