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HAL_Linux: RCOutput should default to 50Hz on all boards

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This commit is contained in:
Andrew Tridgell 2014-08-18 13:02:50 +10:00
parent 9d948d5a26
commit 6cc304e486
2 changed files with 9 additions and 3 deletions
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9
libraries/AP_HAL_Linux/RCOutput.cpp
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@ -37,14 +37,19 @@ void LinuxRCOutput::init(void* machtnicht)
sharedMem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ|PROT_WRITE,
MAP_SHARED, mem_fd, RCOUT_PRUSS_SHAREDRAM_BASE);
close(mem_fd);
// all outputs default to 50Hz, the top level vehicle code
// overrides this when necessary
set_freq(0xFFFFFFFF, 50);
}
void LinuxRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB corresponds to CHAN_1
{
uint8_t i;
unsigned long tick=TICK_PER_S/(unsigned long)freq_hz;
for(i=0;i<12;i++){
if(chmask&(1<<i)){
for (i=0;i<PWM_CHAN_COUNT;i++) {
if (chmask & (1U<<i)) {
sharedMem_cmd->periodhi[chan_pru_map[i]][0]=tick;
}
}

3
libraries/AP_HAL_Linux/RCOutput.h
View File

@ -36,7 +36,8 @@ private:
uint32_t periodhi[MAX_PWMS][2];
uint32_t hilo_read[MAX_PWMS][2];
uint32_t enmask_read;
}*sharedMem_cmd;
};
volatile struct pwm_cmd *sharedMem_cmd;
};