commit 7f5f1442df1c60802803659d615707b02119ec45
author Brian Silverman <bsilver16384@gmail.com> Fri Apr 06 13:00:50 2018 -0400
committer Brian Silverman <bsilver16384@gmail.com> Fri Apr 06 13:00:50 2018 -0400
tree 2c02b2d7bb7f94d1deb76e68b457688beb92b7ea
parent 72656c424070e2e89e77680390df161f8549a0e5

Add a 6th PWM input

Change-Id: I668a870c3ab26dd5804df8e2e1c7482f9fa1b588

motors/simple_receiver.cc

diff --git a/motors/simple_receiver.cc b/motors/simple_receiver.cc
index 322cc06..910d2ae 100644
--- a/motors/simple_receiver.cc
+++ b/motors/simple_receiver.cc
@@ -63,9 +63,9 @@
 ::std::atomic<Spring *> global_spring{nullptr};
 
 // Last width we received on each channel.
-uint16_t pwm_input_widths[5];
+uint16_t pwm_input_widths[6];
 // When we received a pulse on each channel in milliseconds.
-uint32_t pwm_input_times[5];
+uint32_t pwm_input_times[6];
 
 constexpr int kChannelTimeout = 100;
 
@@ -440,6 +440,12 @@
       pwm_input_widths[3] = (end - start) & 0xFFFF;
       pwm_input_times[3] = millis();
     }
+    if (status & (1 << 7)) {
+      const uint32_t start = FTM3->C6V;
+      const uint32_t end = FTM3->C7V;
+      pwm_input_widths[5] = (end - start) & 0xFFFF;
+      pwm_input_times[5] = millis();
+    }
 
     FTM3->STATUS = 0;
   }
@@ -666,6 +672,10 @@
   // FTM0_CH2
   PORTC_PCR3 = PORT_PCR_MUX(4);
 
+  // PWM_IN5
+  // FTM3_CH6
+  PORTC_PCR10 = PORT_PCR_MUX(3);
+
   // SPI0
   // ACC_CS PCS0
   PORTA_PCR14 = PORT_PCR_DSE | PORT_PCR_MUX(2);