mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
/*
|
|
* This file 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 file 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_HAL/utility/RingBuffer.h>
|
|
#include <AP_HAL/AP_HAL_Boards.h>
|
|
|
|
#include "AP_HAL_ChibiOS.h"
|
|
|
|
#if HAL_USE_EICU == TRUE
|
|
|
|
#define INPUT_CAPTURE_FREQUENCY 1000000 //capture unit in microseconds
|
|
#ifndef SOFTSIG_MAX_SIGNAL_TRANSITIONS
|
|
#define SOFTSIG_MAX_SIGNAL_TRANSITIONS 128
|
|
#endif
|
|
|
|
|
|
class ChibiOS::SoftSigReaderInt {
|
|
public:
|
|
SoftSigReaderInt();
|
|
/* Do not allow copies */
|
|
SoftSigReaderInt(const SoftSigReaderInt &other) = delete;
|
|
SoftSigReaderInt &operator=(const SoftSigReaderInt&) = delete;
|
|
|
|
// get singleton
|
|
static SoftSigReaderInt *get_instance(void)
|
|
{
|
|
return _instance;
|
|
}
|
|
|
|
void init(EICUDriver* icu_drv, eicuchannel_t chan);
|
|
bool read(uint32_t &widths0, uint32_t &widths1);
|
|
private:
|
|
// singleton
|
|
static SoftSigReaderInt *_instance;
|
|
|
|
static void _irq_handler(EICUDriver *eicup, eicuchannel_t channel);
|
|
|
|
static eicuchannel_t get_pair_channel(eicuchannel_t channel);
|
|
typedef struct PACKED {
|
|
uint16_t w0;
|
|
uint16_t w1;
|
|
} pulse_t;
|
|
ObjectBuffer<pulse_t> sigbuf{SOFTSIG_MAX_SIGNAL_TRANSITIONS};
|
|
EICUConfig icucfg;
|
|
EICUChannelConfig channel_config;
|
|
EICUChannelConfig aux_channel_config;
|
|
EICUDriver* _icu_drv = nullptr;
|
|
uint16_t last_value;
|
|
};
|
|
|
|
#endif // HAL_USE_EICU
|
|
|