Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_Linux: split off RCOutput class to be specific to PXF and ERLE

Browse Source 
this fixes the Replay tool
This commit is contained in:
Andrew Tridgell 2014-08-19 13:48:56 +10:00
parent 2ce219aeb8
commit 94e14f5dcb
5 changed files with 32 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h
View File

@ -19,7 +19,7 @@ namespace Linux {
class LinuxDigitalSource;
class LinuxRCInput;
class LinuxRCInput_PRU;
class LinuxRCOutput;
class LinuxRCOutput_PRU;
class LinuxSemaphore;
class LinuxScheduler;
class LinuxUtil;

2
libraries/AP_HAL_Linux/AP_HAL_Linux_Private.h
View File

@ -13,7 +13,7 @@
#include "Storage.h"
#include "GPIO.h"
#include "RCInput.h"
#include "RCOutput.h"
#include "RCOutput_PRU.h"
#include "Semaphores.h"
#include "Scheduler.h"
#include "Util.h"

17
libraries/AP_HAL_Linux/HAL_Linux_Class.cpp
View File

@ -9,6 +9,9 @@
#include <unistd.h>
#include <stdlib.h>
#include <AP_HAL_Empty.h>
#include <AP_HAL_Empty_Private.h>
using namespace Linux;
// 3 serial ports on Linux for now
@ -22,12 +25,24 @@ static LinuxSPIDeviceManager spiDeviceManager;
static LinuxAnalogIn analogIn;
static LinuxStorage storageDriver;
static LinuxGPIO gpioDriver;
/*
use the PRU based RCInput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
static LinuxRCInput_PRU rcinDriver;
#else
static LinuxRCInput rcinDriver;
#endif
static LinuxRCOutput rcoutDriver;
/*
use the PRU based RCOutput driver on ERLE and PXF
*/
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLE
static LinuxRCOutput_PRU rcoutDriver;
#else
static Empty::EmptyRCOutput rcoutDriver;
#endif
static LinuxScheduler schedulerInstance;
static LinuxUtil utilInstance;

20
libraries/AP_HAL_Linux/RCOutput.cpp → libraries/AP_HAL_Linux/RCOutput_PRU.cpp
View File

@ -3,7 +3,7 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include "RCOutput.h"
#include "RCOutput_PRU.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
@ -29,7 +29,7 @@ static void catch_sigbus(int sig)
{
hal.scheduler->panic("RCOutput.cpp:SIGBUS error gernerated\n");
}
void LinuxRCOutput::init(void* machtnicht)
void LinuxRCOutput_PRU::init(void* machtnicht)
{
uint32_t mem_fd;
signal(SIGBUS,catch_sigbus);
@ -43,7 +43,7 @@ void LinuxRCOutput::init(void* machtnicht)
set_freq(0xFFFFFFFF, 50);
}
void LinuxRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB corresponds to CHAN_1
void LinuxRCOutput_PRU::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;
@ -55,27 +55,27 @@ void LinuxRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB
}
}
uint16_t LinuxRCOutput::get_freq(uint8_t ch)
uint16_t LinuxRCOutput_PRU::get_freq(uint8_t ch)
{
return TICK_PER_S/sharedMem_cmd->periodhi[chan_pru_map[ch]][0];
}
void LinuxRCOutput::enable_ch(uint8_t ch)
void LinuxRCOutput_PRU::enable_ch(uint8_t ch)
{
sharedMem_cmd->enmask |= 1U<<chan_pru_map[ch];
}
void LinuxRCOutput::disable_ch(uint8_t ch)
void LinuxRCOutput_PRU::disable_ch(uint8_t ch)
{
sharedMem_cmd->enmask &= !(1U<<chan_pru_map[ch]);
}
void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
void LinuxRCOutput_PRU::write(uint8_t ch, uint16_t period_us)
{
sharedMem_cmd->periodhi[chan_pru_map[ch]][1] = TICK_PER_US*period_us;
}
void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
void LinuxRCOutput_PRU::write(uint8_t ch, uint16_t* period_us, uint8_t len)
{
uint8_t i;
if(len>PWM_CHAN_COUNT){
@ -86,12 +86,12 @@ void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
}
}
uint16_t LinuxRCOutput::read(uint8_t ch)
uint16_t LinuxRCOutput_PRU::read(uint8_t ch)
{
return (sharedMem_cmd->hilo_read[chan_pru_map[ch]][1]/TICK_PER_US);
}
void LinuxRCOutput::read(uint16_t* period_us, uint8_t len)
void LinuxRCOutput_PRU::read(uint16_t* period_us, uint8_t len)
{
uint8_t i;
if(len>PWM_CHAN_COUNT){

8
libraries/AP_HAL_Linux/RCOutput.h → libraries/AP_HAL_Linux/RCOutput_PRU.h
View File

@ -1,6 +1,6 @@
#ifndef __AP_HAL_LINUX_RCOUTPUT_H__
#define __AP_HAL_LINUX_RCOUTPUT_H__
#ifndef __AP_HAL_LINUX_RCOUTPUT_PRU_H__
#define __AP_HAL_LINUX_RCOUTPUT_PRU_H__
#include <AP_HAL_Linux.h>
#define RCOUT_PRUSS_SHAREDRAM_BASE 0x4a310000
@ -17,7 +17,7 @@
#define PWM_CMD_CLR 5 /* clr a pwm output explicitly */
#define PWM_CMD_TEST 6 /* various crap */
class Linux::LinuxRCOutput : public AP_HAL::RCOutput {
class Linux::LinuxRCOutput_PRU : public AP_HAL::RCOutput {
void init(void* machtnichts);
void set_freq(uint32_t chmask, uint16_t freq_hz);
uint16_t get_freq(uint8_t ch);
@ -41,4 +41,4 @@ private:
};
#endif // __AP_HAL_LINUX_RCOUTPUT_H__
#endif // __AP_HAL_LINUX_RCOUTPUT_PRU_H__