ardupilot/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h

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2014-11-13 23:10:35 -04:00
#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_ZYNQ_PWMS 8 /* number of pwm channels */
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#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_ZYNQ_PWMS];
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};
volatile struct pwm_cmd *sharedMem_cmd;
};
#endif // __AP_HAL_LINUX_RCOUTPUT_ZYNQ_H__