mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.3 KiB
C
43 lines
1.3 KiB
C
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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#include <AP_HAL/utility/RingBuffer.h>
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#include "AP_HAL_ESP32.h"
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#include "driver/rmt.h"
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class ESP32::RmtSigReader
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{
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public:
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static const int frequency = 1000000; //1MHZ
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static const int max_pulses = 128;
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static const int idle_threshold = 3000; //we require at least 3ms gap between frames
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void init();
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bool read(uint32_t &width_high, uint32_t &width_low);
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private:
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bool add_item(uint32_t duration, bool level);
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RingbufHandle_t handle;
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rmt_item32_t* item;
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size_t item_size;
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size_t current_item;
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uint32_t last_high;
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uint32_t ready_high;
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uint32_t ready_low;
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bool pulse_ready;
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};
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