mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
136 lines
3.3 KiB
C++
136 lines
3.3 KiB
C++
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
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#include "RCOutput.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <dirent.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <sys/ioctl.h>
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#include <linux/spi/spidev.h>
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#include <sys/mman.h>
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using namespace Linux;
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#define PWM_CHAN_COUNT 12
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int chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0}; //chan_pru_map[CHANNEL_NUM] = PRU_REG_R30/31_NUM;
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int 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;
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static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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void LinuxRCOutput::init(void* machtnicht)
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{
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int mem_fd;
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mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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sharedMem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, PRUSS_SHAREDRAM_BASE);
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close(mem_fd);
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sharedMem_cmd->cmd = PWM_CMD_CONFIG;
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sharedMem_cmd->u.cfg.enmask = 0xFFF;
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for(int i=0;i<PWM_CHAN_COUNT;i++){
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sharedMem_cmd->u.cfg.hilo[i][0] = 1000;
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sharedMem_cmd->u.cfg.hilo[i][1] = 1000;
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}
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sharedMem_cmd->magic = PWM_CMD_MAGIC;
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}
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void LinuxRCOutput::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB corresponds to CHAN_1
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{
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int i;
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unsigned long tick=200000000/(unsigned long)freq_hz;
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for(i=0;i<12;i++){
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if(chmask&(1<<i)){
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period[chan_pru_map[i]]=tick;
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}
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}
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}
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uint16_t LinuxRCOutput::get_freq(uint8_t ch)
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{
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return TICK_PER_S/period[chan_pru_map[ch]];
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}
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void LinuxRCOutput::enable_ch(uint8_t ch)
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{
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int i;
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while(sharedMem_cmd->magic != PWM_REPLY_MAGIC && i < 5){
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usleep(2);
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i++;
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}
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if(i == 5){
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hal.console->println("RCOutput: PWM Write Failed!");
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return;
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}
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sharedMem_cmd->cmd = PWM_CMD_ENABLE;
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sharedMem_cmd->pwm_nr = chan_pru_map[ch];
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sharedMem_cmd->magic = PWM_CMD_MAGIC;
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}
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void LinuxRCOutput::disable_ch(uint8_t ch)
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{
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int i;
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while(sharedMem_cmd->magic != PWM_REPLY_MAGIC && i < 5){
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usleep(2);
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i++;
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}
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if(i == 5){
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hal.console->println("RCOutput: PWM Write Failed!");
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return;
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}
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sharedMem_cmd->cmd = PWM_CMD_DISABLE;
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sharedMem_cmd->pwm_nr = chan_pru_map[ch];
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sharedMem_cmd->magic = PWM_CMD_MAGIC;
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}
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void LinuxRCOutput::write(uint8_t ch, uint16_t period_us)
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{
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int i;
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pwm_hi[chan_pru_map[ch]]=period_us*TICK_PER_US;
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while(sharedMem_cmd->magic != PWM_REPLY_MAGIC && i < 5){
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usleep(2);
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i++;
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}
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if(i == 5){
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hal.console->println("RCOutput: PWM Write Failed!");
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return;
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}
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sharedMem_cmd->cmd = PWM_CMD_MODIFY;
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sharedMem_cmd->pwm_nr = chan_pru_map[ch];
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sharedMem_cmd->u.hilo[0] = pwm_hi[chan_pru_map[ch]];
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sharedMem_cmd->u.hilo[1] = period[chan_pru_map[ch]] - pwm_hi[chan_pru_map[ch]];
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sharedMem_cmd->magic = PWM_CMD_MAGIC;
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}
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void LinuxRCOutput::write(uint8_t ch, uint16_t* period_us, uint8_t len)
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{
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int i;
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for(i=0;i<len;i++){
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write(ch+i,period_us[i]);
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}
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}
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uint16_t LinuxRCOutput::read(uint8_t ch)
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{
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return (pwm_hi[chan_pru_map[ch]]/TICK_PER_US);
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}
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void LinuxRCOutput::read(uint16_t* period_us, uint8_t len)
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{
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int i;
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for(i=0;i<len;i++){
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period_us[i] = pwm_hi[chan_pru_map[i]]/TICK_PER_US;
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}
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}
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#endif
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