ardupilot/libraries/AP_HAL_Linux/RCInput_ZYNQ.h

34 lines
695 B
C++

#pragma once
/*
This class implements RCInput on the ZYNQ / ZyboPilot platform with custom
logic doing the edge detection of the PPM sum input
*/
#include "RCInput.h"
namespace Linux {
class RCInput_ZYNQ : public RCInput {
public:
void init();
void _timer_tick(void);
private:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
static const int TICK_PER_US=50;
static const int TICK_PER_S=50000000;
#else
static const int TICK_PER_US=100;
static const int TICK_PER_S=100000000;
#endif
// Memory mapped keyhole register to pulse input FIFO
volatile uint32_t *pulse_input;
// time spent in the low state
uint32_t _s0_time;
};
}