Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-30 20:48:33 -04:00
Code Issues Packages Projects Releases Wiki Activity

New Relay class and the subclasses for APM1 and APM2.

Browse Source 
Updated AP_Camera class.
This commit is contained in:
Sandro Benigno 2012-12-17 13:03:51 -02:00 committed by Andrew Tridgell
parent 393c893cdb
commit cc7f26a99b
4 changed files with 16 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
libraries/AP_Camera/AP_Camera.cpp
View File

@ -60,9 +60,7 @@ AP_Camera::servo_pic()
void
AP_Camera::relay_pic()
{
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
relay.on();
#endif
_apm_relay->on();
// leave a message that it should be active for this many loops (assumes 50hz loops)
_trigger_counter = constrain_int16(_trigger_duration*5,0,255);
@ -142,7 +140,7 @@ AP_Camera::trigger_pic_cleanup()
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
case AP_CAMERA_TRIGGER_TYPE_RELAY:
relay.off();
_apm_relay->off();
break;
#endif
case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
@ -162,7 +160,8 @@ AP_Camera::configure_msg(mavlink_message_t* msg)
// not for us
return;
}
// TODO do something with these values
// This values may or not be used by APM
// They are bypassed as "echo" to a external specialized board
/*
* packet.aperture
* packet.command_id
@ -190,7 +189,8 @@ AP_Camera::control_msg(mavlink_message_t* msg)
// not for us
return;
}
// TODO do something with these values
// This values may or not be used by APM (the shot is)
// They are bypassed as "echo" to a external specialized board
/*
* packet.command_id
* packet.extra_param

6
libraries/AP_Camera/AP_Camera.h
View File

@ -2,7 +2,6 @@
/// @file AP_Camera.h
/// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
/// @author Amilcar Lucas
#ifndef AP_CAMERA_H
#define AP_CAMERA_H
@ -10,6 +9,7 @@
#include <AP_Param.h>
#include <AP_Common.h>
#include <GCS_MAVLink.h>
#include <AP_Relay.h>
#define AP_CAMERA_TRIGGER_TYPE_SERVO 0
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1
@ -35,11 +35,12 @@ class AP_Camera {
public:
/// Constructor
///
AP_Camera() :
AP_Camera(AP_Relay *obj_relay) :
_trigger_counter(0), // count of number of cycles shutter has been held open
_thr_pic_counter(0) // timer variable for throttle_pic
{
AP_Param::setup_object_defaults(this, var_info);
_apm_relay = obj_relay;
}
// single entry point to take pictures
@ -62,6 +63,7 @@ private:
AP_Int16 _servo_off_pwm; // PWM value to move servo to when shutter is deactivated
uint8_t _trigger_counter; // count of number of cycles shutter has been held open
uint8_t _thr_pic_counter; // timer variable for throttle_pic
AP_Relay *_apm_relay; // pointer to relay object from the base class Relay. The subclasses could be AP_Relay_APM1 or AP_Relay_APM2
void servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation

6
libraries/AP_Relay/AP_Relay.cpp
View File

@ -12,7 +12,13 @@
extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#define RELAY_PIN 47
#else CONFIG_HAL_BOARD == HAL_BOARD_APM2
#define RELAY_PIN 26
#else
#error "no RELAY_PIN defined for this board"
#endif
void AP_Relay::init() {
hal.gpio->pinMode(RELAY_PIN, GPIO_OUTPUT);

1
libraries/AP_Relay/AP_Relay.h
View File

@ -36,5 +36,4 @@ public:
bool get();
};
#endif /* AP_RELAY_H_ */