mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.9 KiB
C++
109 lines
2.9 KiB
C++
#include "GPIO.h"
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#include <AP_HAL/AP_HAL.h>
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#if defined(HAL_NO_GCS) || defined(HAL_BOOTLOADER_BUILD)
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#define GCS_SEND_TEXT(severity, format, args...)
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#else
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#include <GCS_MAVLink/GCS.h>
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#endif
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extern const AP_HAL::HAL& hal;
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bool AP_HAL::PWMSource::set_pin(int16_t new_pin, const char *subsystem)
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{
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if (new_pin == _pin) {
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// we've already tried to attach to this pin
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return interrupt_attached;
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}
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if (interrupt_attached) {
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if (!hal.gpio->detach_interrupt(_pin)) {
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING,
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"%s: Failed to detach interrupt from %d",
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subsystem,
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_pin);
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}
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interrupt_attached = false;
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}
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// don't want to try to attach more than once:
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_pin = new_pin;
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if (_pin <= 0) {
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// invalid pin
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return false;
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}
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// install interrupt handler on rising and falling edge
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hal.gpio->pinMode(_pin, HAL_GPIO_INPUT);
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if (!hal.gpio->attach_interrupt(
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_pin,
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FUNCTOR_BIND_MEMBER(&AP_HAL::PWMSource::irq_handler,
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void,
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uint8_t,
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bool,
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uint32_t),
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AP_HAL::GPIO::INTERRUPT_BOTH)) {
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// failed to attach interrupt
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GCS_SEND_TEXT(MAV_SEVERITY_WARNING,
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"%s: Failed to attach interrupt to %d",
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subsystem,
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_pin);
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return false;
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}
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interrupt_attached = true;
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return interrupt_attached;
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}
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// interrupt handler for reading pwm value
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void AP_HAL::PWMSource::irq_handler(uint8_t a_pin, bool pin_high, uint32_t timestamp_us)
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{
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if (pin_high) {
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_pulse_start_us = timestamp_us;
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return;
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}
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if (_pulse_start_us == 0) {
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// if we miss interrupts we could get two lows in a row. If
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// we miss interrupts we're definitely handing back bad
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// values anyway....
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return;
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}
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_irq_value_us = timestamp_us - _pulse_start_us;
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_pulse_start_us = 0;
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// update fields for taking an average reading:
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_irq_value_us_sum += _irq_value_us;
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_irq_value_us_count++;
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}
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uint16_t AP_HAL::PWMSource::get_pwm_us()
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{
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// disable interrupts and grab state
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void *irqstate = hal.scheduler->disable_interrupts_save();
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const uint32_t ret = _irq_value_us;
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_irq_value_us = 0;
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hal.scheduler->restore_interrupts(irqstate);
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return ret;
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}
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uint16_t AP_HAL::PWMSource::get_pwm_avg_us()
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{
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// disable interrupts and grab state
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void *irqstate = hal.scheduler->disable_interrupts_save();
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uint32_t ret;
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if (_irq_value_us_count == 0) {
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ret = 0;
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} else {
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ret = _irq_value_us_sum / _irq_value_us_count;
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}
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_irq_value_us_sum = 0;
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_irq_value_us_count = 0;
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hal.scheduler->restore_interrupts(irqstate);
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return ret;
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}
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