mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.6 KiB
C
76 lines
1.6 KiB
C
/*
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* prucomm.h - structure definitions for communication
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*
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*/
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#ifndef PRUCOMM_H
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#define PRUCOMM_H
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#include "pru_defs.h"
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struct pwm_config {
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u32 hi_cycles;
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u32 hi_err;
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u32 lo_cycles;
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u32 lo_err;
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};
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/* maximum (PRU0 + PRU1) */
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#define MAX_PWMS 12
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/* mask of the possibly enabled PWMs (due to h/w) */
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/* 14, 15 are not routed out for PRU1 */
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#define PWM_EN_MASK ( \
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BIT( 0)|BIT( 1)|BIT( 2)|BIT( 3)|BIT( 4)|BIT( 5)|BIT( 6)|BIT( 7)| \
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BIT( 8)|BIT( 9)|BIT(10)|BIT(11)|BIT(12) \
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)
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#define MIN_PWM_PULSE PRU_us(4)
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struct pwm_multi_config {
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u32 enmask; /* enable mask */
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u32 offmsk; /* state when pwm is off */
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u32 hilo[MAX_PWMS][2];
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};
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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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struct pwm_cmd {
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u32 magic;
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u32 enmask; /* enable mask */
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u32 offmsk; /* state when pwm is off */
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u32 periodhi[MAX_PWMS][2];
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u32 hilo_read[MAX_PWMS][2];
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u32 enmask_read;
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};
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struct pwm_cmd_l{
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u32 enmask;
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u32 offmsk;
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u32 hilo[MAX_PWMS][2];
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};
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struct cxt {
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u32 cnt;
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u32 next;
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u32 enmask;
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u32 stmask;
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u32 setmsk;
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u32 clrmsk;
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u32 deltamin;
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u32 *next_hi_lo;
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};
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/* the command is at the start of shared DPRAM */
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#define PWM_CMD ((volatile struct pwm_cmd *)DPRAM_SHARED)
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#endif
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