ardupilot/Tools/Linux_HAL_Essentials/pru/pwmpru/prucomm.h

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/*
* prucomm.h - structure definitions for communication
*
*/
#pragma once
#include "pru_defs.h"
struct pwm_config {
u32 hi_cycles;
u32 hi_err;
u32 lo_cycles;
u32 lo_err;
};
/* maximum (PRU0 + PRU1) */
#define MAX_PWMS 12
/* mask of the possibly enabled PWMs (due to h/w) */
/* 14, 15 are not routed out for PRU1 */
#define PWM_EN_MASK ( \
BIT( 0)|BIT( 1)|BIT( 2)|BIT( 3)|BIT( 4)|BIT( 5)|BIT( 6)|BIT( 7)| \
BIT( 8)|BIT( 9)|BIT(10)|BIT(11)|BIT(12) \
)
#define MIN_PWM_PULSE PRU_us(4)
struct pwm_multi_config {
u32 enmask; /* enable mask */
u32 offmsk; /* state when pwm is off */
u32 hilo[MAX_PWMS][2];
};
#define PWM_CMD_MAGIC 0xf00fbaaf
#define PWM_REPLY_MAGIC 0xbaaff00f
#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 */
struct pwm_cmd {
u32 magic;
u32 enmask; /* enable mask */
u32 offmsk; /* state when pwm is off */
u32 periodhi[MAX_PWMS][2];
u32 hilo_read[MAX_PWMS][2];
u32 enmask_read;
};
struct pwm_cmd_l{
u32 enmask;
u32 offmsk;
u32 hilo[MAX_PWMS][2];
};
struct cxt {
u32 cnt;
u32 next;
u32 enmask;
u32 stmask;
u32 setmsk;
u32 clrmsk;
u32 deltamin;
u32 *next_hi_lo;
};
/* the command is at the start of shared DPRAM */
#define PWM_CMD ((volatile struct pwm_cmd *)DPRAM_SHARED)