ardupilot/libraries/AP_Camera/AP_Camera.cpp

212 lines
7.2 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#include <AP_Camera.h>
#include <AP_Relay.h>
#include <AP_Math.h>
#include <RC_Channel.h>
#include <AP_HAL.h>
extern const AP_HAL::HAL& hal;
extern int32_t wp_distance; // Note: unfortunately this variable is in meter for ArduPlane and cm for ArduCopter
// ------------------------------
#define CAM_DEBUG DISABLED
const AP_Param::GroupInfo AP_Camera::var_info[] PROGMEM = {
// @Param: TRIGG_TYPE
// @DisplayName: Camera shutter (trigger) type
// @Description: how to trigger the camera to take a picture
// @Values: 0:Servo,1:Relay,2:Servo and turn off throttle,3:Servo when 3m from waypoint,4:transistor
// @User: Standard
AP_GROUPINFO("TRIGG_TYPE", 0, AP_Camera, _trigger_type, AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE),
// @Param: DURATION
// @DisplayName: Duration that shutter is held open
// @Description: How long the shutter will be held open in 10ths of a second (i.e. enter 10 for 1second, 50 for 5seconds)
// @Range: 0 50
// @User: Standard
AP_GROUPINFO("DURATION", 1, AP_Camera, _trigger_duration, AP_CAMERA_TRIGGER_DEFAULT_DURATION),
// @Param: SERVO_ON
// @DisplayName: Servo ON PWM value
// @Description: PWM value to move servo to when shutter is activated
// @Range: 1000 2000
// @User: Standard
AP_GROUPINFO("SERVO_ON", 2, AP_Camera, _servo_on_pwm, AP_CAMERA_SERVO_ON_PWM),
// @Param: SERVO_OFF
// @DisplayName: Servo OFF PWM value
// @Description: PWM value to move servo to when shutter is deactivated
// @Range: 1000 2000
// @User: Standard
AP_GROUPINFO("SERVO_OFF", 3, AP_Camera, _servo_off_pwm, AP_CAMERA_SERVO_OFF_PWM),
AP_GROUPEND
};
/// Servo operated camera
void
AP_Camera::servo_pic()
{
RC_Channel_aux::set_radio(RC_Channel_aux::k_cam_trigger, _servo_on_pwm);
// leave a message that it should be active for this many loops (assumes 50hz loops)
_trigger_counter = constrain_int16(_trigger_duration*5,0,255);
}
/// basic relay activation
void
AP_Camera::relay_pic()
{
_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);
}
/// pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
void
AP_Camera::throttle_pic()
{
// TODO find a way to do this without using the global parameter g
// g.channel_throttle.radio_out = g.throttle_min;
if (_thr_pic_counter == 10) {
servo_pic(); // triggering method
_thr_pic_counter = 0;
// g.channel_throttle.radio_out = g.throttle_cruise;
}
_thr_pic_counter++;
}
/// distance_pic - triggers picture when within 3m of waypoint
void
AP_Camera::distance_pic()
{
if (wp_distance < AP_CAMERA_WP_DISTANCE) {
servo_pic(); // triggering method
}
}
/// hacked the circuit to run a transistor? use this trigger to send output.
void
AP_Camera::transistor_pic()
{
// TODO: Assign pin spare pin for output
hal.gpio->write(AP_CAMERA_TRANSISTOR_PIN,1);
// leave a message that it should be active for two event loop cycles
_trigger_counter = 1;
}
/// single entry point to take pictures
void
AP_Camera::trigger_pic()
{
switch (_trigger_type)
{
case AP_CAMERA_TRIGGER_TYPE_SERVO:
servo_pic(); // Servo operated camera
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
relay_pic(); // basic relay activation
break;
case AP_CAMERA_TRIGGER_TYPE_THROTTLE_OFF_TIME:
throttle_pic(); // pictures blurry? use this trigger. Turns off the throttle until for # of cycles of medium loop then takes the picture and re-enables the throttle.
break;
case AP_CAMERA_TRIGGER_TYPE_WP_DISTANCE:
distance_pic(); // pictures blurry? use this trigger. Turns off the throttle until closer to waypoint then takes the picture and re-enables the throttle.
break;
case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
transistor_pic(); // hacked the circuit to run a transistor? use this trigger to send output.
break;
}
}
/// de-activate the trigger after some delay, but without using a delay() function
/// should be called at 50hz
void
AP_Camera::trigger_pic_cleanup()
{
if (_trigger_counter) {
_trigger_counter--;
} else {
switch (_trigger_type) {
case AP_CAMERA_TRIGGER_TYPE_SERVO:
case AP_CAMERA_TRIGGER_TYPE_THROTTLE_OFF_TIME:
case AP_CAMERA_TRIGGER_TYPE_WP_DISTANCE:
RC_Channel_aux::set_radio(RC_Channel_aux::k_cam_trigger, _servo_off_pwm);
break;
case AP_CAMERA_TRIGGER_TYPE_RELAY:
_apm_relay->off();
break;
case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
hal.gpio->write(AP_CAMERA_TRANSISTOR_PIN, 0);
break;
}
}
}
/// decode MavLink that configures camera
void
AP_Camera::configure_msg(mavlink_message_t* msg)
{
__mavlink_digicam_configure_t packet;
mavlink_msg_digicam_configure_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) {
// not for us
return;
}
// This values may or not be used by APM
// They are bypassed as "echo" to a external specialized board
/*
* packet.aperture
* packet.command_id
* packet.engine_cut_off
* packet.exposure_type
* packet.extra_param
* packet.extra_value
* packet.iso
* packet.mode
* packet.shutter_speed
*/
// echo the message to the ArduCam OSD camera control board
// for more info see: http://code.google.com/p/arducam-osd/
// TODO is it connected to MAVLINK_COMM_3 ?
mavlink_msg_digicam_configure_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.mode, packet.shutter_speed, packet.aperture, packet.iso, packet.exposure_type, packet.command_id, packet.engine_cut_off, packet.extra_param, packet.extra_value);
}
/// decode MavLink that controls camera
void
AP_Camera::control_msg(mavlink_message_t* msg)
{
__mavlink_digicam_control_t packet;
mavlink_msg_digicam_control_decode(msg, &packet);
if (mavlink_check_target(packet.target_system, packet.target_component)) {
// not for us
return;
}
// 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
* packet.extra_value
* packet.focus_lock
* packet.session
* packet.shot
* packet.zoom_pos
* packet.zoom_step
*/
if (packet.shot)
{
trigger_pic();
}
// echo the message to the ArduCam OSD camera control board
// for more info see: http://code.google.com/p/arducam-osd/
// TODO is it connected to MAVLINK_COMM_3 ?
mavlink_msg_digicam_control_send(MAVLINK_COMM_3, packet.target_system, packet.target_component, packet.session, packet.zoom_pos, packet.zoom_step, packet.focus_lock, packet.shot, packet.command_id, packet.extra_param, packet.extra_value);
}