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Adding input capture driver
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
f3c22d3334
commit
0397537cf0
@@ -38,6 +38,7 @@ px4_add_module(
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drv_hrt.c
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drv_io_timer.c
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drv_pwm_servo.c
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drv_input_capture.c
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DEPENDS
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platforms__common
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)
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@@ -0,0 +1,477 @@
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/****************************************************************************
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*
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* Copyright (C) 2012-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file drv_input_capture.c
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*
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* Servo driver supporting input capture connected to STM32 timer blocks.
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*
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* Works with any of the 'generic' or 'advanced' STM32 timers that
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* have input pins.
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*
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* Require an interrupt.
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*
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* The use of thie interface is mutually exclusive with the pwm
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* because the same timers are used and there is a resource contention
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* with the ARR as it sets the pwm rate and in this driver needs to match
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* that of the hrt to back calculate the actual point in time the edge
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* was detected.
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*
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* This is accomplished by taking the difference between the current
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* count rCNT snapped at the time interrupt and the rCCRx captured on the
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* edge transition. This delta is applied to hrt time and the resulting
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* value is the absolute system time the edge occured.
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*
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*
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*/
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#include <px4_config.h>
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#include <nuttx/arch.h>
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#include <nuttx/irq.h>
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#include <sys/types.h>
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#include <stdbool.h>
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#include <assert.h>
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#include <debug.h>
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#include <time.h>
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#include <queue.h>
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#include <errno.h>
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#include <string.h>
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#include <stdio.h>
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#include <arch/board/board.h>
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#include <drivers/drv_input_capture.h>
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#include "drv_io_timer.h"
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#include "drv_input_capture.h"
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#include <chip.h>
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#include <up_internal.h>
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#include <up_arch.h>
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#include <stm32.h>
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#include <stm32_gpio.h>
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#include <stm32_tim.h>
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#define _REG32(_base, _reg) (*(volatile uint32_t *)(_base + _reg))
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#define REG(_tmr, _reg) _REG32(io_timers[_tmr].base, _reg)
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#define rCCMR1(_tmr) REG(_tmr, STM32_GTIM_CCMR1_OFFSET)
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#define rCCMR2(_tmr) REG(_tmr, STM32_GTIM_CCMR2_OFFSET)
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#define rCCER(_tmr) REG(_tmr, STM32_GTIM_CCER_OFFSET)
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#define GTIM_SR_CCOF (GTIM_SR_CC4OF|GTIM_SR_CC3OF|GTIM_SR_CC2OF|GTIM_SR_CC1OF)
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static input_capture_stats_t channel_stats[MAX_TIMER_IO_CHANNELS];
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static struct channel_handler_entry {
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capture_callback_t callback;
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void *context;
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} channel_handlers[MAX_TIMER_IO_CHANNELS];
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static void input_capture_chan_handler(void *context, const io_timers_t *timer, uint32_t chan_index,
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const timer_io_channels_t *chan,
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hrt_abstime isrs_time , uint16_t isrs_rcnt)
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{
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uint16_t capture = _REG32(timer, chan->ccr_offset);
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channel_stats[chan_index].last_edge = stm32_gpioread(chan->gpio_in);
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if ((isrs_rcnt - capture) > channel_stats[chan_index].latnecy) {
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channel_stats[chan_index].latnecy = (isrs_rcnt - capture);
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}
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channel_stats[chan_index].chan_in_edges_out++;
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channel_stats[chan_index].last_time = isrs_time - (isrs_rcnt - capture);
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uint32_t overflow = _REG32(timer, STM32_GTIM_SR_OFFSET) & chan->masks & GTIM_SR_CCOF;
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if (overflow) {
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/* Error we has a second edge before we cleared CCxR */
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channel_stats[chan_index].overflows++;
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}
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if (channel_handlers[chan_index].callback) {
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channel_handlers[chan_index].callback(channel_handlers[chan_index].context, chan_index,
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channel_stats[chan_index].last_time,
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channel_stats[chan_index].last_edge, overflow);
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}
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}
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static void input_capture_bind(unsigned channel, capture_callback_t callback, void *context)
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{
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irqstate_t flags = irqsave();
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channel_handlers[channel].callback = callback;
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channel_handlers[channel].context = context;
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irqrestore(flags);
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}
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static void input_capture_unbind(unsigned channel)
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{
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input_capture_bind(channel, NULL, NULL);
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}
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int up_input_capture_set(unsigned channel, input_capture_edge edge, capture_filter_t filter,
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capture_callback_t callback, void *context)
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{
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if (filter > GTIM_CCMR1_IC1F_MASK) {
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return -EINVAL;
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}
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if (edge > Both) {
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return -EINVAL;
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}
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int rv = io_timer_validate_channel_index(channel);
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if (rv == 0) {
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if (edge == Disabled) {
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io_timer_set_enable(false, IOTimerChanMode_Capture, 1 << channel);
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input_capture_unbind(channel);
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} else {
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if (-EBUSY == io_timer_is_channel_free(channel)) {
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io_timer_free_channel(channel);
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}
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input_capture_bind(channel, callback, context);
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int rv = io_timer_channel_init(channel, IOTimerChanMode_Capture, input_capture_chan_handler, context);
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if (rv != 0) {
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return rv;
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}
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rv = up_input_capture_set_filter(channel, filter);
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if (rv == 0) {
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rv = up_input_capture_set_trigger(channel, edge);
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if (rv == 0) {
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rv = io_timer_set_enable(true, IOTimerChanMode_Capture, 1 << channel);
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}
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}
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}
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}
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return rv;
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}
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int up_input_capture_get_filter(unsigned channel, capture_filter_t *filter)
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{
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int rv = io_timer_validate_channel_index(channel);
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if (rv == 0) {
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rv = -ENXIO;
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/* Any pins in capture mode */
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if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
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uint32_t timer = timer_io_channels[channel].timer_index;
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uint16_t rvalue;
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rv = OK;
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switch (timer_io_channels[channel].timer_channel) {
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case 1:
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rvalue = rCCMR1(timer) & GTIM_CCMR1_IC1F_MASK;
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*filter = (rvalue << GTIM_CCMR1_IC1F_SHIFT);
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break;
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case 2:
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rvalue = rCCMR1(timer) & GTIM_CCMR1_IC2F_MASK;
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*filter = (rvalue << GTIM_CCMR1_IC2F_SHIFT);
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break;
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case 3:
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rvalue = rCCMR2(timer) & GTIM_CCMR2_IC3F_MASK;
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*filter = (rvalue << GTIM_CCMR2_IC3F_SHIFT);
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break;
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case 4:
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rvalue = rCCMR2(timer) & GTIM_CCMR2_IC4F_MASK;
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*filter = (rvalue << GTIM_CCMR2_IC4F_SHIFT);
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break;
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default:
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rv = -EIO;
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}
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}
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}
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return rv;
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}
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int up_input_capture_set_filter(unsigned channel, capture_filter_t filter)
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{
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if (filter > GTIM_CCMR1_IC1F_MASK) {
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return -EINVAL;
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}
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int rv = io_timer_validate_channel_index(channel);
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if (rv == 0) {
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rv = -ENXIO;
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/* Any pins in capture mode */
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if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
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rv = OK;
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uint32_t timer = timer_io_channels[channel].timer_index;
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uint16_t rvalue;
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irqstate_t flags = irqsave();
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switch (timer_io_channels[channel].timer_channel) {
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case 1:
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rvalue = rCCMR1(timer) & ~GTIM_CCMR1_IC1F_MASK;
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rvalue |= (filter << GTIM_CCMR1_IC1F_SHIFT);
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rCCMR1(timer) = rvalue;
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break;
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case 2:
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rvalue = rCCMR1(timer) & ~GTIM_CCMR1_IC2F_MASK;
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rvalue |= (filter << GTIM_CCMR1_IC2F_SHIFT);
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rCCMR1(timer) = rvalue;
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break;
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case 3:
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rvalue = rCCMR2(timer) & ~GTIM_CCMR2_IC3F_MASK;
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rvalue |= (filter << GTIM_CCMR2_IC3F_SHIFT);
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rCCMR2(timer) = rvalue;
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break;
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case 4:
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rvalue = rCCMR2(timer) & ~GTIM_CCMR2_IC4F_MASK;
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rvalue |= (filter << GTIM_CCMR2_IC4F_SHIFT);
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rCCMR1(timer) = rvalue;
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break;
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default:
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rv = -EIO;
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}
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irqrestore(flags);
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}
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}
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return rv;
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}
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int up_input_capture_get_trigger(unsigned channel, input_capture_edge *edge)
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{
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int rv = io_timer_validate_channel_index(channel);
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if (rv == 0) {
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rv = -ENXIO;
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/* Any pins in capture mode */
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if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
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rv = OK;
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uint32_t timer = timer_io_channels[channel].timer_index;
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uint16_t rvalue;
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switch (timer_io_channels[channel].timer_channel) {
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case 1:
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rvalue = rCCER(timer) & (GTIM_CCER_CC1P | GTIM_CCER_CC1NP);
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break;
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case 2:
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rvalue = rCCER(timer) & (GTIM_CCER_CC2P | GTIM_CCER_CC2NP);
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rvalue >>= 4;
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break;
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case 3:
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rvalue = rCCER(timer) & (GTIM_CCER_CC3P | GTIM_CCER_CC3NP);
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rvalue >>= 8;
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break;
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case 4:
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rvalue = rCCER(timer) & (GTIM_CCER_CC4P | GTIM_CCER_CC4NP);
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rvalue >>= 12;
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break;
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default:
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rv = -EIO;
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}
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if (rv == 0) {
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switch(rvalue) {
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case 0:
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*edge = Rising;
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break;
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case (GTIM_CCER_CC1P | GTIM_CCER_CC1NP):
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*edge = Both;
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break;
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case (GTIM_CCER_CC1P):
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*edge = Falling;
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break;
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default:
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rv = -EIO;
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}
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}
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}
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}
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return rv;
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}
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int up_input_capture_set_trigger(unsigned channel, input_capture_edge edge)
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{
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int rv = io_timer_validate_channel_index(channel);
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if (rv == 0) {
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rv = -ENXIO;
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/* Any pins in capture mode */
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if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
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uint16_t edge_bits = 0xffff;
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switch (edge) {
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case Disabled:
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break;
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case Rising:
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edge_bits = 0;
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break;
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case Falling:
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edge_bits = GTIM_CCER_CC1P;
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break;
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case Both:
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edge_bits = GTIM_CCER_CC1P | GTIM_CCER_CC1NP;
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break;
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default:
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return -EINVAL;;
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}
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uint32_t timer = timer_io_channels[channel].timer_index;
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uint16_t rvalue;
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rv = OK;
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irqstate_t flags = irqsave();
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switch (timer_io_channels[channel].timer_channel) {
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case 1:
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rvalue = rCCER(timer);
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rvalue &= ~(GTIM_CCER_CC1P | GTIM_CCER_CC1NP);
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rvalue |= edge_bits;
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rCCER(timer) = rvalue;
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break;
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case 2:
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rvalue = rCCER(timer);
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rvalue &= ~(GTIM_CCER_CC2P | GTIM_CCER_CC2NP);
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rvalue |= (edge_bits << 4);
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rCCER(timer) = rvalue;
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break;
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case 3:
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rvalue = rCCER(timer);
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rvalue &= ~(GTIM_CCER_CC3P | GTIM_CCER_CC3NP);
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rvalue |= edge_bits << 8;
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rCCER(timer) = rvalue;
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break;
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case 4:
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rvalue = rCCER(timer);
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rvalue &= ~(GTIM_CCER_CC4P | GTIM_CCER_CC4NP);
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rvalue |= edge_bits << 12;
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rCCER(timer) = rvalue;
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break;
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default:
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rv = -EIO;
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}
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irqrestore(flags);
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}
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}
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return rv;
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}
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int up_input_capture_get_callback(unsigned channel, capture_callback_t *callback, void **context)
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{
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int rv = io_timer_validate_channel_index(channel);
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if (rv == 0) {
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rv = -ENXIO;
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/* Any pins in capture mode */
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if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
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irqstate_t flags = irqsave();
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*callback = channel_handlers[channel].callback;
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*context = channel_handlers[channel].context;
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irqrestore(flags);
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rv = OK;
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}
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}
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return rv;
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}
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int up_input_capture_set_callback(unsigned channel, capture_callback_t callback, void *context)
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{
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int rv = io_timer_validate_channel_index(channel);
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if (rv == 0) {
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rv = -ENXIO;
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/* Any pins in capture mode */
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if (io_timer_get_channel_mode(channel) == IOTimerChanMode_Capture) {
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input_capture_bind(channel, callback, context);
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rv = 0;
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}
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}
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return rv;
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}
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int up_input_capture_get_stats(unsigned channel, input_capture_stats_t *stats, bool clear)
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{
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int rv = io_timer_validate_channel_index(channel);
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if (rv == 0) {
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irqstate_t flags = irqsave();
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*stats = channel_stats[channel];
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if (clear) {
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memset(&channel_stats[channel], 0, sizeof(*stats));
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}
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irqrestore(flags);
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}
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return rv;
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}
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@@ -0,0 +1,42 @@
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/****************************************************************************
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||||
*
|
||||
* Copyright (C) 2012-2016 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file drv_input_capture.h
|
||||
*
|
||||
* stm32-specific input capture data.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <drivers/drv_input_capture.h>
|
||||
@@ -43,7 +43,7 @@
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#pragma once
|
||||
|
||||
__BEGIN_DECLS
|
||||
/* configuration limits */
|
||||
#define MAX_IO_TIMERS 4
|
||||
#define MAX_TIMER_IO_CHANNELS 8
|
||||
@@ -110,5 +110,4 @@ __EXPORT int io_timer_is_channel_free(unsigned channel);
|
||||
__EXPORT int io_timer_free_channel(unsigned channel);
|
||||
__EXPORT int io_timer_get_channel_mode(unsigned channel);
|
||||
__EXPORT int io_timer_get_mode_channels(io_timer_channel_mode_t mode);
|
||||
|
||||
__END_DECLS
|
||||
|
||||
Reference in New Issue
Block a user