ardupilot/libraries/AP_HAL_Linux/RCInput_ZYNQ.h

33 lines
746 B
C++

#ifndef __AP_HAL_LINUX_RCINPUT_ZYNQ_H__
#define __AP_HAL_LINUX_RCINPUT_ZYNQ_H__
/*
This class implements RCInput on the ZYNQ / ZyboPilot platform with custom
logic doing the edge detection of the PPM sum input
*/
#include "AP_HAL_Linux.h"
// FIXME A puppie dies when you hard code an address
#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43c10000
class Linux::RCInput_ZYNQ : public Linux::RCInput
{
public:
void init();
void _timer_tick(void);
private:
static const int TICK_PER_US=100;
static const int TICK_PER_S=100000000;
// Memory mapped keyhole register to pulse input FIFO
volatile uint32_t *pulse_input;
// time spent in the low state
uint32_t _s0_time;
};
#endif // __AP_HAL_LINUX_RCINPUT_ZYNQ_H__