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AP_HAL_Linux: PocketPilot: change pru to final design

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mirkix 2018-04-11 22:37:41 +02:00 committed by Andrew Tridgell
parent f4a38d6f2a
commit 598ae5c3f7
3 changed files with 12 additions and 2 deletions
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4
libraries/AP_HAL_Linux/RCInput_AioPRU.h
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@ -17,7 +17,11 @@
#include "AP_HAL_Linux.h" #include "AP_HAL_Linux.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
#define RCIN_PRUSS_RAM_BASE 0x4a301000
#else
#define RCIN_PRUSS_RAM_BASE 0x4a303000 #define RCIN_PRUSS_RAM_BASE 0x4a303000
#endif
// we use 300 ring buffer entries to guarantee that a full 25 byte // we use 300 ring buffer entries to guarantee that a full 25 byte
// frame of 12 bits per byte // frame of 12 bits per byte

4
libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp
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@ -50,13 +50,13 @@ void RCOutput_AioPRU::init()
close(mem_fd); close(mem_fd);
// Reset PRU 1 // Reset PRU
*ctrl = 0; *ctrl = 0;
// Load firmware // Load firmware
memcpy(iram, PRUcode, sizeof(PRUcode)); memcpy(iram, PRUcode, sizeof(PRUcode));
// Start PRU 1 // Start PRU
*ctrl |= 2; *ctrl |= 2;
// all outputs default to 50Hz, the top level vehicle code // all outputs default to 50Hz, the top level vehicle code

6
libraries/AP_HAL_Linux/RCOutput_AioPRU.h
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@ -11,9 +11,15 @@
#pragma once #pragma once
#include "AP_HAL_Linux.h" #include "AP_HAL_Linux.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
#define RCOUT_PRUSS_RAM_BASE 0x4a300000
#define RCOUT_PRUSS_CTRL_BASE 0x4a322000
#define RCOUT_PRUSS_IRAM_BASE 0x4a334000
#else
#define RCOUT_PRUSS_RAM_BASE 0x4a302000 #define RCOUT_PRUSS_RAM_BASE 0x4a302000
#define RCOUT_PRUSS_CTRL_BASE 0x4a324000 #define RCOUT_PRUSS_CTRL_BASE 0x4a324000
#define RCOUT_PRUSS_IRAM_BASE 0x4a338000 #define RCOUT_PRUSS_IRAM_BASE 0x4a338000
#endif
#define PWM_CHAN_COUNT 12 #define PWM_CHAN_COUNT 12
namespace Linux { namespace Linux {