Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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trigger_ext_hw.c
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1 /*
2  * Copyright (C) 2010 Martin Mueller
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
23 
24 #include "core/trigger_ext_hw.h"
25 #include "std.h"
26 #include "mcu_periph/sys_time.h"
27 #include "LPC21xx.h"
28 #include BOARD_CONFIG
29 
30 void TRIG_ISR() {
31  static uint32_t last;
32  uint32_t delta_t0_temp;
34  delta_t0_temp = trigger_t0 - last;
35  if (msec_of_cpu_ticks(delta_t0_temp) > 10) {
36  trigger_delta_t0 = delta_t0_temp;
37  last = trigger_t0;
39  }
40 }
41 
42 void trigger_ext_init ( void ) {
43  /* select pin for capture */
45  /* enable capture 0.2 on falling or rising edge + trigger interrupt */
46 #if defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_RISING
48 #elif defined TRIG_EXT_PULSE_TYPE && TRIG_EXT_PULSE_TYPE == TRIG_EXT_PULSE_TYPE_FALLING
50 #else
51 #error "trig_ext_hw.h: Unknown PULSE_TYPE"
52 #endif
54 }
55 
static uint32_t msec_of_cpu_ticks(uint32_t cpu_ticks)
Definition: sys_time.h:176
#define T0CCR
Definition: LPC21xx.h:60
#define TRIG_EXT_PINSEL
#define TRIGGER_CR
volatile bool_t trigger_ext_valid
Definition: trigger_ext.c:35
#define FALSE
Definition: imu_chimu.h:141
Architecture independent timing functions.
unsigned long uint32_t
Definition: types.h:18
#define TRIGGER_CRR
#define TRIGGER_CRI
#define TRUE
Definition: imu_chimu.h:144
#define TRIG_EXT_PINSEL_VAL
void TRIG_ISR()
#define TRIGGER_CRF
void trigger_ext_init(void)
uint32_t trigger_delta_t0
Definition: trigger_ext.c:34
uint32_t trigger_t0
Definition: trig_ext_hw.c:8
#define TRIG_EXT_PINSEL_BIT