AP_Camera: use timer for faster camera trigger pin detection

This commit is contained in:
Andrew Tridgell 2016-01-19 16:25:53 +11:00
parent f731a0dc53
commit 061ee5e4fd
2 changed files with 51 additions and 6 deletions

View File

@ -113,6 +113,12 @@ AP_Camera::relay_pic()
void
AP_Camera::trigger_pic(bool send_mavlink_msg)
{
if (_feedback_pin > 0 && !_timer_installed) {
// install a 1kHz timer to check feedback pin
_timer_installed = true;
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Camera::feedback_pin_timer, void));
}
_image_index++;
switch (_trigger_type)
{
@ -284,3 +290,35 @@ bool AP_Camera::update_location(const struct Location &loc, const AP_AHRS &ahrs)
return true;
}
}
/*
check if feedback pin is high
*/
void AP_Camera::feedback_pin_timer(void)
{
int8_t dpin = hal.gpio->analogPinToDigitalPin(_feedback_pin);
if (dpin == -1) {
return;
}
// ensure we are in input mode
hal.gpio->pinMode(dpin, HAL_GPIO_INPUT);
// enable pullup
hal.gpio->write(dpin, 1);
if (hal.gpio->read(dpin) != 0) {
_camera_triggered = true;
}
}
/*
check if camera has triggered
*/
bool AP_Camera::check_trigger_pin(void)
{
if (_camera_triggered) {
_camera_triggered = false;
return true;
}
return false;
}

View File

@ -45,9 +45,6 @@ public:
// pin number for accurate camera feedback messages
AP_Int8 _feedback_pin;
// this is set to 1 when camera really has been triggered
AP_Int8 _camera_triggered;
// single entry point to take pictures
// set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components
void trigger_pic(bool send_mavlink_msg);
@ -70,6 +67,12 @@ public:
// Update location of vehicle and return true if a picture should be taken
bool update_location(const struct Location &loc, const AP_AHRS &ahrs);
// check if trigger pin has fired
bool check_trigger_pin(void);
// return true if we are using a feedback pin
bool using_feedback_pin(void) const { return _feedback_pin > 0; }
static const struct AP_Param::GroupInfo var_info[];
private:
@ -83,6 +86,7 @@ private:
void servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation
void feedback_pin_timer();
AP_Float _trigg_dist; // distance between trigger points (meters)
AP_Int16 _min_interval; // Minimum time between shots required by camera
@ -91,6 +95,9 @@ private:
struct Location _last_location;
uint16_t _image_index; // number of pictures taken since boot
// this is set to 1 when camera trigger pin has fired
volatile bool _camera_triggered;
bool _timer_installed:1;
};
#endif /* AP_CAMERA_H */