From 054f35e33d6232207990bdc8132b58003dc62bad Mon Sep 17 00:00:00 2001
From: Pat Hickey <pat@galois.com>
Date: Wed, 12 Dec 2012 11:48:01 -0800
Subject: [PATCH] AP_Camera: ported to AP_HAL

---
 libraries/AP_Camera/AP_Camera.cpp | 9 ++++++---
 libraries/AP_Camera/AP_Camera.h   | 1 +
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Camera/AP_Camera.cpp b/libraries/AP_Camera/AP_Camera.cpp
index aecc88ff53..3f0f7154b3 100644
--- a/libraries/AP_Camera/AP_Camera.cpp
+++ b/libraries/AP_Camera/AP_Camera.cpp
@@ -2,8 +2,11 @@
 
 #include <AP_Camera.h>
 #include <AP_Relay.h>
-#include <../RC_Channel/RC_Channel_aux.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
 extern AP_Relay relay;
 
@@ -91,7 +94,7 @@ void
 AP_Camera::transistor_pic()
 {
     // TODO: Assign pin spare pin for output
-    digitalWrite(AP_CAMERA_TRANSISTOR_PIN, HIGH);
+    hal.gpio->write(AP_CAMERA_TRANSISTOR_PIN,1);
 
     // leave a message that it should be active for two event loop cycles
     _trigger_counter = 1;
@@ -139,7 +142,7 @@ AP_Camera::trigger_pic_cleanup()
                 relay.off();
                 break;
             case AP_CAMERA_TRIGGER_TYPE_TRANSISTOR:
-                digitalWrite(AP_CAMERA_TRANSISTOR_PIN, LOW);
+                hal.gpio->write(AP_CAMERA_TRANSISTOR_PIN, 0);
                 break;
         }
     }
diff --git a/libraries/AP_Camera/AP_Camera.h b/libraries/AP_Camera/AP_Camera.h
index 60e23c36f1..76ff1eedbe 100644
--- a/libraries/AP_Camera/AP_Camera.h
+++ b/libraries/AP_Camera/AP_Camera.h
@@ -7,6 +7,7 @@
 #ifndef AP_CAMERA_H
 #define AP_CAMERA_H
 
+#include <AP_Param.h>
 #include <AP_Common.h>
 #include <GCS_MAVLink.h>