add second ODS capture + delayed first capture

src/Control Tasks/CameraControlTask.cpp

@@ -155,7 +155,13 @@ void CameraControlTask::execute()
 
     // handle taking and storing photos
     if (sfr::camera::take_photo == true && sfr::camera::powered == true) {
-        if (!adaCam.takePicture()) {
+        // extra delay (200 ms default) between commanding photo and triggering capture
+        if (sfr::camera::start_progress < (sfr::camera::delay_count + 6)) {
+            sfr::camera::start_progress++;
+#ifdef VERBOSE
+            Serial.println("Photo triggered, delaying additional 100ms");
+#endif
+        } else if (!adaCam.takePicture()) {
 #ifdef VERBOSE
             Serial.println("Failed to snap!");
 #endif
@@ -206,7 +212,21 @@ void CameraControlTask::execute()
 #ifdef VERBOSE
                 Serial.println("Done writing file");
 #endif
-                sfr::camera::power_setting = (uint8_t)sensor_power_mode_type::off;
+                if (sfr::camera::images_written == 1) {
+                    if (!adaCam.resumeVideo()) {
+#ifdef VERBOSE
+                        Serial.println("Failed to resume ODS frame!");
+#endif
+                        sfr::camera::power_setting = (uint8_t)sensor_power_mode_type::off;
+                    } else {
+                        sfr::camera::take_photo = true;
+#ifdef VERBOSE
+                        Serial.println("Triggering second activation of optical sensor");
+#endif
+                    }
+                } else {
+                    sfr::camera::power_setting = (uint8_t)sensor_power_mode_type::off;
+                }
             }
         }
     }
@@ -244,6 +264,7 @@ void CameraControlTask::camera_shutdown()
     pinMode(constants::camera::tx, OUTPUT);
     Pins::setPinState(constants::camera::rx, LOW);
     Pins::setPinState(constants::camera::tx, LOW);
+    sfr::camera::start_progress = 0;
 
     // if SD.begin succeeds but camera is never able to snap, reduce SD card power consumption
     File file = SD.open("-", FILE_WRITE);

src/constants.hpp

@@ -86,7 +86,7 @@ namespace constants {
             constexpr uint16_t fault_opcode_max = 0x6100;
 
         } // namespace opcodes
-    }     // namespace rockblock
+    } // namespace rockblock
     namespace temperature {
         constexpr int pin = 39;
         constexpr int in_sun_val = 30;
@@ -98,7 +98,7 @@ namespace constants {
         constexpr float in_sun_val = 70; // mA
         constexpr int load = 30;         // load resister value (kOhm)
         constexpr float shunt = 0.1;     // shunt resistor value (Ohm)
-    }                                    // namespace current
+    } // namespace current
     namespace masks {
         constexpr uint32_t uint32_byte1_mask = 0b11111111000000000000000000000000;
         constexpr uint32_t uint32_byte2_mask = 0b00000000111111110000000000000000;
@@ -248,7 +248,7 @@ namespace constants {
     } // namespace battery
     namespace camera {
         constexpr int power_on_pin = 31;
-        constexpr int content_length = 64;
+        constexpr int content_length = 80;
         constexpr int bytes_allocated_fragment = 4;
         constexpr int tx = 34;
         constexpr int rx = 33;
@@ -293,7 +293,7 @@ namespace constants {
         static constexpr unsigned int dynamic_data_start = 10;
         static constexpr unsigned int sfr_data_start = 460;
         static constexpr unsigned int sfr_store_size = 5;
-        static constexpr unsigned int sfr_num_fields = 92;
+        static constexpr unsigned int sfr_num_fields = 93;
         static constexpr unsigned int sfr_data_full_offset = sfr_num_fields * sfr_store_size + 4;
         static constexpr unsigned int write_age_limit = 95000; // Must be less than 100000
 
@@ -304,6 +304,6 @@ namespace constants {
     namespace watchdog {
         constexpr uint32_t max_period_ms = 10000;
     } // namespace watchdog
-};    // namespace constants
+}; // namespace constants
 
 #endif

src/sfr.cpp

@@ -17,7 +17,7 @@ namespace sfr {
         SFRField<uint8_t> max_stable_gyro_y = SFRField<uint8_t>((0.2 * constants::imu::sfr_resolution), 0x1502, constants::imu::sfr_resolution);   // rad/s
         SFRField<uint8_t> min_unstable_gyro_x = SFRField<uint8_t>((0.7 * constants::imu::sfr_resolution), 0x1503, constants::imu::sfr_resolution); // rad/s
         SFRField<uint8_t> min_unstable_gyro_y = SFRField<uint8_t>((0.7 * constants::imu::sfr_resolution), 0x1504, constants::imu::sfr_resolution); // rad/s
-    }                                                                                                                                              // namespace detumble
+    } // namespace detumble
     namespace aliveSignal {
         // OP Codes 1600
         SFRField<bool> downlinked = SFRField<bool>(false, 0x1600);
@@ -139,6 +139,7 @@ namespace sfr {
         SFRField<uint32_t> fragment_number_requested = SFRField<uint32_t>(0, 0x2016);
         SFRField<uint32_t> power_start_time = SFRField<uint32_t>(0, 0x2017);
         SFRField<uint32_t> power_time = SFRField<uint32_t>(400, 0x2018);
+        SFRField<uint8_t> delay_count = SFRField<uint8_t>(2, 0x2019);
     } // namespace camera
     namespace rockblock {
         // OP Codes 2100
@@ -283,4 +284,4 @@ namespace sfr {
         SFRField<uint32_t> dynamic_data_age = SFRField<uint32_t>(0, 0x2809);
         SFRField<uint32_t> sfr_data_age = SFRField<uint32_t>(0, 0x2810);
     } // namespace eeprom
-};    // namespace sfr
+}; // namespace sfr

src/sfr.hpp

@@ -159,6 +159,7 @@ namespace sfr {
         extern SFRField<uint32_t> fragment_number_requested;
         extern SFRField<uint32_t> power_start_time;
         extern SFRField<uint32_t> power_time;
+        extern SFRField<uint8_t> delay_count;
     } // namespace camera
     namespace rockblock {
         // OP Codes 2100
@@ -286,6 +287,6 @@ namespace sfr {
         extern SFRField<uint32_t> dynamic_data_age;
         extern SFRField<uint32_t> sfr_data_age;
     } // namespace eeprom
-};    // namespace sfr
+}; // namespace sfr
 
 #endif