mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.4 KiB
C++
84 lines
2.4 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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*/
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#include "SoftSigReaderInt.h"
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#include "hwdef/common/stm32_util.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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using namespace ChibiOS;
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extern const AP_HAL::HAL& hal;
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#if HAL_USE_EICU == TRUE
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#define eicu_lld_invert_polarity(eicup, channel) \
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(eicup)->tim->CCER ^= ((uint16_t)(STM32_TIM_CCER_CC1P << ((channel) * 4)))
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// singleton instance
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SoftSigReaderInt *SoftSigReaderInt::_instance;
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SoftSigReaderInt::SoftSigReaderInt()
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{
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_instance = this;
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}
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void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
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{
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last_value = 0;
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_icu_drv = icu_drv;
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icucfg.dier = 0;
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icucfg.frequency = INPUT_CAPTURE_FREQUENCY;
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for (int i=0; i< EICU_CHANNEL_ENUM_END; i++) {
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icucfg.iccfgp[i]=nullptr;
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}
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icucfg.iccfgp[chan] = &channel_config;
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#ifdef HAL_RCIN_IS_INVERTED
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channel_config.alvl = EICU_INPUT_ACTIVE_HIGH;
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#else
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channel_config.alvl = EICU_INPUT_ACTIVE_LOW;
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#endif
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channel_config.capture_cb = _irq_handler;
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eicuStart(_icu_drv, &icucfg);
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//sets input filtering to 4 timer clock
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stm32_timer_set_input_filter(_icu_drv->tim, chan, 2);
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eicuEnable(_icu_drv);
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}
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void SoftSigReaderInt::_irq_handler(EICUDriver *eicup, eicuchannel_t channel)
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{
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uint16_t value = eicup->tim->CCR[channel];
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_instance->sigbuf.push(value);
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eicu_lld_invert_polarity(eicup, channel);
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}
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bool SoftSigReaderInt::read(uint32_t &widths0, uint32_t &widths1)
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{
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uint16_t p0, p1;
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if (sigbuf.available() >= 2) {
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if (sigbuf.pop(p0)&&sigbuf.pop(p1)) {
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widths0 = uint16_t(p0 - last_value);
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widths1 = uint16_t(p1 - p0);
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last_value = p1;
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return true;
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}
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}
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return false;
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}
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#endif // HAL_USE_EICU
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#endif //CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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