diff --git a/libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp b/libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..eb3938c5791a70ea3d5e1e37b4f45f0b424ef9b1
--- /dev/null
+++ b/libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp
@@ -0,0 +1,54 @@
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+#include <stdio.h>
+#include <sys/time.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <errno.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <sys/mman.h>
+#include <sys/stat.h>
+#include <stdint.h>
+
+#include "GPIO.h"
+#include "RCInput.h"
+
+extern const AP_HAL::HAL& hal;
+
+using namespace Linux;
+
+void LinuxRCInput_ZYNQ::init(void*)
+{
+ int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
+ if (mem_fd == -1) {
+ hal.scheduler->panic("Unable to open /dev/mem");
+ }
+ pulse_input = (volatile uint32_t*) mmap(0, 0x1000, PROT_READ|PROT_WRITE,
+ MAP_SHARED, mem_fd, RCIN_ZYNQ_PULSE_INPUT_BASE);
+ close(mem_fd);
+
+ _s0_time = 0;
+}
+
+/*
+ called at 1kHz to check for new pulse capture data from the PL pulse timer
+ */
+void LinuxRCInput_ZYNQ::_timer_tick()
+{
+ uint32_t v;
+
+ // all F's means no samples available
+ while((v = *pulse_input) != 0xffffffff) {
+ // Hi bit indicates pin state, low bits denote pulse length
+ if(!(v & 0x80000000))
+ _s0_time = (v & 0x7fffffff)/TICK_PER_US;
+ else
+ _process_rc_pulse(_s0_time, (v & 0x7fffffff)/TICK_PER_US);
+ }
+}
+
+#endif // CONFIG_HAL_BOARD
diff --git a/libraries/AP_HAL_Linux/RCInput_ZYNQ.h b/libraries/AP_HAL_Linux/RCInput_ZYNQ.h
new file mode 100644
index 0000000000000000000000000000000000000000..198dc0b3aca11d89839761b7c095ba2b8c57cffb
--- /dev/null
+++ b/libraries/AP_HAL_Linux/RCInput_ZYNQ.h
@@ -0,0 +1,32 @@
+
+#ifndef __AP_HAL_LINUX_RCINPUT_ZYNQ_H__
+#define __AP_HAL_LINUX_RCINPUT_ZYNQ_H__
+
+/*
+ This class implements RCInput on the ZYNQ / ZyboPilot platform with custom
+ logic doing the edge detection of the PPM sum input
+ */
+
+#include <AP_HAL_Linux.h>
+
+// FIXME A puppie dies when you hard code an address
+#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43c10000
+
+class Linux::LinuxRCInput_ZYNQ : public Linux::LinuxRCInput
+{
+public:
+ void init(void*);
+ void _timer_tick(void);
+
+ private:
+ static const int TICK_PER_US=100;
+ static const int TICK_PER_S=100000000;
+
+ // Memory mapped keyhole register to pulse input FIFO
+ volatile uint32_t *pulse_input;
+
+ // time spent in the low state
+ uint32_t _s0_time;
+};
+
+#endif // __AP_HAL_LINUX_RCINPUT_ZYNQ_H__
diff --git a/libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp b/libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b66e452658f16ffe493f8c2ef0222c318668ae7c
--- /dev/null
+++ b/libraries/AP_HAL_Linux/RCOutput_ZYNQ.cpp
@@ -0,0 +1,101 @@
+
+#include <AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
+
+#include "RCOutput_ZYNQ.h"
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <dirent.h>
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <sys/ioctl.h>
+#include <linux/spi/spidev.h>
+#include <sys/mman.h>
+#include <signal.h>
+using namespace Linux;
+
+#define PWM_CHAN_COUNT 8 // FIXME
+
+static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
+static void catch_sigbus(int sig)
+{
+ hal.scheduler->panic("RCOutput.cpp:SIGBUS error gernerated\n");
+}
+void LinuxRCOutput_ZYNQ::init(void* machtnicht)
+{
+ uint32_t mem_fd;
+ signal(SIGBUS,catch_sigbus);
+ mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
+ sharedMem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ|PROT_WRITE,
+ MAP_SHARED, mem_fd, RCOUT_ZYNQ_PWM_BASE);
+ close(mem_fd);
+
+ // all outputs default to 50Hz, the top level vehicle code
+ // overrides this when necessary
+ set_freq(0xFFFFFFFF, 50);
+}
+
+void LinuxRCOutput_ZYNQ::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB corresponds to CHAN_1
+{
+ uint8_t i;
+ unsigned long tick=TICK_PER_S/(unsigned long)freq_hz;
+
+ for (i=0;i<PWM_CHAN_COUNT;i++) {
+ if (chmask & (1U<<i)) {
+ sharedMem_cmd->periodhi[i].period=tick;
+ }
+ }
+}
+
+uint16_t LinuxRCOutput_ZYNQ::get_freq(uint8_t ch)
+{
+ return TICK_PER_S/sharedMem_cmd->periodhi[ch].period;;
+}
+
+void LinuxRCOutput_ZYNQ::enable_ch(uint8_t ch)
+{
+ // sharedMem_cmd->enmask |= 1U<<chan_pru_map[ch];
+}
+
+void LinuxRCOutput_ZYNQ::disable_ch(uint8_t ch)
+{
+ // sharedMem_cmd->enmask &= !(1U<<chan_pru_map[ch]);
+}
+
+void LinuxRCOutput_ZYNQ::write(uint8_t ch, uint16_t period_us)
+{
+ sharedMem_cmd->periodhi[ch].hi = TICK_PER_US*period_us;
+}
+
+void LinuxRCOutput_ZYNQ::write(uint8_t ch, uint16_t* period_us, uint8_t len)
+{
+ uint8_t i;
+ if(len>PWM_CHAN_COUNT){
+ len = PWM_CHAN_COUNT;
+ }
+ for(i=0;i<len;i++){
+ write(ch+i,period_us[i]);
+ }
+}
+
+uint16_t LinuxRCOutput_ZYNQ::read(uint8_t ch)
+{
+ return (sharedMem_cmd->periodhi[ch].hi/TICK_PER_US);
+}
+
+void LinuxRCOutput_ZYNQ::read(uint16_t* period_us, uint8_t len)
+{
+ uint8_t i;
+ if(len>PWM_CHAN_COUNT){
+ len = PWM_CHAN_COUNT;
+ }
+ for(i=0;i<len;i++){
+ period_us[i] = sharedMem_cmd->periodhi[i].hi/TICK_PER_US;
+ }
+}
+
+#endif
diff --git a/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h b/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h
new file mode 100644
index 0000000000000000000000000000000000000000..530f2934b35ef51b10b68feef451f9b598ca0cc7
--- /dev/null
+++ b/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h
@@ -0,0 +1,43 @@
+
+#ifndef __AP_HAL_LINUX_RCOUTPUT_ZYNQ_H__
+#define __AP_HAL_LINUX_RCOUTPUT_ZYNQ_H__
+
+#include <AP_HAL_Linux.h>
+#define RCOUT_ZYNQ_PWM_BASE 0x43c00000 //FIXME hardcoding is the devil's work
+#define MAX_PWMS 8 //FIXME
+#define PWM_CMD_CONFIG 0 /* full configuration in one go */
+#define PWM_CMD_ENABLE 1 /* enable a pwm */
+#define PWM_CMD_DISABLE 2 /* disable a pwm */
+#define PWM_CMD_MODIFY 3 /* modify a pwm */
+#define PWM_CMD_SET 4 /* set a pwm output explicitly */
+#define PWM_CMD_CLR 5 /* clr a pwm output explicitly */
+#define PWM_CMD_TEST 6 /* various crap */
+
+
+class Linux::LinuxRCOutput_ZYNQ : public AP_HAL::RCOutput {
+ void init(void* machtnichts);
+ void set_freq(uint32_t chmask, uint16_t freq_hz);
+ uint16_t get_freq(uint8_t ch);
+ void enable_ch(uint8_t ch);
+ void disable_ch(uint8_t ch);
+ void write(uint8_t ch, uint16_t period_us);
+ void write(uint8_t ch, uint16_t* period_us, uint8_t len);
+ uint16_t read(uint8_t ch);
+ void read(uint16_t* period_us, uint8_t len);
+
+private:
+ static const int TICK_PER_US=100;
+ static const int TICK_PER_S=100000000;
+
+ // Period|Hi 32 bits each
+ struct s_period_hi {
+ uint32_t period;
+ uint32_t hi;
+ };
+ struct pwm_cmd {
+ struct s_period_hi periodhi[MAX_PWMS];
+ };
+ volatile struct pwm_cmd *sharedMem_cmd;
+};
+
+#endif // __AP_HAL_LINUX_RCOUTPUT_ZYNQ_H__