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60 lines
1.8 KiB
60 lines
1.8 KiB
/* |
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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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* Code by Andrew Tridgell and Siddharth Bharat Purohit |
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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_ICU == 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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// we use a small bounce buffer size to minimise time in the DMA |
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// callback IRQ |
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#define SOFTSIG_BOUNCE_BUF_SIZE 8 |
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class ChibiOS::SoftSigReader { |
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friend class ChibiOS::RCInput; |
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public: |
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bool attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan, uint8_t dma_stream, uint32_t dma_channel); |
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void disable(void); |
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private: |
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uint32_t *signal; |
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uint32_t signal2[SOFTSIG_BOUNCE_BUF_SIZE]; |
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static void _irq_handler(void* self, uint32_t flags); |
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uint8_t num_timer_channels; |
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uint8_t enable_chan_mask; |
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uint8_t max_pulse_width; |
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const stm32_dma_stream_t* dma; |
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uint32_t dmamode; |
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ICUConfig icucfg; |
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ICUDriver* _icu_drv = nullptr; |
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typedef struct { |
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uint32_t w0; |
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uint32_t w1; |
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} pulse_t; |
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ObjectBuffer<pulse_t> sigbuf{SOFTSIG_MAX_SIGNAL_TRANSITIONS}; |
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bool need_swap; |
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}; |
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#endif // HAL_USE_ICU
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