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64 lines
1.9 KiB
64 lines
1.9 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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*/ |
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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_EICU == 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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class ChibiOS::SoftSigReaderInt { |
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public: |
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SoftSigReaderInt(); |
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/* Do not allow copies */ |
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SoftSigReaderInt(const SoftSigReaderInt &other) = delete; |
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SoftSigReaderInt &operator=(const SoftSigReaderInt&) = delete; |
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// get singleton |
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static SoftSigReaderInt *get_singleton(void) |
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{ |
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return _singleton; |
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} |
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void init(EICUDriver* icu_drv, eicuchannel_t chan); |
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bool read(uint32_t &widths0, uint32_t &widths1); |
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private: |
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// singleton |
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static SoftSigReaderInt *_singleton; |
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static void _irq_handler(EICUDriver *eicup, eicuchannel_t channel); |
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static eicuchannel_t get_pair_channel(eicuchannel_t channel); |
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typedef struct PACKED { |
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uint16_t w0; |
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uint16_t w1; |
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} pulse_t; |
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ObjectBuffer<pulse_t> sigbuf{SOFTSIG_MAX_SIGNAL_TRANSITIONS}; |
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EICUConfig icucfg; |
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EICUChannelConfig channel_config; |
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EICUChannelConfig aux_channel_config; |
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EICUDriver* _icu_drv = nullptr; |
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uint16_t last_value; |
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}; |
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#endif // HAL_USE_EICU
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