ardupilot/libraries/AP_HAL_Linux/RCInput_RPI.h

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#pragma once
#include "AP_HAL_Linux.h"
#include "RCInput.h"
#include <signal.h>
#include <pthread.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <errno.h>
#include <stdarg.h>
#include <stdint.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/mman.h>
#include <assert.h>
#include <queue>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
#define RCIN_RPI_CHN_NUM 8
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OBAL_V1
#define RCIN_RPI_CHN_NUM 8
#else
#define RCIN_RPI_CHN_NUM 1
#endif
namespace Linux {
enum state_t{
RCIN_RPI_INITIAL_STATE = -1,
RCIN_RPI_ZERO_STATE = 0,
RCIN_RPI_ONE_STATE = 1
};
//Memory table structure
typedef struct {
void **virt_pages;
void **phys_pages;
uint32_t page_count;
} memory_table_t;
//DMA control block structure
typedef struct {
uint32_t info, src, dst, length,
stride, next, pad[2];
} dma_cb_t;
class Memory_table {
// Allow RCInput_RPI access to private members of Memory_table
friend class RCInput_RPI;
private:
void** _virt_pages;
void** _phys_pages;
uint32_t _page_count;
public:
Memory_table();
Memory_table(uint32_t, int);
~Memory_table();
//Get virtual address from the corresponding physical address from memory_table.
void* get_virt_addr(const uint32_t phys_addr) const;
// This function returns physical address with help of pointer, which is offset from the beginning of the buffer.
void* get_page(void **pages, const uint32_t addr) const;
// This function returns offset from the beginning of the buffer using (virtual) address in 'pages' and memory_table.
uint32_t get_offset(void **pages, const uint32_t addr) const;
//How many bytes are available for reading in circle buffer?
uint32_t bytes_available(const uint32_t read_addr, const uint32_t write_addr) const;
uint32_t get_page_count() const;
};
class RCInput_RPI : public RCInput
{
public:
void init() override;
void _timer_tick(void) override;
RCInput_RPI();
~RCInput_RPI();
private:
//Physical adresses of peripherals. Are different on different Raspberries.
uint32_t dma_base;
uint32_t clk_base;
uint32_t pcm_base;
//registers
static volatile uint32_t *pcm_reg;
static volatile uint32_t *clk_reg;
static volatile uint32_t *dma_reg;
Memory_table *circle_buffer;
Memory_table *con_blocks;
uint64_t curr_tick;
uint32_t curr_tick_inc;
uint32_t curr_pointer;
uint32_t curr_channel;
struct RcChannel {
RcChannel() :
prev_tick(0), delta_time(0),
width_s0(0), width_s1(0),
curr_signal(0), last_signal(0),
enable_pin(0), state(RCIN_RPI_INITIAL_STATE)
{}
uint64_t prev_tick;
uint64_t delta_time;
uint16_t width_s0;
uint16_t width_s1;
uint8_t curr_signal;
uint8_t last_signal;
state_t state;
AP_HAL::DigitalSource *enable_pin;
} rc_channels[RCIN_RPI_CHN_NUM];
bool _initialized = false;
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int _version =0;
void init_dma_cb(dma_cb_t** cbp, uint32_t mode, uint32_t source, uint32_t dest, uint32_t length, uint32_t stride, uint32_t next_cb);
void* map_peripheral(uint32_t base, uint32_t len);
void init_registers();
void init_ctrl_data();
void init_PCM();
void init_DMA();
void init_buffer();
static void stop_dma();
static void termination_handler(int signum);
void set_sigaction();
void set_physical_addresses();
void teardown() override;
};
}