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84 lines
3.2 KiB
C
84 lines
3.2 KiB
C
/****************************************************************************
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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.h
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*
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* Input capture interface utilizes the FMU_AUX_PINS to time stamp
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* an edge.
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*/
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#pragma once
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#include <px4_platform_common/defines.h>
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include "drv_hrt.h"
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__BEGIN_DECLS
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typedef void (*capture_callback_t)(void *context, uint32_t chan_index,
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hrt_abstime edge_time, uint32_t edge_state, uint32_t overflow);
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typedef uint16_t capture_filter_t;
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typedef enum input_capture_edge {
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Disabled = 0,
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Rising = 1,
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Falling = 2,
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Both = 3
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} input_capture_edge;
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typedef struct input_capture_stats_t {
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uint32_t edges;
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uint32_t overflows;
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uint32_t last_edge;
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hrt_abstime last_time;
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uint16_t latency;
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} input_capture_stats_t;
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__EXPORT 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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__EXPORT int up_input_capture_get_filter(unsigned channel, capture_filter_t *filter);
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__EXPORT int up_input_capture_set_filter(unsigned channel, capture_filter_t filter);
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__EXPORT int up_input_capture_get_trigger(unsigned channel, input_capture_edge *edge);
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__EXPORT int up_input_capture_set_trigger(unsigned channel, input_capture_edge edge);
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__EXPORT int up_input_capture_get_callback(unsigned channel, capture_callback_t *callback, void **context);
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__EXPORT int up_input_capture_set_callback(unsigned channel, capture_callback_t callback, void *context);
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__EXPORT int up_input_capture_get_stats(unsigned channel, input_capture_stats_t *stats, bool clear);
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__END_DECLS
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