mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-06 07:58:28 -04:00
d8e36fee41
PRU0 with rcinpru0 firmware will be timing pin state changes and loading it inside ring buffer maintained inside SHARED_RAM at 0x12000 offset
28 lines
553 B
C
28 lines
553 B
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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#define NUM_RING_ENTRIES 200
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#define PWM_CMD_MAGIC 0xf00fbaaf
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#define PWM_REPLY_MAGIC 0xbaaff00f
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struct ring_buffer {
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volatile uint16_t ring_head;
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volatile uint16_t ring_tail;
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struct {
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uint16_t pin_value;
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uint16_t delta_t;
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} buffer[NUM_RING_ENTRIES];
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};
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/* the command is at the start of shared DPRAM */
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#define RBUFF ((volatile struct ring_buffer *)DPRAM_SHARED)
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#endif
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