/*
    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

/**
 * @defgroup ICU ICU Driver
 * @brief   Generic ICU Driver.
 * @details This module implements a generic ICU (Input Capture Unit) driver.
 *          The purpose of the driver is to measure period and duty cycle of
 *          an input digital signal (PWM input).
 * @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"];

    uninit -> stop [label=" icuInit()", constraint=false];
    stop -> stop [label="\nicuStop()"];
    stop -> ready [label="\nicuStart()"];
    ready -> stop [label="\nicuStop()"];
    ready -> ready [label="\nicuStart()\nicuStopCapture()"];
    ready -> waiting [label="\nicuStartCapture()"];
    waiting -> active [label="\nFirst Activation Edge\nicuWaitCapture()"];
    waiting -> ready [label="\nicuStopCapture()"];
    active -> ready [label="\nicuStopCapture()"];
    active -> active [label="\nActivation Edge\n>period_cb<"];
    active -> active [label="\nDe-activation Edge\n>width_cb<"];
  }
 * @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"];

    uninit -> stop [label=" icuInit()", constraint=false];
    stop -> stop [label="\nicuStop()"];
    stop -> ready [label="\nicuStart()"];
    ready -> stop [label="\nicuStop()"];
    ready -> ready [label="\nicuStart()\nicuStopCapture()"];
    ready -> waiting [label="\nicuStartCapture()"];
    waiting -> active [label="\nFirst Activation Edge\nicuWaitCapture()"];
    waiting -> ready [label="\nicuStopCapture()"];
    active -> ready [label="\nicuStopCapture()"];
    active -> active [label="\nActivation Edge\n>period_cb<"];
    active -> active [label="\nDe-activation Edge\n>width_cb<"];
  }
 * @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.
 * .
 * Callbacks are optionally invoked when:
 * - On the PWM de-activation edge.
 * - On the PWM activation edge, measurements for the previous cycle are
 *   available from this callback and can be retrieved using
 *   @p icuGetPeriodX() and @p icuGetWidthX().
 * .
 * @ingroup HAL_NORMAL_DRIVERS
 */