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-/*

-    ChibiOS/RT - Copyright (C) 2006,2007,2008,2009,2010,

-                 2011,2012,2013 Giovanni Di Sirio.

-

-    This file is part of ChibiOS/RT.

-

-    ChibiOS/RT is free software; you can redistribute it and/or modify

-    it under the terms of the GNU General Public License as published by

-    the Free Software Foundation; either version 3 of the License, or

-    (at your option) any later version.

-

-    ChibiOS/RT is distributed in the hope that it will be useful,

-    but WITHOUT ANY WARRANTY; without even the implied warranty of

-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

-    GNU General Public License for more details.

-

-    You should have received a copy of the GNU General Public License

-    along with this program.  If not, see <http://www.gnu.org/licenses/>.

-*/

-

-/**

- * @defgroup ICU ICU Driver

- * @brief   Generic ICU Driver.

- * @details This module implements a generic ICU (Input Capture Unit) driver.

- * @pre     In order to use the ICU driver the @p HAL_USE_ICU option

- *          must be enabled in @p halconf.h.

- *

- * @section icu_1 Driver State Machine

- * The driver implements a state machine internally, not all the driver

- * functionalities can be used in any moment, any transition not explicitly

- * shown in the following diagram has to be considered an error and shall

- * be captured by an assertion (if enabled).

- * @if LATEX_PDF

- * @dot

-  digraph example {

-    size="5, 7";

-    rankdir="LR";

-

-    node [shape=circle, fontname=Sans, fontsize=8, fixedsize="true", width="0.9", height="0.9"];

-    edge [fontname=Sans, fontsize=8];

-

-    stop  [label="ICU_STOP\nLow Power"];

-    uninit [label="ICU_UNINIT", style="bold"];

-    ready [label="ICU_READY\nClock Enabled"];

-    waiting [label="ICU_WAITING"];

-    active [label="ICU_ACTIVE"];

-    idle [label="ICU_IDLE"];

-

-    uninit -> stop [label=" icuInit()", constraint=false];

-    stop -> stop [label="\nicuStop()"];

-    stop -> ready [label="\nicuStart()"];

-    ready -> stop [label="\nicuStop()"];

-    ready -> ready [label="\nicuStart()\nicuDisable()"];

-    ready -> waiting [label="\nicuEnable()"];

-    waiting -> active [label="\nStart Front"];

-    waiting -> ready [label="\nicuDisable()"];

-    active -> idle [label="\nStop Front\n>width_cb<"];

-    active -> ready [label="\nicuDisable()\nicuDisableI()"];

-    idle -> active [label="\nStart Front\n>period_cb<"];

-    idle -> ready [label="\nicuDisable()\nicuDisableI()"];

-  }

- * @enddot

- * @else

- * @dot

-  digraph example {

-    rankdir="LR";

-

-    node [shape=circle, fontname=Sans, fontsize=8, fixedsize="true", width="0.9", height="0.9"];

-    edge [fontname=Sans, fontsize=8];

-

-    stop  [label="ICU_STOP\nLow Power"];

-    uninit [label="ICU_UNINIT", style="bold"];

-    ready [label="ICU_READY\nClock Enabled"];

-    waiting [label="ICU_WAITING"];

-    active [label="ICU_ACTIVE"];

-    idle [label="ICU_IDLE"];

-

-    uninit -> stop [label=" icuInit()", constraint=false];

-    stop -> stop [label="\nicuStop()"];

-    stop -> ready [label="\nicuStart()"];

-    ready -> stop [label="\nicuStop()"];

-    ready -> ready [label="\nicuStart()\nicuDisable()"];

-    ready -> waiting [label="\nicuEnable()"];

-    waiting -> active [label="\nStart Front"];

-    waiting -> ready [label="\nicuDisable()"];

-    active -> idle [label="\nStop Front\n>width_cb<"];

-    active -> ready [label="\nicuDisable()\nicuDisableI()"];

-    idle -> active [label="\nStart Front\n>period_cb<"];

-    idle -> ready [label="\nicuDisable()\nicuDisableI()"];

-  }

- * @enddot

- * @endif

- *

- * @section icu_2 ICU Operations.

- * This driver abstracts a generic Input Capture Unit composed of:

- * - A clock prescaler.

- * - A main up counter.

- * - Two capture registers triggered by the rising and falling edges on

- *   the sampled input.

- * .

- * The ICU unit can be programmed to synchronize on the rising or falling

- * edge of the sample input:

- * - <b>ICU_INPUT_ACTIVE_HIGH</b>, a rising edge is the start signal.

- * - <b>ICU_INPUT_ACTIVE_LOW</b>, a falling edge is the start signal.

- * .

- * After the activation the ICU unit can be in one of the following

- * states at any time:

- * - <b>ICU_WAITING</b>, waiting the first start signal.

- * - <b>ICU_ACTIVE</b>, after a start signal.

- * - <b>ICU_IDLE</b>, after a stop signal.

- * .

- * Callbacks are invoked when start or stop signals occur.

- *

- * @ingroup IO

- */