mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-06 06:43:21 +08:00
Checkpoint - moving things out of the NuttX configs/*/src directories
This commit is contained in:
px4dev
@@ -41,8 +41,13 @@ CSRCS = err.c \
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param/param.c \
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bson/tinybson.c \
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conversions.c \
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cpuload.c \
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getopt_long.c
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# ppm_decode.c \
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#
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# XXX this really should be a CONFIG_* test
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#
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@@ -0,0 +1,180 @@
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/****************************************************************************
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* configs/px4fmu/src/up_leds.c
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* arch/arm/src/board/up_leds.c
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*
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* Copyright (C) 2011 Gregory Nutt. All rights reserved.
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* Author: Gregory Nutt <gnutt@nuttx.org>
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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
|
||||
* 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 NuttX 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.
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||||
*
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||||
****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdint.h>
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#include <stdbool.h>
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#include <debug.h>
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#include <sys/time.h>
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#include <sched.h>
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#include <arch/board/board.h>
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#include <drivers/drv_hrt.h>
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#include "cpuload.h"
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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/****************************************************************************
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* Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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__EXPORT void sched_note_start(FAR _TCB *tcb);
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__EXPORT void sched_note_stop(FAR _TCB *tcb);
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__EXPORT void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb);
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/****************************************************************************
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* Name:
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****************************************************************************/
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__EXPORT struct system_load_s system_load;
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extern FAR _TCB *sched_gettcb(pid_t pid);
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void cpuload_initialize_once()
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{
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// if (!system_load.initialized)
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// {
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system_load.start_time = hrt_absolute_time();
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int i;
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for (i = 0; i < CONFIG_MAX_TASKS; i++)
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{
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system_load.tasks[i].valid = false;
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}
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system_load.total_count = 0;
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uint64_t now = hrt_absolute_time();
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/* initialize idle thread statically */
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system_load.tasks[0].start_time = now;
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system_load.tasks[0].total_runtime = 0;
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system_load.tasks[0].curr_start_time = 0;
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system_load.tasks[0].tcb = sched_gettcb(0);
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system_load.tasks[0].valid = true;
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system_load.total_count++;
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/* initialize init thread statically */
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system_load.tasks[1].start_time = now;
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system_load.tasks[1].total_runtime = 0;
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system_load.tasks[1].curr_start_time = 0;
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system_load.tasks[1].tcb = sched_gettcb(1);
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system_load.tasks[1].valid = true;
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/* count init thread */
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system_load.total_count++;
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// }
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}
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void sched_note_start(FAR _TCB *tcb )
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{
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/* search first free slot */
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int i;
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for (i = 1; i < CONFIG_MAX_TASKS; i++)
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{
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if (!system_load.tasks[i].valid)
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{
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/* slot is available */
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system_load.tasks[i].start_time = hrt_absolute_time();
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system_load.tasks[i].total_runtime = 0;
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system_load.tasks[i].curr_start_time = 0;
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system_load.tasks[i].tcb = tcb;
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system_load.tasks[i].valid = true;
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system_load.total_count++;
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break;
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}
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}
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}
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void sched_note_stop(FAR _TCB *tcb )
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{
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int i;
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for (i = 1; i < CONFIG_MAX_TASKS; i++)
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{
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if (system_load.tasks[i].tcb->pid == tcb->pid)
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{
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/* mark slot as fee */
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system_load.tasks[i].valid = false;
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system_load.tasks[i].total_runtime = 0;
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system_load.tasks[i].curr_start_time = 0;
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system_load.tasks[i].tcb = NULL;
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system_load.total_count--;
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break;
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}
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}
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}
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void sched_note_switch(FAR _TCB *pFromTcb, FAR _TCB *pToTcb)
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{
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uint64_t new_time = hrt_absolute_time();
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/* Kind of inefficient: find both tasks and update times */
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uint8_t both_found = 0;
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for (int i = 0; i < CONFIG_MAX_TASKS; i++)
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{
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/* Task ending its current scheduling run */
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if (system_load.tasks[i].tcb->pid == pFromTcb->pid)
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||||
{
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//if (system_load.tasks[i].curr_start_time != 0)
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{
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system_load.tasks[i].total_runtime += new_time - system_load.tasks[i].curr_start_time;
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}
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both_found++;
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}
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else if (system_load.tasks[i].tcb->pid == pToTcb->pid)
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{
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system_load.tasks[i].curr_start_time = new_time;
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both_found++;
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}
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/* Do only iterate as long as needed */
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if (both_found == 2)
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{
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break;
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}
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}
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}
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#endif /* CONFIG_SCHED_INSTRUMENTATION */
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@@ -0,0 +1,63 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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#pragma once
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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||||
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__BEGIN_DECLS
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#include <nuttx/sched.h>
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struct system_load_taskinfo_s {
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uint64_t total_runtime; ///< Runtime since start (start_time - total_runtime)/(start_time - current_time) = load
|
||||
uint64_t curr_start_time; ///< Start time of the current scheduling slot
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uint64_t start_time; ///< FIRST start time of task
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FAR struct _TCB *tcb; ///<
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bool valid; ///< Task is currently active / valid
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};
|
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struct system_load_s {
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uint64_t start_time; ///< Global start time of measurements
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struct system_load_taskinfo_s tasks[CONFIG_MAX_TASKS];
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||||
uint8_t initialized;
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||||
int total_count;
|
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int running_count;
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||||
int sleeping_count;
|
||||
};
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__EXPORT extern struct system_load_s system_load;
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__EXPORT void cpuload_initialize_once(void);
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#endif
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@@ -50,7 +50,7 @@
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#include <sys/stat.h>
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#include <arch/board/up_hrt.h>
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#include <drivers/drv_hrt.h>
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#include "systemlib/param/param.h"
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||||
#include "systemlib/uthash/utarray.h"
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@@ -40,7 +40,7 @@
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#include <stdlib.h>
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#include <stdio.h>
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||||
#include <sys/queue.h>
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#include <arch/board/up_hrt.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
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||||
#include "perf_counter.h"
|
||||
|
||||
|
||||
@@ -0,0 +1,242 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 ppm_decode.c
|
||||
*
|
||||
* PPM input decoder.
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#include "ppm_decode.h"
|
||||
|
||||
/*
|
||||
* PPM decoder tuning parameters.
|
||||
*
|
||||
* The PPM decoder works as follows.
|
||||
*
|
||||
* Initially, the decoder waits in the UNSYNCH state for two edges
|
||||
* separated by PPM_MIN_START. Once the second edge is detected,
|
||||
* the decoder moves to the ARM state.
|
||||
*
|
||||
* The ARM state expects an edge within PPM_MAX_PULSE_WIDTH, being the
|
||||
* timing mark for the first channel. If this is detected, it moves to
|
||||
* the INACTIVE state.
|
||||
*
|
||||
* The INACTIVE phase waits for and discards the next edge, as it is not
|
||||
* significant. Once the edge is detected, it moves to the ACTIVE stae.
|
||||
*
|
||||
* The ACTIVE state expects an edge within PPM_MAX_PULSE_WIDTH, and when
|
||||
* received calculates the time from the previous mark and records
|
||||
* this time as the value for the next channel.
|
||||
*
|
||||
* If at any time waiting for an edge, the delay from the previous edge
|
||||
* exceeds PPM_MIN_START the frame is deemed to have ended and the recorded
|
||||
* values are advertised to clients.
|
||||
*/
|
||||
#define PPM_MAX_PULSE_WIDTH 500 /* maximum width of a pulse */
|
||||
#define PPM_MIN_CHANNEL_VALUE 800 /* shortest valid channel signal */
|
||||
#define PPM_MAX_CHANNEL_VALUE 2200 /* longest valid channel signal */
|
||||
#define PPM_MIN_START 2500 /* shortest valid start gap */
|
||||
|
||||
/* Input timeout - after this interval we assume signal is lost */
|
||||
#define PPM_INPUT_TIMEOUT 100 * 1000 /* 100ms */
|
||||
|
||||
/* Number of same-sized frames required to 'lock' */
|
||||
#define PPM_CHANNEL_LOCK 3 /* should be less than the input timeout */
|
||||
|
||||
/* decoded PPM buffer */
|
||||
#define PPM_MIN_CHANNELS 4
|
||||
#define PPM_MAX_CHANNELS 12
|
||||
|
||||
/*
|
||||
* Public decoder state
|
||||
*/
|
||||
uint16_t ppm_buffer[PPM_MAX_CHANNELS];
|
||||
unsigned ppm_decoded_channels;
|
||||
hrt_abstime ppm_last_valid_decode;
|
||||
|
||||
static uint16_t ppm_temp_buffer[PPM_MAX_CHANNELS];
|
||||
|
||||
/* PPM decoder state machine */
|
||||
static struct {
|
||||
uint16_t last_edge; /* last capture time */
|
||||
uint16_t last_mark; /* last significant edge */
|
||||
unsigned next_channel;
|
||||
unsigned count_max;
|
||||
enum {
|
||||
UNSYNCH = 0,
|
||||
ARM,
|
||||
ACTIVE,
|
||||
INACTIVE
|
||||
} phase;
|
||||
} ppm;
|
||||
|
||||
|
||||
void
|
||||
ppm_input_init(unsigned count_max)
|
||||
{
|
||||
ppm_decoded_channels = 0;
|
||||
ppm_last_valid_decode = 0;
|
||||
|
||||
memset(&ppm, 0, sizeof(ppm));
|
||||
ppm.count_max = count_max;
|
||||
}
|
||||
|
||||
void
|
||||
ppm_input_decode(bool reset, unsigned count)
|
||||
{
|
||||
uint16_t width;
|
||||
uint16_t interval;
|
||||
unsigned i;
|
||||
|
||||
/* if we missed an edge, we have to give up */
|
||||
if (reset)
|
||||
goto error;
|
||||
|
||||
/* how long since the last edge? */
|
||||
width = count - ppm.last_edge;
|
||||
if (count < ppm.last_edge)
|
||||
width += ppm.count_max; /* handle wrapped count */
|
||||
ppm.last_edge = count;
|
||||
|
||||
/*
|
||||
* If this looks like a start pulse, then push the last set of values
|
||||
* and reset the state machine.
|
||||
*
|
||||
* Note that this is not a "high performance" design; it implies a whole
|
||||
* frame of latency between the pulses being received and their being
|
||||
* considered valid.
|
||||
*/
|
||||
if (width >= PPM_MIN_START) {
|
||||
|
||||
/*
|
||||
* If the number of channels changes unexpectedly, we don't want
|
||||
* to just immediately jump on the new count as it may be a result
|
||||
* of noise or dropped edges. Instead, take a few frames to settle.
|
||||
*/
|
||||
if (ppm.next_channel != ppm_decoded_channels) {
|
||||
static unsigned new_channel_count;
|
||||
static unsigned new_channel_holdoff;
|
||||
|
||||
if (new_channel_count != ppm.next_channel) {
|
||||
/* start the lock counter for the new channel count */
|
||||
new_channel_count = ppm.next_channel;
|
||||
new_channel_holdoff = PPM_CHANNEL_LOCK;
|
||||
|
||||
} else if (new_channel_holdoff > 0) {
|
||||
/* this frame matched the last one, decrement the lock counter */
|
||||
new_channel_holdoff--;
|
||||
|
||||
} else {
|
||||
/* we have seen PPM_CHANNEL_LOCK frames with the new count, accept it */
|
||||
ppm_decoded_channels = new_channel_count;
|
||||
new_channel_count = 0;
|
||||
}
|
||||
} else {
|
||||
/* frame channel count matches expected, let's use it */
|
||||
if (ppm.next_channel > PPM_MIN_CHANNELS) {
|
||||
for (i = 0; i < ppm.next_channel; i++)
|
||||
ppm_buffer[i] = ppm_temp_buffer[i];
|
||||
ppm_last_valid_decode = hrt_absolute_time();
|
||||
}
|
||||
}
|
||||
|
||||
/* reset for the next frame */
|
||||
ppm.next_channel = 0;
|
||||
|
||||
/* next edge is the reference for the first channel */
|
||||
ppm.phase = ARM;
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
switch (ppm.phase) {
|
||||
case UNSYNCH:
|
||||
/* we are waiting for a start pulse - nothing useful to do here */
|
||||
return;
|
||||
|
||||
case ARM:
|
||||
/* we expect a pulse giving us the first mark */
|
||||
if (width > PPM_MAX_PULSE_WIDTH)
|
||||
goto error; /* pulse was too long */
|
||||
|
||||
/* record the mark timing, expect an inactive edge */
|
||||
ppm.last_mark = count;
|
||||
ppm.phase = INACTIVE;
|
||||
return;
|
||||
|
||||
case INACTIVE:
|
||||
/* this edge is not interesting, but now we are ready for the next mark */
|
||||
ppm.phase = ACTIVE;
|
||||
|
||||
/* note that we don't bother looking at the timing of this edge */
|
||||
|
||||
return;
|
||||
|
||||
case ACTIVE:
|
||||
/* we expect a well-formed pulse */
|
||||
if (width > PPM_MAX_PULSE_WIDTH)
|
||||
goto error; /* pulse was too long */
|
||||
|
||||
/* determine the interval from the last mark */
|
||||
interval = count - ppm.last_mark;
|
||||
ppm.last_mark = count;
|
||||
|
||||
/* if the mark-mark timing is out of bounds, abandon the frame */
|
||||
if ((interval < PPM_MIN_CHANNEL_VALUE) || (interval > PPM_MAX_CHANNEL_VALUE))
|
||||
goto error;
|
||||
|
||||
/* if we have room to store the value, do so */
|
||||
if (ppm.next_channel < PPM_MAX_CHANNELS)
|
||||
ppm_temp_buffer[ppm.next_channel++] = interval;
|
||||
|
||||
ppm.phase = INACTIVE;
|
||||
return;
|
||||
|
||||
}
|
||||
|
||||
/* the state machine is corrupted; reset it */
|
||||
|
||||
error:
|
||||
/* we don't like the state of the decoder, reset it and try again */
|
||||
ppm.phase = UNSYNCH;
|
||||
ppm_decoded_channels = 0;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,80 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 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 ppm_decode.h
|
||||
*
|
||||
* PPM input decoder.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
/**
|
||||
* Maximum number of channels that we will decode.
|
||||
*/
|
||||
#define PPM_MAX_CHANNELS 12
|
||||
|
||||
__BEGIN_DECLS
|
||||
|
||||
/*
|
||||
* PPM decoder state
|
||||
*/
|
||||
__EXPORT extern uint16_t ppm_buffer[]; /**< decoded PPM channel values */
|
||||
__EXPORT extern unsigned ppm_decoded_channels; /**< count of decoded channels */
|
||||
__EXPORT extern hrt_abstime ppm_last_valid_decode; /**< timestamp of the last valid decode */
|
||||
|
||||
/**
|
||||
* Initialise the PPM input decoder.
|
||||
*
|
||||
* @param count_max The maximum value of the counter passed to
|
||||
* ppm_input_decode, used to determine how to
|
||||
* handle counter wrap.
|
||||
*/
|
||||
__EXPORT void ppm_input_init(unsigned count_max);
|
||||
|
||||
/**
|
||||
* Inform the decoder of an edge on the PPM input.
|
||||
*
|
||||
* This function can be registered with the HRT as the PPM edge handler.
|
||||
*
|
||||
* @param reset If set, the edge detector has missed one or
|
||||
* more edges and the decoder needs to be reset.
|
||||
* @param count A microsecond timestamp corresponding to the
|
||||
* edge, in the range 0-count_max. This value
|
||||
* is expected to wrap.
|
||||
*/
|
||||
__EXPORT void ppm_input_decode(bool reset, unsigned count);
|
||||
|
||||
__END_DECLS
|
||||
Reference in New Issue
Block a user