mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.8 KiB
C++
54 lines
1.8 KiB
C++
/*
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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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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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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/AP_HAL_Boards.h>
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#include "AP_HAL_ChibiOS.h"
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#if HAL_USE_ICU == TRUE
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#define INPUT_CAPTURE_FREQUENCY 1000000 //capture unit in microseconds
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#ifndef SOFTSIG_MAX_SIGNAL_TRANSITIONS
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#define SOFTSIG_MAX_SIGNAL_TRANSITIONS 256
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#endif
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#define DEFAULT_BOUNCE_BUF_SIZE 32
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class ChibiOS::SoftSigReader {
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public:
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bool attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan, uint8_t dma_stream, uint32_t dma_channel);
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bool read(uint32_t &widths0, uint32_t &widths1);
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//This sets the size of bounce buffer size, which in turn controls the rate of interrupt from DMA
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bool set_bounce_buf_size(uint16_t buf_size);
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private:
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uint32_t *signal;
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static void _irq_handler(void* self, uint32_t flags);
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uint8_t num_timer_channels;
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ObjectBuffer<uint32_t> sigbuf{SOFTSIG_MAX_SIGNAL_TRANSITIONS};
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uint8_t enable_chan_mask;
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uint8_t max_pulse_width;
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const stm32_dma_stream_t* dma;
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uint32_t dmamode;
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ICUConfig icucfg;
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ICUDriver* _icu_drv = nullptr;
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uint16_t _bounce_buf_size = DEFAULT_BOUNCE_BUF_SIZE;
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bool need_swap;
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};
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#endif // HAL_USE_ICU
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