watchrobot/libraries/AP_HAL_Linux/RCInput_PRU.h

#pragma once

/*
  This class implements RCInput on the BeagleBoneBlack with a PRU
  doing the edge detection of the PPM sum input
 */

#include "RCInput.h"

// we use 300 ring buffer entries to guarantee that a full 25 byte
// frame of 12 bits per byte

namespace Linux {

class RCInput_PRU : public RCInput {
public:
    void init() override;
    void _timer_tick(void) override;

 private:
    static const unsigned int NUM_RING_ENTRIES=300;
    // shared ring buffer with the PRU which records pin transitions
    struct ring_buffer {
        volatile uint16_t ring_head; // owned by ARM CPU
        volatile uint16_t ring_tail; // owned by the PRU
        struct {
               uint16_t pin_value;
               uint16_t delta_t;
        } buffer[NUM_RING_ENTRIES];
    };
    volatile struct ring_buffer *ring_buffer;

    // time spent in the low state
    uint16_t _s0_time;
};

}