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AP_Camera: reduce feedback pin timer work, remove unneeded inits

This commit is contained in:
Michael du Breuil 2018-06-19 01:19:53 -07:00 committed by WickedShell
parent a3587f844c
commit f8e9e57523
2 changed files with 16 additions and 21 deletions
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29
libraries/AP_Camera/AP_Camera.cpp
View File

@ -83,6 +83,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @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. If using AUX4 pin on a Pixhawk then a fast capture method is used that allows for the trigger time to be as short as one microsecond.
// @Values: -1:Disabled,50:PX4 AUX1,51:PX4 AUX2,52:PX4 AUX3,53:PX4 AUX4(fast capture),54:PX4 AUX5,55:PX4 AUX6
// @User: Standard
// @RebootRequired: True
AP_GROUPINFO("FEEDBACK_PIN", 8, AP_Camera, _feedback_pin, AP_CAMERA_FEEDBACK_DEFAULT_FEEDBACK_PIN),
// @Param: FEEDBACK_POL
@ -311,17 +312,7 @@ void AP_Camera::update()
*/
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);
uint8_t pin_state = hal.gpio->read(dpin);
uint8_t pin_state = hal.gpio->read(_feedback_pin);
uint8_t trigger_polarity = _feedback_polarity==0?0:1;
if (pin_state == trigger_polarity &&
_last_pin_state != trigger_polarity) {
@ -333,7 +324,7 @@ void AP_Camera::feedback_pin_timer(void)
/*
check if camera has triggered
*/
bool AP_Camera::check_trigger_pin(void)
bool AP_Camera::check_feedback_pin(void)
{
if (_camera_triggered) {
_camera_triggered = false;
@ -389,10 +380,16 @@ void AP_Camera::setup_feedback_callback(void)
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));
int8_t dpin = hal.gpio->analogPinToDigitalPin(_feedback_pin);
if (dpin == -1) {
return;
}
hal.gpio->pinMode(dpin, HAL_GPIO_INPUT); // ensure we are in input mode
hal.gpio->write(dpin, 1); // enable pullup
// 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;
}
@ -440,7 +437,7 @@ void AP_Camera::take_picture()
void AP_Camera::update_trigger()
{
trigger_pic_cleanup();
if (check_trigger_pin()) {
if (check_feedback_pin()) {
_feedback_events++;
gcs().send_message(MSG_CAMERA_FEEDBACK);
DataFlash_Class *df = DataFlash_Class::instance();

8
libraries/AP_Camera/AP_Camera.h
View File

@ -32,9 +32,7 @@ class AP_Camera {
public:
AP_Camera(AP_Relay *obj_relay, uint32_t _log_camera_bit, const struct Location &_loc, const AP_AHRS &_ahrs)
: _trigger_counter(0) // count of number of cycles shutter has been held open
, _image_index(0)
, log_camera_bit(_log_camera_bit)
: log_camera_bit(_log_camera_bit)
, current_loc(_loc)
, ahrs(_ahrs)
{
@ -122,8 +120,8 @@ private:
// should be called at 50hz from main program
void trigger_pic_cleanup();
// check if trigger pin has fired
bool check_trigger_pin(void);
// check if feedback pin has fired
bool check_feedback_pin(void);
// return true if we are using a feedback pin
bool using_feedback_pin(void) const { return _feedback_pin > 0; }