From 9c0cf0871b3635640951624d39d8ad8fe8f89db9 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 29 Jan 2020 13:21:54 +1100
Subject: [PATCH] HAL_ChibiOS: added disable() API for pulse input

---
 libraries/AP_HAL_ChibiOS/SoftSigReader.cpp    | 6 ++++++
 libraries/AP_HAL_ChibiOS/SoftSigReader.h      | 1 +
 libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp | 5 +++++
 libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h   | 1 +
 4 files changed, 13 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
index d13a41f0af..02550ed427 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
@@ -91,6 +91,12 @@ bool SoftSigReader::attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan,
     return true;
 }
 
+void SoftSigReader::disable(void)
+{
+    icuStopCapture(_icu_drv);
+    dmaStreamDisable(dma);
+}
+
 void SoftSigReader::_irq_handler(void* self, uint32_t flags)
 {
     SoftSigReader* sig_reader = (SoftSigReader*)self;
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReader.h b/libraries/AP_HAL_ChibiOS/SoftSigReader.h
index 3727ae0683..e39ed24ec0 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReader.h
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReader.h
@@ -36,6 +36,7 @@ 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;
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
index 3343766937..d757fee904 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
@@ -90,6 +90,11 @@ void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
     eicuEnable(_icu_drv);
 }
 
+void SoftSigReaderInt::disable(void)
+{
+    eicuDisable(_icu_drv);
+}
+
 void SoftSigReaderInt::_irq_handler(EICUDriver *eicup, eicuchannel_t aux_channel)
 {
     eicuchannel_t channel = get_pair_channel(aux_channel);
diff --git a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
index 7f982a49d3..567f57d32b 100644
--- a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.h
@@ -42,6 +42,7 @@ public:
 
     void init(EICUDriver* icu_drv, eicuchannel_t chan);
     bool read(uint32_t &widths0, uint32_t &widths1);
+    void disable(void);
 private:
     // singleton
     static SoftSigReaderInt *_singleton;