commit 8e5950d2e4311f9ca3ec07f831bdcd39bd420e7f
author Austin Schuh <austin.linux@gmail.com> Wed Mar 21 20:29:40 2018 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 21 21:26:28 2018 -0700
tree 31b159a30f1865ac5ba141b9862d3b0e48c8b4be
parent 17e484ec90eb95db8b53daa25f37c6ed26b1a6d6

Add DMA lidar lite reader.

Change-Id: I8195ff2331029adcdb961b9925f43471cc6b08f9

frc971/wpilib/dma_edge_counting.cc

diff --git a/frc971/wpilib/dma_edge_counting.cc b/frc971/wpilib/dma_edge_counting.cc
index 4cf4440..8ea3071 100644
--- a/frc971/wpilib/dma_edge_counting.cc
+++ b/frc971/wpilib/dma_edge_counting.cc
@@ -24,6 +24,14 @@
   }
 }
 
+void DMAPulseWidthReader::UpdateFromSample(const DMASample &sample) {
+  if (have_prev_sample_ && prev_sample_.Get(input_) && !sample.Get(input_)) {
+    last_width_ = sample.GetTimestamp() - prev_sample_.GetTimestamp();
+  }
+  have_prev_sample_ = true;
+  prev_sample_ = sample;
+}
+
 void DMASynchronizer::CheckDMA() {
   DMASample current_sample;
 
@@ -45,6 +53,7 @@
           }
           return;
         }
+        break;
       case DMA::STATUS_TIMEOUT:
         return;
       case DMA::STATUS_ERROR: