ardupilot/libraries/AP_HAL_Linux/RCInput_PRU.h
Gustavo Jose de Sousa 7ac51f60d0 AP_HAL_Linux: standardize inclusion of libaries headers
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
2015-08-19 20:42:40 +09:00

40 lines
1.0 KiB
C++

#ifndef __AP_HAL_LINUX_RCINPUT_PRU_H__
#define __AP_HAL_LINUX_RCINPUT_PRU_H__
/*
This class implements RCInput on the BeagleBoneBlack with a PRU
doing the edge detection of the PPM sum input
*/
#include "AP_HAL_Linux.h"
#define RCIN_PRUSS_SHAREDRAM_BASE 0x4a312000
// we use 300 ring buffer entries to guarantee that a full 25 byte
// frame of 12 bits per byte
class Linux::LinuxRCInput_PRU : public Linux::LinuxRCInput
{
public:
void init(void*);
void _timer_tick(void);
private:
static const unsigned int NUM_RING_ENTRIES=300;
// shared ring buffer with the PRU which records pin transitions
struct ring_buffer {
volatile uint16_t ring_head; // owned by ARM CPU
volatile uint16_t ring_tail; // owned by the PRU
struct {
uint16_t pin_value;
uint16_t delta_t;
} buffer[NUM_RING_ENTRIES];
};
volatile struct ring_buffer *ring_buffer;
// time spent in the low state
uint16_t _s0_time;
};
#endif // __AP_HAL_LINUX_RCINPUT_PRU_H__