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HAL_Linux_RCoutput:Add handler to catch SIGBUS error

This commit is contained in:
bugobliterator 2014-07-08 08:51:26 +05:30 committed by Andrew Tridgell
parent 25e670d0cc
commit 8cf628e780
1 changed files with 15 additions and 4 deletions
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19
libraries/AP_HAL_Linux/RCOutput.cpp
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@ -15,6 +15,7 @@
#include <sys/ioctl.h>
#include <linux/spi/spidev.h>
#include <sys/mman.h>
#include <signal.h>
using namespace Linux;
@ -24,10 +25,14 @@ static const uint8_t chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0};
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;
static void catch_sigbus(int sig)
{
hal.scheduler->panic("RCOutput.cpp:SIGBUS error gernerated\n");
}
void LinuxRCOutput::init(void* machtnicht)
{
uint32_t mem_fd;
signal(SIGBUS,catch_sigbus);
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);
@ -35,7 +40,7 @@ void LinuxRCOutput::init(void* machtnicht)
void LinuxRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB corresponds to CHAN_1
{
int i;
uint8_t i;
unsigned long tick=TICK_PER_S/(unsigned long)freq_hz;
for(i=0;i<12;i++){
if(chmask&(1<<i)){
@ -51,12 +56,12 @@ uint16_t LinuxRCOutput::get_freq(uint8_t ch)
void LinuxRCOutput::enable_ch(uint8_t ch)
{
sharedMem_cmd->enmask |= 1<<chan_pru_map[ch];
sharedMem_cmd->enmask |= 1U<<chan_pru_map[ch];
}
void LinuxRCOutput::disable_ch(uint8_t ch)
{
sharedMem_cmd->enmask &= !(1<<chan_pru_map[ch]);
sharedMem_cmd->enmask &= !(1U<<chan_pru_map[ch]);
}
void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
@ -68,6 +73,9 @@ void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
{
uint8_t i;
if(len>PWM_CHAN_COUNT){
len = PWM_CHAN_COUNT;
}
for(i=0;i<len;i++){
write(ch+i,period_us[i]);
}
@ -81,6 +89,9 @@ uint16_t LinuxRCOutput::read(uint8_t ch)
void LinuxRCOutput::read(uint16_t* period_us, uint8_t len)
{
uint8_t i;
if(len>PWM_CHAN_COUNT){
len = PWM_CHAN_COUNT;
}
for(i=0;i<len;i++){
period_us[i] = sharedMem_cmd->hilo_read[chan_pru_map[i]][1]/TICK_PER_US;
}