mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.9 KiB
C++
66 lines
1.9 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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#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_EICU == 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 128
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#endif
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class ChibiOS::SoftSigReaderInt {
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public:
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SoftSigReaderInt();
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/* Do not allow copies */
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SoftSigReaderInt(const SoftSigReaderInt &other) = delete;
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SoftSigReaderInt &operator=(const SoftSigReaderInt&) = delete;
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// get singleton
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static SoftSigReaderInt *get_singleton(void)
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{
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return _singleton;
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}
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void init(EICUDriver* icu_drv, eicuchannel_t chan);
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bool read(uint32_t &widths0, uint32_t &widths1);
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void disable(void);
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private:
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// singleton
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static SoftSigReaderInt *_singleton;
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static void _irq_handler(EICUDriver *eicup, eicuchannel_t channel);
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static eicuchannel_t get_pair_channel(eicuchannel_t channel);
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typedef struct PACKED {
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uint16_t w0;
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uint16_t w1;
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} pulse_t;
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ObjectBuffer<pulse_t> sigbuf{SOFTSIG_MAX_SIGNAL_TRANSITIONS};
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EICUConfig icucfg;
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EICUChannelConfig channel_config;
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EICUChannelConfig aux_channel_config;
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EICUDriver* _icu_drv = nullptr;
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uint16_t last_value;
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};
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#endif // HAL_USE_EICU
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