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42 lines
1.6 KiB
42 lines
1.6 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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#define INPUT_CAPTURE_FREQUENCY 1000000 //capture unit in microseconds |
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#define MAX_SIGNAL_TRANSITIONS 256 |
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#define DEFAULT_BOUNCE_BUF_SIZE 16 |
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class ChibiOS::SoftSigReader { |
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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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bool read(uint32_t &widths0, uint32_t &widths1); |
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//This sets the size of bounce buffer size, which in turn controls the rate of interrupt from DMA |
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bool set_bounce_buf_size(uint16_t buf_size); |
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private: |
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uint32_t *signal; |
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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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ObjectBuffer<uint32_t> sigbuf{MAX_SIGNAL_TRANSITIONS}; |
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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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ICUConfig icucfg; |
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uint16_t _bounce_buf_size = DEFAULT_BOUNCE_BUF_SIZE; |
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};
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