mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.3 KiB
C
85 lines
2.3 KiB
C
/******************************************************************************
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* The GPLv3 License
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*
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use, copy,
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* modify, merge, publish, distribute, sublicense, and/or sell copies
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* of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
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* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
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* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*****************************************************************************/
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#ifndef _PWM_IN_H_
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#define _PWM_IN_H_
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#include <hal.h>
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#include "hal_types.h"
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#include <stdbool.h>
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#include <strings.h>
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#include "timer.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef struct PULSE {
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unsigned int length:15;
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bool state:1;
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} Pulse;
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#define PULSES_QUEUE_SIZE (25*12*2) // 1 full frame by 25 bytes (12 bits, 2 measures per bit) each
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#include "ring_buffer_pulse.h"
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struct PPM_State {
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Handler handler;
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uint32_t last_pulse; // time of edge
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volatile pulse_buffer pulses; // ring buffer
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uint16_t last_val; // length
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uint8_t state; // 1 or 0
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Pulse pulse_mem[PULSES_QUEUE_SIZE]; // memory
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};
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extern struct PPM_State PPM_Inputs[];
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struct TIM_Channel {
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uint8_t pin; // pin number
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};
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extern const struct TIM_Channel PWM_Channels[];
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#define PWM_CHANNELS (sizeof(PWM_Channels) / sizeof(struct TIM_Channel) )
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void pwmInit(bool ppmsum);
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bool getPPM_Pulse(Pulse *p, uint8_t ch);
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uint16_t getPPM_count(uint8_t ch);
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static inline void pwm_setHandler(Handler handler, uint8_t ch){
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PPM_Inputs[ch].handler = handler;
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}
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#ifdef __cplusplus
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}
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#endif
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#endif
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