fixed the triggering function logic

Conflicts:
	PX4/src/drivers/camera_trigger/camera_trigger.cpp
	PX4/src/drivers/camera_trigger/interfaces/src/camera_interface.h
	PX4/src/drivers/camera_trigger/interfaces/src/pwm.cpp
	PX4/src/drivers/camera_trigger/interfaces/src/pwm.h
	PX4/src/drivers/camera_trigger/interfaces/src/relay.cpp
	PX4/src/drivers/camera_trigger/interfaces/src/relay.h

src/drivers/camera_trigger/camera_trigger.cpp

@@ -426,7 +426,11 @@ CameraTrigger::engage(void *arg)
 	/* set timestamp the instant before the trigger goes off */
 	report.timestamp = hrt_absolute_time();
 
+<<<<<<< HEAD
 	CameraTrigger::trigger(trig, trig->_polarity);
+=======
+	trig->_camera_interface->trigger(true);
+>>>>>>> fb669fc... fixed the triggering function logic
 
 	report.seq = trig->_trigger_seq++;
 
@@ -436,10 +440,16 @@ CameraTrigger::engage(void *arg)
 void
 CameraTrigger::disengage(void *arg)
 {
+<<<<<<< HEAD
 
 	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
 
 	CameraTrigger::trigger(trig, !(trig->_polarity));
+=======
+	CameraTrigger *trig = reinterpret_cast<CameraTrigger *>(arg);
+
+	trig->_camera_interface->trigger(false);
+>>>>>>> fb669fc... fixed the triggering function logic
 }
 
 void

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

@@ -0,0 +1,54 @@
+/**
+ * @file camera_interface.h
+ */
+
+#pragma once
+
+class CameraInterface
+{
+public:
+
+	/**
+	 * Constructor
+	 */
+	CameraInterface();
+
+	/**
+	 * Destructor.
+	 */
+	virtual ~CameraInterface();
+
+	/**
+	 * setup the interface
+	 */
+	virtual void setup() {};
+
+	/**
+	 * trigger the camera
+	 * @param trigger:
+	 */
+	virtual void trigger(bool enable) {};
+
+
+	/**
+	 * Display info.
+	 */
+	virtual void info() {};
+
+	/**
+	 * Power on the camera
+	 * @return 0 on success, <0 on error
+	 */
+	virtual int powerOn() { return -1; }
+
+	/**
+	 * Power off the camera
+	 * @return 0 on success, <0 on error
+	 */
+	virtual int powerOff() { return -1; }
+
+
+protected:
+
+
+};

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

@@ -0,0 +1,30 @@
+#include "pwm.h"
+
+CameraInterfacePWM::CameraInterfacePWM():
+	CameraInterface()
+{
+}
+
+CameraInterfacePWM::~CameraInterfacePWM()
+{
+}
+
+void CameraInterfacePWM::setup()
+{
+
+}
+
+void CameraInterfacePWM::trigger(bool enable)
+{
+
+}
+
+int CameraInterfacePWM::powerOn()
+{
+	return 0;
+}
+
+int CameraInterfacePWM::powerOff()
+{
+	return 0;
+}

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

@@ -0,0 +1,27 @@
+/**
+ * @file pwm.h
+ *
+ * Interface with cameras via pwm.
+ *
+ */
+#pragma once
+
+#include "camera_interface.h"
+
+
+class CameraInterfacePWM : public CameraInterface
+{
+public:
+	CameraInterfacePWM();
+	virtual ~CameraInterfacePWM();
+
+	void setup();
+
+	void trigger(bool enable);
+
+	int powerOn();
+	int powerOff();
+
+private:
+
+};

src/drivers/camera_trigger/interfaces/src/relay.cpp

@@ -0,0 +1,75 @@
+#include "relay.h"
+
+constexpr uint32_t CameraInterfaceRelay::_gpios[6];
+
+CameraInterfaceRelay::CameraInterfaceRelay():
+	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
+	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); 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>(sizeof(_gpios) / sizeof(_gpios[0]))) {
+			_pins[i] = -1;
+		}
+
+		pin_list /= 10;
+		i++;
+	}
+}
+
+CameraInterfaceRelay::~CameraInterfaceRelay()
+{
+}
+
+void CameraInterfaceRelay::setup()
+{
+	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+		stm32_configgpio(_gpios[_pins[i]]);
+		stm32_gpiowrite(_gpios[_pins[i]], !_polarity);
+	}
+}
+
+void CameraInterfaceRelay::trigger(bool enable)
+{
+	if (enable) {
+		for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+			if (_pins[i] >= 0) {
+				// ACTIVE_LOW == 1
+				stm32_gpiowrite(_gpios[_pins[i]], _polarity);
+			}
+		}
+
+	} else {
+		for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+			if (_pins[i] >= 0) {
+				// ACTIVE_LOW == 1
+				stm32_gpiowrite(_gpios[_pins[i]], !_polarity);
+			}
+		}
+	}
+}
+
+void CameraInterfaceRelay::info()
+{
+	warnx("pins 1-3 : %d,%d,%d polarity : %s", _pins[0], _pins[1], _pins[2],
+	      _polarity ? "ACTIVE_HIGH" : "ACTIVE_LOW");
+}

src/drivers/camera_trigger/interfaces/src/relay.h

@@ -0,0 +1,44 @@
+/**
+ * @file relay.h
+ *
+ * Interface with cameras via FMU auxiliary pins.
+ *
+ */
+#pragma once
+
+#include <systemlib/err.h>
+#include <systemlib/param/param.h>
+#include <board_config.h>
+
+#include "camera_interface.h"
+
+
+class CameraInterfaceRelay : public CameraInterface
+{
+public:
+	CameraInterfaceRelay();
+	virtual ~CameraInterfaceRelay();
+
+	void setup();
+
+	void trigger(bool enable);
+
+	void info();
+
+	int _pins[6];
+	int _polarity;
+
+private:
+	param_t _p_pin;
+	param_t _p_polarity;
+
+	static constexpr uint32_t _gpios[6] = {
+		GPIO_GPIO0_OUTPUT,
+		GPIO_GPIO1_OUTPUT,
+		GPIO_GPIO2_OUTPUT,
+		GPIO_GPIO3_OUTPUT,
+		GPIO_GPIO4_OUTPUT,
+		GPIO_GPIO5_OUTPUT
+	};
+
+};