ardupilot/libraries/AP_HAL_ChibiOS/SoftSigReader.h

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/*
* This file 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 3 of the License, or
* (at your option) any later version.
*
* This file 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 this program. If not, see <http://www.gnu.org/licenses/>.
*
* Code by Andrew Tridgell and Siddharth Bharat Purohit
*/
#pragma once
#include <AP_HAL/utility/RingBuffer.h>
#include <AP_HAL/AP_HAL_Boards.h>
#include "AP_HAL_ChibiOS.h"
#if HAL_USE_ICU == TRUE
#define INPUT_CAPTURE_FREQUENCY 1000000 //capture unit in microseconds
#ifndef SOFTSIG_MAX_SIGNAL_TRANSITIONS
#define SOFTSIG_MAX_SIGNAL_TRANSITIONS 128
#endif
// we use a small bounce buffer size to minimise time in the DMA
// callback IRQ
#define SOFTSIG_BOUNCE_BUF_SIZE 8
class ChibiOS::SoftSigReader {
friend class ChibiOS::RCInput;
public:
bool attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan, uint8_t dma_stream, uint32_t dma_channel);
void disable(void);
private:
uint32_t *signal;
uint32_t signal2[SOFTSIG_BOUNCE_BUF_SIZE];
static void _irq_handler(void* self, uint32_t flags);
uint8_t num_timer_channels;
uint8_t enable_chan_mask;
uint8_t max_pulse_width;
const stm32_dma_stream_t* dma;
uint32_t dmamode;
ICUConfig icucfg;
ICUDriver* _icu_drv = nullptr;
typedef struct {
uint32_t w0;
uint32_t w1;
} pulse_t;
ObjectBuffer<pulse_t> sigbuf{SOFTSIG_MAX_SIGNAL_TRANSITIONS};
bool need_swap;
};
#endif // HAL_USE_ICU