mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.6 KiB
C++
48 lines
1.6 KiB
C++
#pragma once
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#include "AP_HAL_Linux.h"
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#define RCOUT_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 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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namespace Linux {
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class RCOutput_PRU : public AP_HAL::RCOutput {
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void init() override;
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void set_freq(uint32_t chmask, uint16_t freq_hz) override;
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uint16_t get_freq(uint8_t ch) override;
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void enable_ch(uint8_t ch) override;
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void disable_ch(uint8_t ch) override;
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void write(uint8_t ch, uint16_t period_us) override;
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uint16_t read(uint8_t ch) override;
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void read(uint16_t* period_us, uint8_t len) override;
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void cork(void) override;
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void push(void) override;
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private:
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static const int TICK_PER_US=200;
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static const int TICK_PER_S=200000000;
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struct pwm_cmd {
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uint32_t magic;
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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 periodhi[MAX_PWMS][2];
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uint32_t hilo_read[MAX_PWMS][2];
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uint32_t enmask_read;
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};
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volatile struct pwm_cmd *sharedMem_cmd;
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uint16_t pending[MAX_PWMS];
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bool corked;
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uint32_t pending_mask;
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};
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}
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