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AP_Camera: support fast timer capture on AUX4 on Pixhawk

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microsecond capture of hot-shoe
This commit is contained in:
Andrew Tridgell 2016-04-15 09:24:41 +10:00
parent 5b8401cbbc
commit 9f31fbb895
2 changed files with 78 additions and 7 deletions
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75
libraries/AP_Camera/AP_Camera.cpp
View File

@ -5,6 +5,14 @@
#include <AP_Math/AP_Math.h>
#include <RC_Channel/RC_Channel.h>
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <drivers/drv_input_capture.h>
#include <drivers/drv_pwm_output.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#endif
// ------------------------------
#define CAM_DEBUG DISABLED
@ -75,7 +83,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Param: FEEDBACK_PIN
// @DisplayName: Camera feedback pin
// @Description: pin number to use for save accurate camera feedback messages. If set to -1 then don't use a pin flag for this, otherwise this is a pin number which if held high after a picture trigger order, will save camera messages when camera really takes a picture. A universal camera hot shoe is needed. The pin should be held high for at least 2 milliseconds for reliable trigger detection. See also the CAM_FEEDBACK_POL option
// @Values: -1:Disabled, 0-8:APM FeedbackPin, 50-55:PixHawk FeedbackPin
// @Values: -1:Disabled, 0-8:APM FeedbackPin,50-55:PixHawk FeedbackPin
// @User: Standard
AP_GROUPINFO("FEEDBACK_PIN", 8, AP_Camera, _feedback_pin, AP_CAMERA_FEEDBACK_DEFAULT_FEEDBACK_PIN),
@ -91,6 +99,11 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
extern const AP_HAL::HAL& hal;
/*
static trigger var for PX4 callback
*/
volatile bool AP_Camera::_camera_triggered;
/// Servo operated camera
void
AP_Camera::servo_pic()
@ -120,11 +133,7 @@ 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));
}
setup_feedback_callback();
_image_index++;
switch (_trigger_type)
@ -337,3 +346,57 @@ bool AP_Camera::check_trigger_pin(void)
}
return false;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
/*
callback for timer capture on PX4
*/
void AP_Camera::capture_callback(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow)
{
_camera_triggered = true;
}
#endif
/*
setup a callback for a feedback pin. When on PX4 with the right FMU
mode we can use the microsecond timer.
*/
void AP_Camera::setup_feedback_callback(void)
{
if (_feedback_pin <= 0 || _timer_installed) {
// invalid or already installed
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
/*
special case for pin 53 on PX4. We can use the fast timer support
*/
if (_feedback_pin == 53) {
int fd = open("/dev/px4fmu", 0);
if (fd != -1) {
if (ioctl(fd, PWM_SERVO_SET_MODE, PWM_SERVO_MODE_3PWM1CAP) != 0) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "Camera: unable to setup 3PWM1CAP\n");
close(fd);
goto failed;
}
if (up_input_capture_set(3, _feedback_polarity==1?Rising:Falling, 0, capture_callback, this) != 0) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "Camera: unable to setup timer capture\n");
close(fd);
goto failed;
}
close(fd);
_timer_installed = true;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_WARNING, "Camera: setup fast trigger capture\n");
}
}
failed:
#endif // CONFIG_HAL_BOARD
if (!_timer_installed) {
// install a 1kHz timer to check feedback pin
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Camera::feedback_pin_timer, void));
}
_timer_installed = true;
}

10
libraries/AP_Camera/AP_Camera.h
View File

@ -12,6 +12,9 @@
#include <AP_GPS/AP_GPS.h>
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Mission/AP_Mission.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <drivers/drv_hrt.h>
#endif
#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
@ -83,6 +86,11 @@ private:
void servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation
void feedback_pin_timer();
void setup_feedback_callback(void);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
static void capture_callback(void *context, uint32_t chan_index,
hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
#endif
AP_Float _trigg_dist; // distance between trigger points (meters)
AP_Int16 _min_interval; // Minimum time between shots required by camera
@ -96,7 +104,7 @@ private:
AP_Int8 _feedback_polarity;
// this is set to 1 when camera trigger pin has fired
volatile bool _camera_triggered;
static volatile bool _camera_triggered;
bool _timer_installed:1;
uint8_t _last_pin_state;
};