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[dc] add pprzlink digital cam module and factorize modules (#3111)
- new digital_cam_pprzlink module - factorize module with digital_cam_common - rename digital_cam to digital_cam_gpio - add test nodes to modules
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,74 +1,20 @@ | ||
| <!DOCTYPE module SYSTEM "./module.dtd"> | ||
|
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| <module name="digital_cam"> | ||
| <module name="digital_cam" dir="digital_cam"> | ||
| <doc> | ||
| <description> | ||
| Digital Photo Camera Triggering (using a GPIO pin) | ||
|
|
||
| This module controls triggering of an attached external digital camera via one or more GPIO pins for on/off/shoot/zoom. | ||
| It can trigger photos based on GPS distance, time or circle radius in both fixedwings and rotorcraft. | ||
| Deprecated, use digital_cam_gpio module instead | ||
| </description> | ||
| <define name="DC_SHOOT_ON_BUTTON_RELEASE" description="if defined, call dc_send_shot_postion on button release instead of on push"/> | ||
| <define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12" description="mandatory, gpio to control shutter"/> | ||
| <define name="DC_ZOOM_IN_GPIO" value="GPIOC,GPIO2" description="optional, gpio to activate zoom in"/> | ||
| <define name="DC_ZOOM_OUT_GPIO" value="GPIOC,GPIO5" description="optional, gpio to activate zoom out"/> | ||
| <define name="DC_POWER_GPIO" value="GPIOB,GPIO1" description="optional, gpio to turn power on"/> | ||
| <define name="DC_POWER_OFF_GPIO" value="GPIOC,GPIO1" description="optional, gpio to turn power off"/> | ||
| <define name="DC_PUSH" value="gpio_set|gpio_clear" description="specifies whether to set or clear gpio to push the shutter (default: gpio_set)"/> | ||
| <define name="DC_RELEASE" value="gpio_clear|gpio_set" description="specifies whether to set or clear gpio to release the shutter (default: gpio_clear)"/> | ||
| <define name="DC_SHUTTER_DELAY" value="0.5" description="how long to push shutter in seconds"/> | ||
| <define name="DC_POWER_OFF_DELAY" value="0.75" description="how long to send power off in seconds"/> | ||
|
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| <define name="DC_AUTOSHOOT_PERIOD" value="1.0" description="time period for DC_AUTOSHOOT_PERIODIC in seconds"/> | ||
| <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="50" description="distance interval for DC_AUTOSHOOT_DISTANCE in meters"/> | ||
| <define name="DC_AUTOSHOOT_SURVEY_INTERVAL" value="50" description="distance interval for DC_AUTOSHOOT_SURVEY in meters"/> | ||
| <define name="DC_SHOT_SYNC_SEND" value="TRUE|FALSE" description="send DC_SHOT message when photo was taken (default: TRUE)"/> | ||
| <define name="DC_SHOT_EXTRA_DL" value="TRUE|FALSE" description="send DC_SHOT message other extra datalink like companion CPU (default: FALSE, requires DC_SHOT_SYNC_SEND)"/> | ||
| </doc> | ||
| <settings> | ||
| <dl_settings name="control"> | ||
| <dl_settings name="dc"> | ||
|
|
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| <dl_setting max="255" min="0" step="1" module="digital_cam/dc" var="0" handler="send_command" shortname="Shutter"> | ||
| <strip_button name="Photo" icon="digital-camera.png" value="32" group="maindc"/> | ||
| <strip_button name="Power" icon="off.png" value="111" group="maindc"/> | ||
| <strip_button name="ZoomIn" icon="zoom.png" value="116" group="dczoom"/> | ||
| <strip_button name="ZoomOut" icon="zoom.png" value="119" group="dczoom"/> | ||
| </dl_setting> | ||
|
|
||
| <dl_setting max="3" min="0" step="1" var="dc_autoshoot" values="STOP|PERIODIC|DISTANCE|EXT_TRIG"> | ||
| <strip_button name="Start Autoshoot" icon="dcstart.png" value="1" group="dcauto"/> | ||
| <strip_button name="Stop Autoshoot" icon="dcstart.png" value="0" group="dcauto"/> | ||
| </dl_setting> | ||
|
|
||
| <dl_setting max="60" min="0.1" step="0.5" var="dc_autoshoot_period" shortname="Periodic" param="DC_AUTOSHOOT_PERIOD" unit="sec"/> | ||
| <dl_setting max="255" min="0" step="1" var="dc_distance_interval" shortname="dist" param="DC_AUTOSHOOT_DISTANCE_INTERVAL" unit="meter"/> | ||
|
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| <dl_setting max="250" min="0" step="5" module="digital_cam/dc" var="dc_survey_interval" handler="Survey" shortname="Survey-Interval"/> | ||
| <dl_setting max="90" min="5" step="5" module="digital_cam/dc" var="dc_circle_interval" handler="Circle" shortname="Circle-Interval"/> | ||
| <dl_setting max="1" min="0" step="1" var="dc_cam_tracing" shortname="Cam-Tracing"/> | ||
| </dl_settings> | ||
| </dl_settings> | ||
| </settings> | ||
|
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| <dep> | ||
| <conflicts>digital_cam_i2c,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts> | ||
| <provides>digital_cam</provides> | ||
| <depends>digital_cam_gpio</depends> | ||
| </dep> | ||
|
|
||
| <header> | ||
| <file name="gpio_cam_ctrl.h"/> | ||
| <file name="dc.h"/> | ||
| </header> | ||
|
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| <init fun="gpio_cam_ctrl_init()"/> | ||
|
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| <periodic fun="gpio_cam_ctrl_periodic()" freq="10" autorun="TRUE"/> | ||
|
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| <makefile target="ap|sim|nps"> | ||
| <define name="DIGITAL_CAM" /> | ||
| <file name="gpio_cam_ctrl.c"/> | ||
| <file name="dc.c"/> | ||
| <makefile> | ||
| <raw> | ||
| $(warning Warning: digital_cam is deprecated. Use digital_cam_gpio instead.) | ||
| </raw> | ||
| </makefile> | ||
|
|
||
| </module> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,61 @@ | ||
| <!DOCTYPE module SYSTEM "./module.dtd"> | ||
|
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| <module name="digital_cam_common" dir="digital_cam"> | ||
| <doc> | ||
| <description> | ||
| Digital Photo Camera Triggering, common interface | ||
|
|
||
| This module controls triggering of an attached external digital camera. | ||
| It can trigger photos based on GPS distance, time or circle radius in both fixedwings and rotorcraft. | ||
| The specific way to trigger the camera is implemented in specific modules. | ||
| </description> | ||
| <section name="DIGITAL_CAM" prefix="DC_"> | ||
| <define name="AUTOSHOOT_PERIOD" value="1.0" description="time period for DC_AUTOSHOOT_PERIODIC in seconds"/> | ||
| <define name="AUTOSHOOT_DISTANCE_INTERVAL" value="50" description="distance interval for DC_AUTOSHOOT_DISTANCE in meters"/> | ||
| <define name="AUTOSHOOT_SURVEY_INTERVAL" value="50" description="distance interval for DC_AUTOSHOOT_SURVEY in meters"/> | ||
| <define name="SHOT_SYNC_SEND" value="TRUE|FALSE" description="send DC_SHOT message when photo was taken (default: TRUE)"/> | ||
| <define name="SHOT_EXTRA_DL" value="TRUE|FALSE" description="send DC_SHOT message other extra datalink like companion CPU (default: FALSE, requires DC_SHOT_SYNC_SEND)"/> | ||
| </section> | ||
| </doc> | ||
| <settings> | ||
| <dl_settings name="control"> | ||
| <dl_settings name="dc"> | ||
|
|
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| <dl_setting max="255" min="0" step="1" module="digital_cam/dc" var="0" handler="send_command" shortname="Shutter"> | ||
| <strip_button name="Photo" icon="digital-camera.png" value="32" group="maindc"/> | ||
| <strip_button name="Power" icon="off.png" value="111" group="maindc"/> | ||
| <strip_button name="ZoomIn" icon="zoom.png" value="116" group="dczoom"/> | ||
| <strip_button name="ZoomOut" icon="zoom.png" value="119" group="dczoom"/> | ||
| </dl_setting> | ||
|
|
||
| <dl_setting max="3" min="0" step="1" var="dc_autoshoot" values="STOP|PERIODIC|DISTANCE|EXT_TRIG|SURVEY|CIRCLE"> | ||
| <strip_button name="Start Autoshoot" icon="dcstart.png" value="1" group="dcauto"/> | ||
| <strip_button name="Stop Autoshoot" icon="dcstart.png" value="0" group="dcauto"/> | ||
| </dl_setting> | ||
|
|
||
| <dl_setting max="60" min="0.1" step="0.5" var="dc_autoshoot_period" shortname="Periodic" param="DC_AUTOSHOOT_PERIOD" unit="sec"/> | ||
| <dl_setting max="255" min="0" step="1" var="dc_distance_interval" shortname="dist" param="DC_AUTOSHOOT_DISTANCE_INTERVAL" unit="meter"/> | ||
|
|
||
| <dl_setting max="250" min="0" step="5" module="digital_cam/dc" var="dc_survey_interval" handler="Survey" shortname="Survey-Interval"/> | ||
| <dl_setting max="90" min="5" step="5" module="digital_cam/dc" var="dc_circle_interval" handler="Circle" shortname="Circle-Interval"/> | ||
| <dl_setting max="1" min="0" step="1" var="dc_cam_tracing" shortname="Cam-Tracing"/> | ||
| </dl_settings> | ||
| </dl_settings> | ||
| </settings> | ||
| <dep> | ||
| <provides>digital_cam</provides> | ||
| </dep> | ||
| <header> | ||
| <file name="dc.h"/> | ||
| </header> | ||
| <init fun="dc_init()"/> | ||
| <makefile> | ||
| <define name="DIGITAL_CAM" /> | ||
| <file name="dc.c"/> | ||
| <test firmware="rotorcraft"> | ||
| <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/> | ||
| <define name="DOWNLINK_DEVICE" value="uart0"/> | ||
| <define name="USE_UART0"/> | ||
| </test> | ||
| </makefile> | ||
| </module> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| <!DOCTYPE module SYSTEM "./module.dtd"> | ||
|
|
||
| <module name="digital_cam_gpio" dir="digital_cam"> | ||
| <doc> | ||
| <description> | ||
| Digital Photo Camera Triggering (using a GPIO pin) | ||
|
|
||
| This module controls triggering of an attached external digital camera via one or more GPIO pins for on/off/shoot/zoom. | ||
| </description> | ||
| <section name="DIGITAL_CAM" prefix="DC_"> | ||
| <define name="SHOOT_ON_BUTTON_RELEASE" description="if defined, call dc_send_shot_postion on button release instead of on push"/> | ||
| <define name="SHUTTER_GPIO" value="GPIOC,GPIO12" description="mandatory, gpio to control shutter"/> | ||
| <define name="ZOOM_IN_GPIO" value="GPIOC,GPIO2" description="optional, gpio to activate zoom in"/> | ||
| <define name="ZOOM_OUT_GPIO" value="GPIOC,GPIO5" description="optional, gpio to activate zoom out"/> | ||
| <define name="POWER_GPIO" value="GPIOB,GPIO1" description="optional, gpio to turn power on"/> | ||
| <define name="POWER_OFF_GPIO" value="GPIOC,GPIO1" description="optional, gpio to turn power off"/> | ||
| <define name="PUSH" value="gpio_set|gpio_clear" description="specifies whether to set or clear gpio to push the shutter (default: gpio_set)"/> | ||
| <define name="RELEASE" value="gpio_clear|gpio_set" description="specifies whether to set or clear gpio to release the shutter (default: gpio_clear)"/> | ||
| <define name="SHUTTER_DELAY" value="0.5" description="how long to push shutter in seconds"/> | ||
| <define name="POWER_OFF_DELAY" value="0.75" description="how long to send power off in seconds"/> | ||
| </section> | ||
| </doc> | ||
| <dep> | ||
| <depends>digital_cam_common</depends> | ||
| <conflicts>digital_cam_i2c,digital_cam_servo,digital_cam_uart,digital_cam_video,digital_cam_pprzlink</conflicts> | ||
| </dep> | ||
| <header> | ||
| <file name="gpio_cam_ctrl.h"/> | ||
| </header> | ||
| <init fun="gpio_cam_ctrl_init()"/> | ||
| <periodic fun="gpio_cam_ctrl_periodic()" freq="10" autorun="TRUE"/> | ||
| <makefile> | ||
| <file name="gpio_cam_ctrl.c"/> | ||
| <test arch="chibios"> | ||
| <define name="DC_SHUTTER_GPIO" value="GPIOC,GPIO12"/> | ||
| <define name="GPIO_CAM_CTRL_PERIODIC_FREQ" value="10."/> | ||
| </test> | ||
| </makefile> | ||
| </module> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| <!DOCTYPE module SYSTEM "./module.dtd"> | ||
|
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| <module name="digital_cam_pprzlink" dir="digital_cam"> | ||
| <doc> | ||
| <description> | ||
| Digital Photo Camera Triggering using PPRZLINK messages | ||
|
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| Sends DC_SHOT and PAYLOAD_COMMAND messages over serial link. | ||
| Flags DC_SHOT_SYNC_SEND and DC_SHOT_EXTRA_DL are set to TRUE. | ||
|
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| An example application can be found at: https://github.com/enacuavlab/ueye_pprzlink | ||
| This project controls a ueye camera with a NanoPI (or equivalent) | ||
| connected to the autopilot. It is possible to trigger the camera | ||
| with DC_SHOT messages (images are georeference with GPS coordinates | ||
| in Exif), but also to change the exposure and get the feedback | ||
| from the camera (useful to check the result when autoexpo is requested). | ||
| </description> | ||
| </doc> | ||
| <dep> | ||
| <depends>digital_cam_common,extra_dl</depends> | ||
| <conflicts>digital_cam_gpio,digital_cam_i2c,digital_cam_servo,digital_cam_uart,digital_cam_video</conflicts> | ||
| </dep> | ||
| <header> | ||
| <file name="pprzlink_cam_ctrl.h"/> | ||
| </header> | ||
| <init fun="pprzlink_cam_ctrl_init()"/> | ||
| <periodic fun="pprzlink_cam_ctrl_periodic()" freq="10" autorun="TRUE"/> | ||
| <datalink message="PAYLOAD_COMMAND" fun="dc_expo_cb(buf)"/> | ||
| <makefile target="ap|sim|nps"> | ||
| <define name="DIGITAL_CAM"/> | ||
| <define name="DC_SHOT_SYNC_SEND"/> | ||
| <define name="DC_SHOT_EXTRA_DL"/> | ||
| <file name="pprzlink_cam_ctrl.c"/> | ||
| <test> | ||
| <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/> | ||
| <define name="DOWNLINK_DEVICE" value="uart0"/> | ||
| <define name="USE_UART0"/> | ||
| <define name="EXTRA_DOWNLINK_DEVICE" value="uart1"/> | ||
| <define name="USE_UART1"/> | ||
| </test> | ||
| </makefile> | ||
| </module> |
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