mirror of https://github.com/ArduPilot/ardupilot
53 lines
1.4 KiB
C++
53 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_config.h"
|
|
|
|
#if AP_RPM_PIN_ENABLED
|
|
|
|
#include "RPM_Backend.h"
|
|
|
|
#include <Filter/Filter.h>
|
|
|
|
class AP_RPM_Pin : public AP_RPM_Backend
|
|
{
|
|
public:
|
|
|
|
using AP_RPM_Backend::AP_RPM_Backend;
|
|
|
|
// update state
|
|
void update(void) override;
|
|
|
|
private:
|
|
|
|
ModeFilterFloat_Size5 signal_quality_filter {3};
|
|
int8_t last_pin = -1; // last pin number checked vs PIN parameter
|
|
bool interrupt_attached; // true if an interrupt has been attached to last_pin
|
|
struct IrqState {
|
|
uint32_t last_pulse_us;
|
|
uint32_t dt_sum;
|
|
uint32_t dt_count;
|
|
};
|
|
static struct IrqState irq_state[RPM_MAX_INSTANCES];
|
|
|
|
void irq_handler(uint8_t pin,
|
|
bool pin_state,
|
|
uint32_t timestamp);
|
|
|
|
};
|
|
|
|
#endif // AP_RPM_PIN_ENABLED
|