camera_trigger : consolidate handling of pins

src/drivers/camera_trigger/interfaces/src/camera_interface.cpp

@@ -5,10 +5,43 @@
  *
  */
 
-CameraInterface::CameraInterface()
+CameraInterface::CameraInterface():
+	_pins{}
 {
 }
 
 CameraInterface::~CameraInterface()
 {
 }
+
+void CameraInterface::get_pins()
+{
+
+	// Get parameter handle
+	_p_pin = param_find("TRIG_PINS");
+
+	int pin_list;
+	param_get(_p_pin, &pin_list);
+
+	// Set all pins as invalid
+	for (unsigned i = 0; i < arraySize(_pins); i++) {
+		_pins[i] = -1;
+	}
+
+	// Convert number to individual channels
+	unsigned i = 0;
+	int single_pin;
+
+	while ((single_pin = pin_list % 10)) {
+
+		_pins[i] = single_pin - 1;
+
+		if (_pins[i] < 0) {
+			_pins[i] = -1;
+		}
+
+		pin_list /= 10;
+		i++;
+	}
+
+}

src/drivers/camera_trigger/interfaces/src/camera_interface.h

@@ -4,6 +4,9 @@
 
 #pragma once
 
+#include <systemlib/param/param.h>
+#include <px4_log.h>
+
 #define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
 
 class CameraInterface
@@ -55,7 +58,6 @@ public:
 	 */
 	virtual int powerOff() { return -1; }
 
-
 protected:
 
 	/**
@@ -63,4 +65,13 @@ protected:
 	 */
 	virtual void setup() {};
 
+	/**
+	 * get the hardware configuration
+	 */
+	void get_pins();
+
+	param_t _p_pin;
+
+	int _pins[6];
+
 };

src/drivers/camera_trigger/interfaces/src/gpio.cpp

@@ -1,41 +1,17 @@
 #ifdef __PX4_NUTTX
+
 #include "gpio.h"
 
 constexpr uint32_t CameraInterfaceGPIO::_gpios[6];
 
 CameraInterfaceGPIO::CameraInterfaceGPIO():
 	CameraInterface(),
-	_pins{},
 	_polarity(0)
 {
-	_p_pin = param_find("TRIG_PINS");
 	_p_polarity = param_find("TRIG_POLARITY");
-
-	int pin_list;
-	param_get(_p_pin, &pin_list);
 	param_get(_p_polarity, &_polarity);
 
-	// Set all pins as invalid
+	get_pins();
-	for (unsigned i = 0; i < arraySize(_pins); i++) {
-		_pins[i] = -1;
-	}
-
-	// Convert number to individual channels
-	unsigned i = 0;
-	int single_pin;
-
-	while ((single_pin = pin_list % 10)) {
-
-		_pins[i] = single_pin - 1;
-
-		if (_pins[i] < 0 || _pins[i] >= static_cast<int>(arraySize(_gpios))) {
-			_pins[i] = -1;
-		}
-
-		pin_list /= 10;
-		i++;
-	}
-
 	setup();
 }
 

src/drivers/camera_trigger/interfaces/src/gpio.h

@@ -8,10 +8,7 @@
 
 #ifdef __PX4_NUTTX
 
-#include <systemlib/err.h>
-#include <systemlib/param/param.h>
 #include <board_config.h>
-#include <px4_log.h>
 
 #include "camera_interface.h"
 
@@ -25,16 +22,14 @@ public:
 
 	void info();
 
-	int _pins[6];
-	int _polarity;
-
 private:
 
 	void setup();
 
-	param_t _p_pin;
 	param_t _p_polarity;
 
+	int _polarity;
+
 	static constexpr uint32_t _gpios[6] = {
 		GPIO_GPIO0_OUTPUT,
 		GPIO_GPIO1_OUTPUT,

src/drivers/camera_trigger/interfaces/src/pwm.cpp

@@ -13,31 +13,7 @@
 CameraInterfacePWM::CameraInterfacePWM():
 	CameraInterface()
 {
-	_p_pin = param_find("TRIG_PINS");
+	get_pins();
-	int pin_list;
-	param_get(_p_pin, &pin_list);
-
-	// Set all pins as invalid
-	for (unsigned i = 0; i < arraySize(_pins); i++) {
-		_pins[i] = -1;
-	}
-
-	// Convert number to individual channels
-	unsigned i = 0;
-	int single_pin;
-
-	while ((single_pin = pin_list % 10)) {
-
-		_pins[i] = single_pin - 1;
-
-		if (_pins[i] < 0) {
-			_pins[i] = -1;
-		}
-
-		pin_list /= 10;
-		i++;
-	}
-
 	setup();
 }
 

src/drivers/camera_trigger/interfaces/src/pwm.h

@@ -24,11 +24,9 @@ public:
 
 	void info();
 
-	int _pins[6];
 private:
-	void setup();
 
-	param_t _p_pin;
+	void setup();
 
 };
 

src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp

@@ -21,31 +21,7 @@ CameraInterfaceSeagull::CameraInterfaceSeagull():
 	CameraInterface(),
 	_camera_is_on(false)
 {
-	_p_pin = param_find("TRIG_PINS");
+	get_pins();
-	int pin_list;
-	param_get(_p_pin, &pin_list);
-
-	// Set all pins as invalid
-	for (unsigned i = 0; i < arraySize(_pins); i++) {
-		_pins[i] = -1;
-	}
-
-	// Convert number to individual channels
-	unsigned i = 0;
-	int single_pin;
-
-	while ((single_pin = pin_list % 10)) {
-
-		_pins[i] = single_pin - 1;
-
-		if (_pins[i] < 0) {
-			_pins[i] = -1;
-		}
-
-		pin_list /= 10;
-		i++;
-	}
-
 	setup();
 }
 
@@ -65,9 +41,11 @@ void CameraInterfaceSeagull::setup()
 			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;
+			return;
 		}
 	}
+
+	PX4_ERROR("Bad pin configuration - Seagull MAP2 requires 2 consecutive pins for control.");
 }
 
 void CameraInterfaceSeagull::trigger(bool enable)

src/drivers/camera_trigger/interfaces/src/seagull_map2.h

@@ -9,10 +9,7 @@
 #ifdef __PX4_NUTTX
 
 #include <drivers/drv_hrt.h>
-#include <systemlib/param/param.h>
-#include <px4_log.h>
 
-#include <uORB/topics/vehicle_status.h>
 #include "camera_interface.h"
 
 class CameraInterfaceSeagull : public CameraInterface
@@ -28,11 +25,9 @@ public:
 
 	void info();
 
-	int _pins[6];
 private:
 	void setup();
 
-	param_t _p_pin;
 	bool _camera_is_on;
 
 };