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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Camera/AP_Camera_Servo.cpp
Views: 1798
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#include "AP_Camera_Servo.h"

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#if AP_CAMERA_SERVO_ENABLED

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#include <SRV_Channel/SRV_Channel.h>

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extern const AP_HAL::HAL& hal;

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// update - should be called at 50hz

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void AP_Camera_Servo::update()

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{

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    // shutter counter

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    if (trigger_counter > 0) {

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        trigger_counter--;

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    } else {

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        SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _params.servo_off_pwm);

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    }

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    // iso counter

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    if (iso_counter > 0) {

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        iso_counter--;

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    } else {

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        SRV_Channels::set_output_pwm(SRV_Channel::k_cam_iso, _params.servo_off_pwm);

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    }

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    // call parent update

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    AP_Camera_Backend::update();

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}

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// entry point to actually take a picture.  returns true on success

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bool AP_Camera_Servo::trigger_pic()

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{

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    // fail if have not completed previous picture

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    if (trigger_counter > 0) {

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        return false;

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    }

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    SRV_Channels::set_output_pwm(SRV_Channel::k_cam_trigger, _params.servo_on_pwm);

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    // set counter to move servo to off position after this many iterations of update (assumes 50hz update rate)

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    trigger_counter = constrain_float(_params.trigger_duration * 50, 0, UINT16_MAX);

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    return true;

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}

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// configure camera

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void AP_Camera_Servo::configure(float shooting_mode, float shutter_speed, float aperture, float ISO, int32_t exposure_type, int32_t cmd_id, float engine_cutoff_time)

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{

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    // designed to control Blackmagic Micro Cinema Camera (BMMCC) cameras

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    // if the message contains non zero values then use them for the below functions

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    if (ISO > 0) {

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        // set a trigger for the iso function that is flip controlled

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        iso_counter = constrain_float(_params.trigger_duration * 50, 0, UINT16_MAX);

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        SRV_Channels::set_output_pwm(SRV_Channel::k_cam_iso, _params.servo_on_pwm);

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    }

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    if (aperture > 0) {

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        SRV_Channels::set_output_pwm(SRV_Channel::k_cam_aperture, (uint16_t)aperture);

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    }

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    if (shutter_speed > 0) {

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        SRV_Channels::set_output_pwm(SRV_Channel::k_cam_shutter_speed, (uint16_t)shutter_speed);

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    }

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    // Use the shooting mode PWM value for the BMMCC as the focus control - no need to modify or create a new MAVlink message type.

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    if (shooting_mode > 0) {

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        SRV_Channels::set_output_pwm(SRV_Channel::k_cam_focus, (uint16_t)shooting_mode);

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    }

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}

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#endif // AP_CAMERA_SERVO_ENABLED

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