camera_capture: remove board-specific ifdef

boards/av/x-v1/src/board_config.h

@@ -103,6 +103,8 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS  9
 #define DIRECT_INPUT_TIMER_CHANNELS  9
 
+#define BOARD_CAPTURE_GPIO /* PD14 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)
+
 /* High-resolution timer */
 #define HRT_TIMER		     5  /* use timer5 for the HRT */
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

src/drivers/camera_capture/camera_capture.cpp

@@ -209,7 +209,15 @@ CameraCapture::Run()
 void
 CameraCapture::set_capture_control(bool enabled)
 {
-#if !defined CONFIG_ARCH_BOARD_AV_X_V1
+// a board can define BOARD_CAPTURE_GPIO to use a separate capture pin
+#if defined(BOARD_CAPTURE_GPIO)
+
+	px4_arch_gpiosetevent(BOARD_CAPTURE_GPIO, true, false, true, &CameraCapture::gpio_interrupt_routine, this);
+	_capture_enabled = enabled;
+	_gpio_capture = true;
+	reset_statistics(false);
+
+#else
 
 	int fd = ::open(PX4FMU_DEVICE_PATH, O_RDWR);
 
@@ -264,17 +272,8 @@ CameraCapture::set_capture_control(bool enabled)
 		goto err_out;
 	}
 
-#else
-
-	px4_arch_gpiosetevent(GPIO_TRIG_AVX, true, false, true, &CameraCapture::gpio_interrupt_routine, this);
-	_capture_enabled = enabled;
-	_gpio_capture = true;
-
-#endif
-
 	reset_statistics(false);
 
-#if !defined CONFIG_ARCH_BOARD_AV_X_V1
 err_out:
 	::close(fd);
 #endif
@@ -326,7 +325,14 @@ CameraCapture::status()
 {
 	PX4_INFO("Capture enabled : %s", _capture_enabled ? "YES" : "NO");
 	PX4_INFO("Frame sequence : %u", _capture_seq);
-	PX4_INFO("Last trigger timestamp : %" PRIu64 "", _last_trig_time);
+
+	if (_last_trig_time != 0) {
+		PX4_INFO("Last trigger timestamp : %" PRIu64 " (%i ms ago)", _last_trig_time,
+			 (int)(hrt_elapsed_time(&_last_trig_time) / 1000));
+
+	} else {
+		PX4_INFO("No trigger yet");
+	}
 
 	if (_camera_capture_mode != 0) {
 		PX4_INFO("Last exposure time : %0.2f ms", double(_last_exposure_time) / 1000.0);

src/drivers/camera_capture/camera_capture.hpp

@@ -57,9 +57,6 @@
 
 #define PX4FMU_DEVICE_PATH	"/dev/px4fmu"
 
-// For AV-X board
-#define GPIO_TRIG_AVX /* PD14 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN14)
-
 
 class CameraCapture : public px4::ScheduledWorkItem
 {
@@ -141,7 +138,7 @@ private:
 	// Signal capture callback
 	void			capture_callback(uint32_t chan_index, hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
 
-	// GPIO interrupt routine (for AV_X board)
+	// GPIO interrupt routine
 	static int		gpio_interrupt_routine(int irq, void *context, void *arg);
 
 	// Signal capture publish