camera_trigger : add default mode for generic PWM triggering

PX4 · Apr 12, 2017 · e3757ca · e3757ca
1 parent 6652ef8
commit e3757ca
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Showing 3 changed files with 16 additions and 9 deletions.
diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp
@@ -65,8 +65,9 @@
 #include <board_config.h>
 
 #include "interfaces/src/camera_interface.h"
-#include "interfaces/src/seagull_map2.h"
 #include "interfaces/src/gpio.h"
+#include "interfaces/src/pwm.h"
+#include "interfaces/src/seagull_map2.h"
 
 #define TRIGGER_PIN_DEFAULT 1
 
@@ -76,7 +77,8 @@ typedef enum : int32_t {
 	CAMERA_INTERFACE_MODE_NONE = 0,
 	CAMERA_INTERFACE_MODE_GPIO,
 	CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM,
-	CAMERA_INTERFACE_MODE_MAVLINK
+	CAMERA_INTERFACE_MODE_MAVLINK,
+	CAMERA_INTERFACE_MODE_GENERIC_PWM
 } camera_interface_mode_t;
 
 class CameraTrigger
@@ -255,6 +257,10 @@ CameraTrigger::CameraTrigger() :
 		_camera_interface = new CameraInterfaceGPIO();
 		break;
 
+	case CAMERA_INTERFACE_MODE_GENERIC_PWM:
+		_camera_interface = new CameraInterfacePWM();
+		break;
+
 	case CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM:
 		_camera_interface = new CameraInterfaceSeagull();
 		break;
@@ -555,7 +561,6 @@ CameraTrigger::disengage(void *arg)
 void
 CameraTrigger::engange_turn_on_off(void *arg)
 {
-
 	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
 
 	trig->_camera_interface->turn_on_off(true);
@@ -598,7 +603,7 @@ CameraTrigger::status()
 
 static int usage()
 {
-	PX4_INFO("usage: camera_trigger {start|stop|status|test}\n");
+	PX4_INFO("usage: camera_trigger {start|stop|enable|disable|status|test}\n");
 	return 1;
 }
 

diff --git a/src/drivers/camera_trigger/camera_trigger_params.c b/src/drivers/camera_trigger/camera_trigger_params.c
@@ -45,14 +45,15 @@
 * Selects the trigger interface
 *
 * @value 1 GPIO
-* @value 2 Seagull MAP2 (PWM)
+* @value 2 Seagull MAP2 (over PWM)
 * @value 3 MAVLink (forward via MAV_CMD_IMAGE_START_CAPTURE)
+* @value 4 Generic PWM (IR trigger, servo)
 *
 * @reboot_required true
 *
 * @group Camera trigger
 */
-PARAM_DEFINE_INT32(TRIG_INTERFACE, 2);
+PARAM_DEFINE_INT32(TRIG_INTERFACE, 4);
 
 /**
  * Camera trigger interval

diff --git a/src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp b/src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp
@@ -17,8 +17,6 @@
 #define PWM_2_CAMERA_KEEP_ALIVE		1700
 #define PWM_2_CAMERA_ON_OFF			1900
 
-// TODO : cleanup using arraySize() macro
-
 CameraInterfaceSeagull::CameraInterfaceSeagull():
 	CameraInterface(),
 	_camera_is_on(false)
@@ -53,7 +51,7 @@ CameraInterfaceSeagull::CameraInterfaceSeagull():
 
 CameraInterfaceSeagull::~CameraInterfaceSeagull()
 {
-	// Deinitialise pwm channels
+	// Deinitialise trigger channels
 	up_pwm_trigger_deinit();
 }
 
@@ -65,6 +63,9 @@ void CameraInterfaceSeagull::setup()
 			up_pwm_trigger_init(pin_bitmask);
 			up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
 			up_pwm_trigger_set(_pins[i], math::constrain(PWM_CAMERA_DISARMED, PWM_CAMERA_DISARMED, 2000));
+
+			// We only support 2 consecutive pins while using the Seagull MAP2
+			break;
 		}
 	}
 }