void eicu_cb(EICUDriver *eicup, eicuchannel_t channel, uint32_t w, uint32_t p) {
(void)eicup;
(void)p;
switch (channel) {
case EICU_CHANNEL_1:
if (abs((int32_t)w - (int32_t)ST2US(pulse_led3.high)) > tolerance)
osalSysHalt("ch1");
break;
case EICU_CHANNEL_2:
if (abs((int32_t)w - (int32_t)ST2US(pulse_led4.high)) > tolerance)
osalSysHalt("ch2");
break;
case EICU_CHANNEL_3:
if (abs((int32_t)w - (int32_t)ST2US(pulse_led5.high)) > tolerance)
osalSysHalt("ch3");
break;
case EICU_CHANNEL_4:
if (abs((int32_t)w - (int32_t)ST2US(pulse_led6.high)) > tolerance)
osalSysHalt("ch4");
break;
default:
osalSysHalt("unhandled case");
break;
}
}
uint64_t hrt_micros()
{
static volatile uint64_t last_micros;
/*
use chSysGetStatusAndLockX() to prevent an interrupt while
allowing this call from any context
*/
syssts_t sts = chSysGetStatusAndLockX();
uint64_t micros;
micros = timer_base + (uint64_t)chVTGetSystemTimeX();
// we are doing this to avoid an additional interupt routing
// since we are definitely going to get called atleast once in
// a full timer period
if (last_micros > micros) {
const uint64_t step = ST2US(1ULL<<CH_CFG_ST_RESOLUTION);
timer_base += step;
micros += step;
}
last_micros = micros;
chSysRestoreStatusX(sts);
return micros;
}