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45 lines
1.4 KiB
45 lines
1.4 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include "AP_RPM.h" |
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#include "RPM_Backend.h" |
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#include <Filter/Filter.h> |
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#include <AP_Math/AP_Math.h> |
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class AP_RPM_Pin : public AP_RPM_Backend |
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{ |
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public: |
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// constructor |
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AP_RPM_Pin(AP_RPM &ranger, uint8_t instance, AP_RPM::RPM_State &_state); |
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// update state |
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void update(void); |
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private: |
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static void irq_handler(uint8_t instance); |
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static int irq_handler0(int irq, void *context); |
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static int irq_handler1(int irq, void *context); |
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ModeFilterFloat_Size5 signal_quality_filter {3}; |
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uint8_t last_pin = -1; |
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uint32_t last_gpio; |
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struct IrqState { |
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uint32_t last_pulse_us; |
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uint32_t dt_sum; |
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uint32_t dt_count; |
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}; |
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static struct IrqState irq_state[RPM_MAX_INSTANCES]; |
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};
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