camera_trigger : clean up iterators

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

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
+
 class CameraInterface
 {
 public:

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

@@ -16,7 +16,7 @@ CameraInterfaceGPIO::CameraInterfaceGPIO():
 	param_get(_p_polarity, &_polarity);
 
 	// Set all pins as invalid
-	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+	for (unsigned i = 0; i < arraySize(_pins); i++) {
 		_pins[i] = -1;
 	}
 
@@ -28,7 +28,7 @@ CameraInterfaceGPIO::CameraInterfaceGPIO():
 
 		_pins[i] = single_pin - 1;
 
-		if (_pins[i] < 0 || _pins[i] >= static_cast<int>(sizeof(_gpios) / sizeof(_gpios[0]))) {
+		if (_pins[i] < 0 || _pins[i] >= static_cast<int>(arraySize(_gpios))) {
 			_pins[i] = -1;
 		}
 
@@ -45,7 +45,7 @@ CameraInterfaceGPIO::~CameraInterfaceGPIO()
 
 void CameraInterfaceGPIO::setup()
 {
-	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+	for (unsigned i = 0; i < arraySize(_pins); i++) {
 		px4_arch_configgpio(_gpios[_pins[i]]);
 		px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);
 	}
@@ -54,7 +54,7 @@ void CameraInterfaceGPIO::setup()
 void CameraInterfaceGPIO::trigger(bool enable)
 {
 	if (enable) {
-		for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+		for (unsigned i = 0; i < arraySize(_pins); i++) {
 			if (_pins[i] >= 0) {
 				// ACTIVE_LOW == 1
 				px4_arch_gpiowrite(_gpios[_pins[i]], _polarity);
@@ -62,7 +62,7 @@ void CameraInterfaceGPIO::trigger(bool enable)
 		}
 
 	} else {
-		for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+		for (unsigned i = 0; i < arraySize(_pins); i++) {
 			if (_pins[i] >= 0) {
 				// ACTIVE_LOW == 1
 				px4_arch_gpiowrite(_gpios[_pins[i]], !_polarity);

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

@@ -15,7 +15,6 @@
 
 #include "camera_interface.h"
 
-
 class CameraInterfaceGPIO : public CameraInterface
 {
 public:

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

@@ -18,7 +18,7 @@ CameraInterfacePWM::CameraInterfacePWM():
 	param_get(_p_pin, &pin_list);
 
 	// Set all pins as invalid
-	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+	for (unsigned i = 0; i < arraySize(_pins); i++) {
 		_pins[i] = -1;
 	}
 
@@ -82,7 +82,6 @@ void CameraInterfacePWM::trigger(bool enable)
 
 void CameraInterfacePWM::info()
 {
-	// TODO : cleanup this output for all trigger types
 	PX4_INFO("PWM trigger mode (generic), pins enabled : [%d][%d][%d][%d][%d][%d]",
 		 _pins[5], _pins[4], _pins[3], _pins[2], _pins[1], _pins[0]);
 }

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

@@ -28,7 +28,7 @@ CameraInterfaceSeagull::CameraInterfaceSeagull():
 	param_get(_p_pin, &pin_list);
 
 	// Set all pins as invalid
-	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i++) {
+	for (unsigned i = 0; i < arraySize(_pins); i++) {
 		_pins[i] = -1;
 	}
 
@@ -59,7 +59,7 @@ CameraInterfaceSeagull::~CameraInterfaceSeagull()
 
 void CameraInterfaceSeagull::setup()
 {
-	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
+	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 			uint8_t pin_bitmask = (1 << _pins[i + 1]) | (1 << _pins[i]);
 			up_pwm_trigger_init(pin_bitmask);
@@ -76,7 +76,7 @@ void CameraInterfaceSeagull::trigger(bool enable)
 		return;
 	}
 
-	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
+	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 			// Set all valid pins to shoot or neutral levels
 			up_pwm_trigger_set(_pins[i + 1], math::constrain(enable ? PWM_CAMERA_INSTANT_SHOOT : PWM_CAMERA_NEUTRAL, 1000, 2000));
@@ -92,7 +92,7 @@ void CameraInterfaceSeagull::keep_alive(bool signal_on)
 		return;
 	}
 
-	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
+	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 			// Set channel 2 pin to keep_alive or netural signal
 			up_pwm_trigger_set(_pins[i], math::constrain(signal_on ? PWM_2_CAMERA_KEEP_ALIVE : PWM_CAMERA_NEUTRAL, 1000, 2000));
@@ -103,7 +103,7 @@ void CameraInterfaceSeagull::keep_alive(bool signal_on)
 void CameraInterfaceSeagull::turn_on_off(bool enable)
 {
 
-	for (unsigned i = 0; i < sizeof(_pins) / sizeof(_pins[0]); i = i + 2) {
+	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 			// For now, set channel one to neutral upon startup.
 			up_pwm_trigger_set(_pins[i + 1], math::constrain(PWM_CAMERA_NEUTRAL, 1000, 2000));