ardupilot/libraries/AP_HAL_Linux/RCOutput_Raspilot.cpp

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#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#include "RCOutput_Raspilot.h"
#include <cmath>
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#include <dirent.h>
#include <fcntl.h>
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#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <unistd.h>
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#include "px4io_protocol.h"
#include "GPIO.h"
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using namespace Linux;
#define PWM_CHAN_COUNT 8
static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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void RCOutput_Raspilot::init()
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{
_dev = hal.spi->get_device("raspio");
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&RCOutput_Raspilot::_update, void));
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}
void RCOutput_Raspilot::set_freq(uint32_t chmask, uint16_t freq_hz)
{
if (!_dev->get_semaphore()->take(10)) {
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return;
}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
uint16_t count = 1;
_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
_dma_packet_tx.page = 50;
_dma_packet_tx.offset = 3;
_dma_packet_tx.regs[0] = freq_hz;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
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_frequency = freq_hz;
_dev->get_semaphore()->give();
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}
uint16_t RCOutput_Raspilot::get_freq(uint8_t ch)
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{
return _frequency;
}
void RCOutput_Raspilot::enable_ch(uint8_t ch)
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{
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}
void RCOutput_Raspilot::disable_ch(uint8_t ch)
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{
write(ch, 0);
}
void RCOutput_Raspilot::write(uint8_t ch, uint16_t period_us)
{
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if(ch >= PWM_CHAN_COUNT){
return;
}
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_period_us[ch] = period_us;
}
uint16_t RCOutput_Raspilot::read(uint8_t ch)
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{
if(ch >= PWM_CHAN_COUNT){
return 0;
}
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return _period_us[ch];
}
void RCOutput_Raspilot::read(uint16_t* period_us, uint8_t len)
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{
for (int i = 0; i < len; i++)
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period_us[i] = read(0 + i);
}
void RCOutput_Raspilot::_update(void)
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{
int i;
if (_corked || AP_HAL::micros() - _last_update_timestamp < 10000) {
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return;
}
_last_update_timestamp = AP_HAL::micros();
if (!_dev->get_semaphore()->take_nonblocking()) {
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return;
}
struct IOPacket _dma_packet_tx, _dma_packet_rx;
uint16_t count = 1;
_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
_dma_packet_tx.page = 50;
_dma_packet_tx.offset = 1;
_dma_packet_tx.regs[0] = 75;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
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count = 1;
_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
_dma_packet_tx.page = 50;
_dma_packet_tx.offset = 12;
_dma_packet_tx.regs[0] = 0x560B;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
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count = PWM_CHAN_COUNT;
_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
_dma_packet_tx.page = 54;
_dma_packet_tx.offset = 0;
for (i=0; i<PWM_CHAN_COUNT; i++) {
_dma_packet_tx.regs[i] = _period_us[i];
}
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_dev->transfer((uint8_t *)&_dma_packet_tx, sizeof(_dma_packet_tx),
(uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_rx));
_dev->get_semaphore()->give();
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}
void RCOutput_Raspilot::cork(void)
{
_corked = true;
}
void RCOutput_Raspilot::push(void)
{
_corked = false;
}
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#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT