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New Relay class and the subclasses for APM1 and APM2.

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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
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12
libraries/AP_Camera/AP_Camera.cpp
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@ -60,9 +60,7 @@ AP_Camera::servo_pic()
void void
AP_Camera::relay_pic() AP_Camera::relay_pic()
{ {
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 _apm_relay->on();
relay.on();
#endif
// leave a message that it should be active for this many loops (assumes 50hz loops) // leave a message that it should be active for this many loops (assumes 50hz loops)
_trigger_counter = constrain_int16(_trigger_duration*5,0,255); _trigger_counter = constrain_int16(_trigger_duration*5,0,255);
@ -142,7 +140,7 @@ AP_Camera::trigger_pic_cleanup()
break; break;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
case AP_CAMERA_TRIGGER_TYPE_RELAY: case AP_CAMERA_TRIGGER_TYPE_RELAY:
relay.off(); _apm_relay->off();
break; break;
#endif #endif
case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR: case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
@ -162,7 +160,8 @@ AP_Camera::configure_msg(mavlink_message_t* msg)
// not for us // not for us
return; 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.aperture
* packet.command_id * packet.command_id
@ -190,7 +189,8 @@ AP_Camera::control_msg(mavlink_message_t* msg)
// not for us // not for us
return; 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.command_id
* packet.extra_param * packet.extra_param

6
libraries/AP_Camera/AP_Camera.h
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@ -2,7 +2,6 @@
/// @file AP_Camera.h /// @file AP_Camera.h
/// @brief Photo or video camera manager, with EEPROM-backed storage of constants. /// @brief Photo or video camera manager, with EEPROM-backed storage of constants.
/// @author Amilcar Lucas
#ifndef AP_CAMERA_H #ifndef AP_CAMERA_H
#define AP_CAMERA_H #define AP_CAMERA_H
@ -10,6 +9,7 @@
#include <AP_Param.h> #include <AP_Param.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <GCS_MAVLink.h> #include <GCS_MAVLink.h>
#include <AP_Relay.h>
#define AP_CAMERA_TRIGGER_TYPE_SERVO 0 #define AP_CAMERA_TRIGGER_TYPE_SERVO 0
#define AP_CAMERA_TRIGGER_TYPE_RELAY 1 #define AP_CAMERA_TRIGGER_TYPE_RELAY 1
@ -35,11 +35,12 @@ class AP_Camera {
public: public:
/// Constructor /// Constructor
/// ///
AP_Camera() : AP_Camera(AP_Relay *obj_relay) :
_trigger_counter(0), // count of number of cycles shutter has been held open _trigger_counter(0), // count of number of cycles shutter has been held open
_thr_pic_counter(0) // timer variable for throttle_pic _thr_pic_counter(0) // timer variable for throttle_pic
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
_apm_relay = obj_relay;
} }
// single entry point to take pictures // 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 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 _trigger_counter; // count of number of cycles shutter has been held open
uint8_t _thr_pic_counter; // timer variable for throttle_pic 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 servo_pic(); // Servo operated camera
void relay_pic(); // basic relay activation void relay_pic(); // basic relay activation

6
libraries/AP_Relay/AP_Relay.cpp
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@ -12,7 +12,13 @@
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
#define RELAY_PIN 47 #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() { void AP_Relay::init() {
hal.gpio->pinMode(RELAY_PIN, GPIO_OUTPUT); hal.gpio->pinMode(RELAY_PIN, GPIO_OUTPUT);

1
libraries/AP_Relay/AP_Relay.h
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@ -36,5 +36,4 @@ public:
bool get(); bool get();
}; };
#endif /* AP_RELAY_H_ */ #endif /* AP_RELAY_H_ */