55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
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#ifndef __AP_HAL_LINUX_RCINPUT_H__
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#define __AP_HAL_LINUX_RCINPUT_H__
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#include <AP_HAL_Linux.h>
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#define LINUX_RC_INPUT_NUM_CHANNELS 16
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#define RCIN_PRUSS_SHAREDRAM_BASE 0x4a312000
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#define NUM_RING_ENTRIES 200
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class Linux::LinuxRCInput : public AP_HAL::RCInput {
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public:
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LinuxRCInput();
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void init(void* machtnichts);
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bool new_input();
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uint8_t num_channels();
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uint16_t read(uint8_t ch);
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uint8_t read(uint16_t* periods, uint8_t len);
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bool set_overrides(int16_t *overrides, uint8_t len);
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bool set_override(uint8_t channel, int16_t override);
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void clear_overrides();
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void _timer_tick(void);
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private:
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volatile bool new_rc_input;
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uint16_t _pulse_capt[LINUX_RC_INPUT_NUM_CHANNELS];
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uint8_t _num_channels;
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/* override state */
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uint16_t _override[LINUX_RC_INPUT_NUM_CHANNELS];
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// shared ring buffer with the PRU which records pin transitions
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struct ring_buffer {
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volatile uint16_t ring_head; // owned by ARM CPU
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volatile uint16_t ring_tail; // owned by the PRU
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struct {
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uint16_t pin_value;
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uint16_t delta_t;
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} buffer[NUM_RING_ENTRIES];
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};
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volatile struct ring_buffer *ring_buffer;
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// the channel we will receive input from next, or -1 when not synchronised
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int8_t _channel_counter;
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// time spent in the low state
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uint16_t _s0_time;
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void _process_pulse(uint16_t width_usec);
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};
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#endif // __AP_HAL_LINUX_RCINPUT_H__
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