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