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