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32 lines
762 B
32 lines
762 B
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#ifndef __AP_HAL_LINUX_RCINPUT_ZYNQ_H__ |
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#define __AP_HAL_LINUX_RCINPUT_ZYNQ_H__ |
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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::LinuxRCInput_ZYNQ : public Linux::LinuxRCInput |
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{ |
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public: |
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void init(void*); |
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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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#endif // __AP_HAL_LINUX_RCINPUT_ZYNQ_H__
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