gpio.cpp

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#ifdef __PX4_NUTTX

#include "gpio.h"
#include <cstring>

constexpr uint32_t CameraInterfaceGPIO::_gpios[ngpios];

CameraInterfaceGPIO::CameraInterfaceGPIO():
    CameraInterface(),
    _trigger_invert(false),
    _triggers{0}
{
    _p_polarity = param_find("TRIG_POLARITY");

    // polarity of the trigger (0 = active low, 1 = active high )
    int32_t polarity;
    param_get(_p_polarity, &polarity);
    _trigger_invert = (polarity == 0);

    get_pins();
    setup();
}

void CameraInterfaceGPIO::setup()
{
    for (unsigned i = 0, t = 0; i < arraySize(_pins); i++) {

        // Pin range is from 1 to 5 or 6, indexes are 0 to 4 or 5

        if (_pins[i] >= 0 && _pins[i] < (int)arraySize(_gpios)) {
            uint32_t gpio = _gpios[_pins[i]];
            _triggers[t++] = gpio;
            px4_arch_configgpio(gpio);
            px4_arch_gpiowrite(gpio, false ^ _trigger_invert);
        }
    }
}

void CameraInterfaceGPIO::trigger(bool trigger_on_true)
{
    bool trigger_state = trigger_on_true ^ _trigger_invert;

    for (unsigned i = 0; i < arraySize(_triggers); i++) {

        if (_triggers[i] == 0) { break; }

        px4_arch_gpiowrite(_triggers[i], trigger_state);
    }
}

void CameraInterfaceGPIO::info()
{
    if (ngpios == 6) {
        PX4_INFO("GPIO trigger mode, pins enabled : [%d][%d][%d][%d][%d][%d], polarity : %s",
             _pins[5], _pins[4], _pins[3], _pins[2], _pins[1], _pins[0],
             _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
    }

    if (ngpios == 5) {
        PX4_INFO("GPIO trigger mode, pins enabled : [%d][%d][%d][%d][%d], polarity : %s",
             _pins[4], _pins[3], _pins[2], _pins[1], _pins[0],
             _trigger_invert ? "ACTIVE_LOW" : "ACTIVE_HIGH");
    }
}

#endif /* ifdef __PX4_NUTTX */