/* This program 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 program 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 . */ #pragma once #include "AP_RPM.h" #include "RPM_Backend.h" #include #include class AP_RPM_Pin : public AP_RPM_Backend { public: // constructor AP_RPM_Pin(AP_RPM &ranger, uint8_t instance, AP_RPM::RPM_State &_state); // update state void update(void); private: ModeFilterFloat_Size5 signal_quality_filter {3}; uint8_t last_pin = -1; struct IrqState { uint32_t last_pulse_us; uint32_t dt_sum; uint32_t dt_count; }; static struct IrqState irq_state[RPM_MAX_INSTANCES]; void irq_handler(uint8_t pin, bool pin_state, uint32_t timestamp); };