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45 lines
1.2 KiB
45 lines
1.2 KiB
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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 8 |
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#define 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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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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struct ring_buffer { |
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volatile uint16_t ring_head; |
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volatile uint16_t ring_tail; |
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struct __attribute__((__packed__)) { |
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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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}; |
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#endif // __AP_HAL_LINUX_RCINPUT_H__
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