ardupilot/libraries/AP_RPM/RPM_Pin.h

46 lines
1.4 KiB
C++

/*
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 <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_RPM.h"
#include "RPM_Backend.h"
#include <Filter/Filter.h>
#include <AP_Math/AP_Math.h>
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:
static void irq_handler(uint8_t instance);
static int irq_handler0(int irq, void *context);
static int irq_handler1(int irq, void *context);
ModeFilterFloat_Size5 signal_quality_filter {3};
uint8_t last_pin = -1;
uint32_t last_gpio;
struct IrqState {
uint32_t last_pulse_us;
uint32_t dt_sum;
uint32_t dt_count;
};
static struct IrqState irq_state[RPM_MAX_INSTANCES];
};