commit a49d20e2bdb5872877ee7b69e19f52f10a22fea9
author Jim Ostrowski <yimmy13@gmail.com> Sat Feb 26 18:34:05 2022 -0800
committer Jim Ostrowski <yimmy13@gmail.com> Sat Feb 26 18:34:05 2022 -0800
tree 78887aea745c158d50397152b1ece57840b81323
parent 030f7602876518806f1a087ba3531697429f167f

Set IMU pin as input pin when using camera

If we don't set this as an input, it interferes with our PWM signal
Also, setting LED duty_cycle to 0.25, to make it less blinding

Change-Id: I6660273753b42141bf72b6617b06d15a4f97071f
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>

y2022/vision/camera_reader.h

diff --git a/y2022/vision/camera_reader.h b/y2022/vision/camera_reader.h
index 2a0bfbc..d3dd202 100644
--- a/y2022/vision/camera_reader.h
+++ b/y2022/vision/camera_reader.h
@@ -39,6 +39,7 @@
         target_estimate_sender_(
             event_loop->MakeSender<TargetEstimate>("/camera")),
         read_image_timer_(event_loop->AddTimer([this]() { ReadImage(); })),
+        gpio_imu_pin_(GPIOControl(GPIO_PIN_SCLK_IMU, kGPIOIn)),
         gpio_pwm_control_(GPIOPWMControl(GPIO_PIN_SCK_PWM, duty_cycle_)),
         gpio_disable_control_(
             GPIOControl(GPIO_PIN_MOSI_DISABLE, kGPIOOut, kGPIOLow)) {
@@ -100,6 +101,7 @@
   aos::TimerHandler *const read_image_timer_;
 
   double duty_cycle_ = 0.0;
+  GPIOControl gpio_imu_pin_;
   GPIOPWMControl gpio_pwm_control_;
   GPIOControl gpio_disable_control_;
 };

y2022/vision/camera_reader_main.cc

diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index d5ba448..f91b07e 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -6,7 +6,7 @@
 // bazel run //y2022/vision:camera_reader -- --config y2022/aos_config.json
 //   --override_hostname pi-7971-1  --ignore_timestamps true
 DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
-DEFINE_double(duty_cycle, 0.5, "Duty cycle of the LEDs");
+DEFINE_double(duty_cycle, 0.25, "Duty cycle of the LEDs");
 DEFINE_uint32(exposure, 5,
               "Exposure time, in 100us increments; 0 implies auto exposure");
 

y2022/vision/gpio.h

diff --git a/y2022/vision/gpio.h b/y2022/vision/gpio.h
index 90ad812..bc9aa8a 100644
--- a/y2022/vision/gpio.h
+++ b/y2022/vision/gpio.h
@@ -23,6 +23,11 @@
 // This pin is MOSI, being used to control the LED Disable
 static constexpr int GPIO_PIN_MOSI_DISABLE = 10;
 
+// Physical pin 23 maps to sysfs pin 11
+// This pin is SCLK, and is used to talk to the IMU
+// To drive the lights, we have to set this pin to an input
+static constexpr int GPIO_PIN_SCLK_IMU = 11;
+
 // Physical pin 33 maps to sysfs pin 13
 // This pin is SCK, being used to control the LED PWM
 static constexpr int GPIO_PIN_SCK_PWM = 13;