Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_LINUX_RCOutput: Change to reading hilo_read instead of periodhi 

use uint instead of int
This commit is contained in:
bugobliterator 2014-07-08 08:28:14 +05:30 committed by Andrew Tridgell
parent a46d8dbd51
commit 25e670d0cc
1 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_HAL_Linux/RCOutput.cpp
View File

@ -20,14 +20,14 @@ using namespace Linux;
#define PWM_CHAN_COUNT 12
int chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0}; //chan_pru_map[CHANNEL_NUM] = PRU_REG_R30/31_NUM;
int pru_chan_map[]= {11,10,9,8,7,6,5,4,1,3,0,2}; //pru_chan_map[PRU_REG_R30/31_NUM] = CHANNEL_NUM;
static const uint8_t chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0}; //chan_pru_map[CHANNEL_NUM] = PRU_REG_R30/31_NUM;
static const uint8_t pru_chan_map[]= {11,10,9,8,7,6,5,4,1,3,0,2}; //pru_chan_map[PRU_REG_R30/31_NUM] = CHANNEL_NUM;
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
void LinuxRCOutput::init(void* machtnicht)
{
int mem_fd;
uint32_t mem_fd;
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, PRUSS_SHAREDRAM_BASE);
close(mem_fd);
@ -67,7 +67,7 @@ void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
{
int i;
uint8_t i;
for(i=0;i<len;i++){
write(ch+i,period_us[i]);
}
@ -75,14 +75,14 @@ void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
uint16_t LinuxRCOutput::read(uint8_t ch)
{
return (sharedMem_cmd->periodhi[chan_pru_map[ch]][1]/TICK_PER_US);
return (sharedMem_cmd->hilo_read[chan_pru_map[ch]][1]/TICK_PER_US);
}
void LinuxRCOutput::read(uint16_t* period_us, uint8_t len)
{
int i;
uint8_t i;
for(i=0;i<len;i++){
period_us[i] = sharedMem_cmd->periodhi[chan_pru_map[i]][1]/TICK_PER_US;
period_us[i] = sharedMem_cmd->hilo_read[chan_pru_map[i]][1]/TICK_PER_US;
}
}