mirror of https://github.com/ArduPilot/ardupilot
HAL_Linux: change to directly accessing shared_mem of pru in RCOutput
This commit is contained in:
bugobliterator
Andrew Tridgell
parent
9999e77a74
commit
63560e8122
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@ -14,237 +14,121 @@
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include <linux/spi/spidev.h>
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#include <sys/mman.h>
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using namespace Linux;
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#define PWM_DIR "/sys/class/pwm"
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#define PWM_DIR_EXPORT "/sys/class/pwm/export"
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#define PWM_CHAN_COUNT 12
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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;
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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;
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static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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void LinuxRCOutput::init(void* machtnicht)
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{
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DIR* _pwm_dir = opendir(PWM_DIR);
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int _pwm_fd;
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char chan[2];
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struct dirent *dir;
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int pru_load_success=0;
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int exported_count=0;
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int i,pru_r30;
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if (_pwm_dir){
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while ((dir = readdir(_pwm_dir)) != NULL){
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if(strcmp(dir->d_name,"pwmchip0")==0){
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pru_load_success = 1;
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closedir(_pwm_dir);
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break;
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}
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}
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if(!pru_load_success){
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perror("PRU PWM LOAD failed: PRU might not be enabled");
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}
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int mem_fd;
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mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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sharedMem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, PRUSS_SHAREDRAM_BASE);
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close(mem_fd);
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sharedMem_cmd->cmd = PWM_CMD_CONFIG;
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sharedMem_cmd->u.cfg.enmask = 0xFFF;
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for(int i=0;i<PWM_CHAN_COUNT;i++){
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sharedMem_cmd->u.cfg.hilo[i][0] = 1000;
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sharedMem_cmd->u.cfg.hilo[i][1] = 1000;
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}
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else{
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perror("PWM DIR not found");
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}
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_pwm_fd = ::open(PWM_DIR_EXPORT,O_WRONLY);
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if(_pwm_fd < 0){
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perror("PWM_EXPORT not found");
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}
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for(i=0;i<PWM_CHAN_COUNT;i++){
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sprintf(chan, "%d",chan_pru_map[i]);
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:: write(_pwm_fd,&chan,sizeof(chan));
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}
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close(_pwm_fd);
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_pwm_dir = opendir(PWM_DIR);
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while ((dir = readdir(_pwm_dir)) != NULL){
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pru_r30=strtol(dir->d_name+3,NULL,10);
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if(pru_r30>0 && pru_r30<12){
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write(pru_chan_map[pru_r30],10); //writing absolute minimum to duty_ns necessary for pwm_sysfs to start working
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//printf("CHANNEL %d",pru_chan_map[pru_r30]);
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//printf(" exported\n");
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exported_count++;
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}
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else if(strcmp(dir->d_name,"pwm0")==0){
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write(pru_chan_map[pru_r30],10);
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//printf("CHANNEL %d",pru_chan_map[0]);
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//printf(" exported \n");
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exported_count++;
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}
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}
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if(exported_count != PWM_CHAN_COUNT){
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printf("WARNING: All channels not exported\n");
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}
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closedir(_pwm_dir);
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sharedMem_cmd->magic = PWM_CMD_MAGIC;
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}
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void LinuxRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB corresponds to CHAN_1
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{
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int _fd, ret,i;
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unsigned long period_ns=1000000000/(unsigned long)freq_hz;
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char period_sysfs_path[30],buffer[15];
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sprintf(buffer,"%lu",(unsigned long)period_ns);
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int i;
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unsigned long tick=200000000/(unsigned long)freq_hz;
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for(i=0;i<12;i++){
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if(chmask&(1<<i)){
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sprintf(period_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[i],"/period_ns");
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_fd=open(period_sysfs_path,O_WRONLY);
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if(_fd < 0){
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perror("Period/Frequency file open failed");
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}
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ret = ::write(_fd,&buffer,sizeof(buffer));
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if(ret < 0){
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perror("Period/Frequency write failed");
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}
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period[chan_pru_map[i]]=tick;
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}
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}
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close(_fd);
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}
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uint16_t LinuxRCOutput::get_freq(uint8_t ch)
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uint16_t LinuxRCOutput::get_freq(uint8_t ch)
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{
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int _fd, ret;
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int freq_hz;
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char period_sysfs_path[30],buffer[15];
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sprintf(period_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/period_ns");
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_fd=open(period_sysfs_path,O_RDONLY);
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if(_fd < 0){
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perror("period_ns: file open failed");
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}
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ret = ::read(_fd,&buffer,sizeof(buffer));
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if(ret < 0){
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perror("period_ns: read failed");
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}
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freq_hz=1000000000/(unsigned long)strtol(buffer,NULL,10);
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close(_fd);
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return freq_hz;
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return TICK_PER_S/period[chan_pru_map[ch]];
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}
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void LinuxRCOutput::enable_ch(uint8_t ch)
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{
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int _fd, ret;
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char run_sysfs_path[30],buffer[]="1";
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sprintf(run_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/run");
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_fd=open(run_sysfs_path,O_WRONLY);
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if(_fd < 0){
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perror("run: file open failed");
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int i;
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while(sharedMem_cmd->magic != PWM_REPLY_MAGIC && i < 5){
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usleep(2);
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i++;
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}
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if(i == 5){
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hal.console->println("RCOutput: PWM Write Failed!");
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return;
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}
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ret = ::write(_fd,&buffer,sizeof(buffer));
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if(ret < 0){
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perror("run: read failed");
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}
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close(_fd);
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sharedMem_cmd->cmd = PWM_CMD_ENABLE;
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sharedMem_cmd->pwm_nr = chan_pru_map[ch];
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sharedMem_cmd->magic = PWM_CMD_MAGIC;
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}
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void LinuxRCOutput::disable_ch(uint8_t ch)
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{
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int _fd, ret;
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char run_sysfs_path[30],buffer[]="0";
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sprintf(run_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/run");
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_fd=open(run_sysfs_path,O_WRONLY);
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if(_fd < 0){
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perror("run: file open failed");
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int i;
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while(sharedMem_cmd->magic != PWM_REPLY_MAGIC && i < 5){
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usleep(2);
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i++;
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}
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if(i == 5){
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hal.console->println("RCOutput: PWM Write Failed!");
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return;
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}
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ret = ::write(_fd,&buffer,sizeof(buffer));
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if(ret < 0){
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perror("run: read failed");
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}
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close(_fd);
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sharedMem_cmd->cmd = PWM_CMD_DISABLE;
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sharedMem_cmd->pwm_nr = chan_pru_map[ch];
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sharedMem_cmd->magic = PWM_CMD_MAGIC;
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}
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void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
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{
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int _fd, ret;
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char duty_sysfs_path[30],buffer[15];
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sprintf(buffer,"%lu",(unsigned long)period_us*1000);
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sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/duty_ns");
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_fd=open(duty_sysfs_path,O_WRONLY);
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if(_fd < 0){
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perror("duty_ns: file open failed");
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int i;
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pwm_hi[chan_pru_map[ch]]=period_us*TICK_PER_US;
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while(sharedMem_cmd->magic != PWM_REPLY_MAGIC && i < 5){
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usleep(2);
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i++;
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}
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if(i == 5){
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hal.console->println("RCOutput: PWM Write Failed!");
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return;
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}
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ret = ::write(_fd,&buffer,sizeof(buffer));
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if(ret < 0){
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perror("duty_ns: read failed");
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}
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close(_fd);
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sharedMem_cmd->cmd = PWM_CMD_MODIFY;
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sharedMem_cmd->pwm_nr = chan_pru_map[ch];
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sharedMem_cmd->u.hilo[0] = pwm_hi[chan_pru_map[ch]];
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sharedMem_cmd->u.hilo[1] = period[chan_pru_map[ch]] - pwm_hi[chan_pru_map[ch]];
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sharedMem_cmd->magic = PWM_CMD_MAGIC;
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}
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void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
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{
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int _fd, ret,i;
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char duty_sysfs_path[30],buffer[15];
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int i;
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for(i=0;i<len;i++){
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sprintf(buffer,"%lu",(unsigned long)period_us[i]*1000);
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sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch+i],"/duty_ns");
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_fd=open(duty_sysfs_path,O_WRONLY);
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if(_fd < 0){
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perror("duty_ns: file open failed");
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}
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ret = ::write(_fd,&buffer,sizeof(buffer));
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if(ret < 0){
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perror("duty_ns: read failed");
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}
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close(_fd);
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write(ch+i,period_us[i]);
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}
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}
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uint16_t LinuxRCOutput::read(uint8_t ch) {
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int _fd, ret;
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char duty_sysfs_path[30],buffer[15];
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sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[ch],"/duty_ns");
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_fd=open(duty_sysfs_path,O_RDONLY);
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if(_fd < 0){
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perror("duty_ns: file open failed");
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}
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ret = ::read(_fd,&buffer,sizeof(buffer));
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if(ret < 0){
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perror("duty_ns: read failed");
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}
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close(_fd);
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return strtol(buffer,NULL,10)/1000;
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uint16_t LinuxRCOutput::read(uint8_t ch)
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{
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return TICK_PER_S/pwm_hi[chan_pru_map[ch]];
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}
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void LinuxRCOutput::read(uint16_t* period_us, uint8_t len)
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{
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int _fd, ret ,i;
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char duty_sysfs_path[30],buffer[15];
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int i;
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for(i=0;i<len;i++){
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sprintf(duty_sysfs_path,"%s/pwm%d%s",PWM_DIR,chan_pru_map[i],"/duty_ns");
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_fd=open(duty_sysfs_path,O_RDONLY);
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if(_fd < 0){
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perror("duty_ns: file open failed");
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}
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ret = ::read(_fd,&buffer,sizeof(buffer));
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if(ret < 0){
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perror("duty_ns: read failed");
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}
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period_us[i]=strtol(buffer,NULL,10)/1000;
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close(_fd);
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period_us[i] = TICK_PER_S/pwm_hi[chan_pru_map[i]];
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}
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}
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@ -3,6 +3,19 @@
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#define __AP_HAL_LINUX_RCOUTPUT_H__
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#include <AP_HAL_Linux.h>
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#define PRUSS_SHAREDRAM_BASE 0x4a310000
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#define MAX_PWMS 12
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#define PWM_CMD_MAGIC 0xf00fbaaf
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#define PWM_REPLY_MAGIC 0xbaaff00f
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#define TICK_PER_US 200
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#define TICK_PER_S 200000000
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#define PWM_CMD_CONFIG 0 /* full configuration in one go */
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#define PWM_CMD_ENABLE 1 /* enable a pwm */
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#define PWM_CMD_DISABLE 2 /* disable a pwm */
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#define PWM_CMD_MODIFY 3 /* modify a pwm */
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#define PWM_CMD_SET 4 /* set a pwm output explicitly */
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#define PWM_CMD_CLR 5 /* clr a pwm output explicitly */
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#define PWM_CMD_TEST 6 /* various crap */
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class Linux::LinuxRCOutput : public AP_HAL::RCOutput {
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void init(void* machtnichts);
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@ -14,6 +27,29 @@ class Linux::LinuxRCOutput : public AP_HAL::RCOutput {
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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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private:
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uint32_t period[MAX_PWMS];
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uint32_t pwm_hi[MAX_PWMS];
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struct pwm_multi_config {
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uint32_t enmask; /* enable mask */
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uint32_t offmsk; /* state when pwm is off */
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uint32_t hilo[MAX_PWMS][2];
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};
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struct pwm_cmd {
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uint32_t magic;
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uint8_t cmd;
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uint8_t pwm_nr; /* in case it is required */
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uint8_t pad[2];
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union {
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struct pwm_multi_config cfg;
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uint32_t hilo[2];
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}u;
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};
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struct pwm_cmd *sharedMem_cmd;
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};
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#endif // __AP_HAL_LINUX_RCOUTPUT_H__
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