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AP_Camera: added CAM_FEEDBACK_POL option

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allows selection of trigger polarity
This commit is contained in:
Andrew Tridgell 2016-01-21 08:33:17 +11:00
parent 0be28999ea
commit 2099f40d89
2 changed files with 18 additions and 5 deletions
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15
libraries/AP_Camera/AP_Camera.cpp
View File

@ -74,11 +74,18 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
// @Param: FEEDBACK_PIN
// @DisplayName: Camera feedback pin
// @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.
// @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
// @Values: -1:Disabled, 0-8:APM FeedbackPin, 50-55:PixHawk FeedbackPin
// @User: Standard
AP_GROUPINFO("FEEDBACK_PIN", 8, AP_Camera, _feedback_pin, AP_CAMERA_FEEDBACK_DEFAULT_FEEDBACK_PIN),
// @Param: FEEDBACK_POL
// @DisplayName: Camera feedback pin polarity
// @Description: Polarity for feedback pin. If this is 1 then the feedback pin should go high on trigger. If set to 0 then it should go low
// @Values: 0:TriggerLow,1:TriggerHigh
// @User: Standard
AP_GROUPINFO("FEEDBACK_POL", 9, AP_Camera, _feedback_polarity, 1),
AP_GROUPEND
};
@ -306,9 +313,13 @@ void AP_Camera::feedback_pin_timer(void)
// enable pullup
hal.gpio->write(dpin, 1);
if (hal.gpio->read(dpin) != 0) {
uint8_t pin_state = hal.gpio->read(dpin);
uint8_t trigger_polarity = _feedback_polarity==0?0:1;
if (pin_state == trigger_polarity &&
_last_pin_state != trigger_polarity) {
_camera_triggered = true;
}
_last_pin_state = pin_state;
}
/*

8
libraries/AP_Camera/AP_Camera.h
View File

@ -42,9 +42,6 @@ public:
_apm_relay = obj_relay;
}
// pin number for accurate camera feedback messages
AP_Int8 _feedback_pin;
// single entry point to take pictures
// set send_mavlink_msg to true to send DO_DIGICAM_CONTROL message to all components
void trigger_pic(bool send_mavlink_msg);
@ -95,9 +92,14 @@ private:
struct Location _last_location;
uint16_t _image_index; // number of pictures taken since boot
// pin number for accurate camera feedback messages
AP_Int8 _feedback_pin;
AP_Int8 _feedback_polarity;
// this is set to 1 when camera trigger pin has fired
volatile bool _camera_triggered;
bool _timer_installed:1;
uint8_t _last_pin_state;
};
#endif /* AP_CAMERA_H */