mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.4 KiB
C
46 lines
1.4 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_RPM.h"
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#include "RPM_Backend.h"
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#include <Filter/Filter.h>
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#include <AP_Math/AP_Math.h>
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class AP_RPM_Pin : public AP_RPM_Backend
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{
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public:
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// constructor
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AP_RPM_Pin(AP_RPM &ranger, uint8_t instance, AP_RPM::RPM_State &_state);
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// update state
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void update(void);
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private:
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static void irq_handler(uint8_t instance);
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static int irq_handler0(int irq, void *context);
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static int irq_handler1(int irq, void *context);
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ModeFilterFloat_Size5 signal_quality_filter {3};
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uint8_t last_pin = -1;
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uint32_t last_gpio;
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struct IrqState {
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uint32_t last_pulse_us;
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uint32_t dt_sum;
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uint32_t dt_count;
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};
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static struct IrqState irq_state[RPM_MAX_INSTANCES];
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};
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