dc_shoot_pwm.c

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/*
 * Copyright (C) 2025 Jean-Baptiste Forestier <jean-baptiste.forestier@enac.fr>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#include "modules/digital_cam/dc_shoot_pwm.h"
 
// Include Standard Camera Control Interface
#include "dc.h"
 
#include "generated/airframe.h"
#include "generated/modules.h"
#include "modules/actuators/actuators.h"
 
 
#ifndef DC_CAM_PWM_SHUTTER_DELAY
#define DC_CAM_PWM_SHUTTER_DELAY 0.1
#endif
 
#ifndef DC_CAM_PWM_ON_VALUE
#define DC_CAM_PWM_ON_VALUE MAX_PPRZ
#endif
 
#ifndef DC_CAM_PWM_OFF_VALUE
#define DC_CAM_PWM_OFF_VALUE MIN_PPRZ
#endif
 
#ifndef DC_CAM_PWM_SERVO
#define DC_CAM_PWM_SERVO DC_CAM_TRIGGER
#endif
 
#define CamActuatorSet(_a, _v) ActuatorSet(_a, _v)
 
static uint8_t shutter_timer;
 
void dc_shoot_pwm_init(void)
{
  shutter_timer = 0;
  CamActuatorSet(DC_CAM_PWM_SERVO, DC_CAM_PWM_OFF_VALUE);
}
 
void dc_shoot_pwm_periodic(void)
{
  // Manage the shutter opening time each DC_CAM_PWM_SHUTTER_DELAY seconds
  if (shutter_timer == 0) {
    CamActuatorSet(DC_CAM_PWM_SERVO, DC_CAM_PWM_OFF_VALUE);
  } else {
    shutter_timer--;
  }
 
  // Common DC Periodic task
  dc_periodic();
}
 
/* Command The Camera */
void dc_send_command(uint8_t cmd)
{
  if (cmd == DC_SHOOT) {
    CamActuatorSet(DC_CAM_PWM_SERVO, DC_CAM_PWM_ON_VALUE);
    shutter_timer = DC_CAM_PWM_SHUTTER_DELAY * DC_SHOOT_PWM_PERIODIC_FREQ;
    dc_send_shot_position();
  }
 
  // call command send_command function
  dc_send_command_common(cmd);
}