mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
d7ac725a64
DMA is getting stopped in the separate method now. This is the best we can get at the current time. It does yield slightly better experience and works in the majority of cases. The patch is a no bulletproof solution, though. There's a possibility of corruption in case of e.g. a SIGKILL. There's no signal framework at the time and the commit doesn't add one. That's why all signals are handled in the same erroneous way. This is not a good nor a final solution to the issue. For the issue at hand a better fix might be porting the code to kernel space but it's a rather tediuos task that we cannot undertake in the couple of weeks.
135 lines
3.2 KiB
C++
135 lines
3.2 KiB
C++
#ifndef __AP_HAL_LINUX_RCINPUT_NAVIO_H__
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#define __AP_HAL_LINUX_RCINPUT_NAVIO_H__
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#include <AP_HAL_Linux.h>
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#include "RCInput.h"
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#include <signal.h>
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#include <pthread.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <errno.h>
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#include <stdarg.h>
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#include <stdint.h>
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#include <signal.h>
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#include <time.h>
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#include <sys/time.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 <sys/mman.h>
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#include <assert.h>
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#include <queue>
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enum state_t{
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RCIN_NAVIO_INITIAL_STATE = -1,
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RCIN_NAVIO_ZERO_STATE = 0,
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RCIN_NAVIO_ONE_STATE = 1
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};
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//Memory table structure
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typedef struct {
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void **virt_pages;
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void **phys_pages;
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uint32_t page_count;
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} memory_table_t;
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//DMA control block structure
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typedef struct {
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uint32_t info, src, dst, length,
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stride, next, pad[2];
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} dma_cb_t;
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class Memory_table {
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// Allow LinuxRCInput_Navio access to private members of Memory_table
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friend class Linux::LinuxRCInput_Navio;
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private:
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void** _virt_pages;
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void** _phys_pages;
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uint32_t _page_count;
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public:
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Memory_table();
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Memory_table(uint32_t, int);
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~Memory_table();
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//Get virtual address from the corresponding physical address from memory_table.
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void* get_virt_addr(const uint32_t phys_addr) const;
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// This function returns physical address with help of pointer, which is offset from the beginning of the buffer.
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void* get_page(void **pages, const uint32_t addr) const;
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// This function returns offset from the beginning of the buffer using (virtual) address in 'pages' and memory_table.
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uint32_t get_offset(void **pages, const uint32_t addr) const;
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//How many bytes are available for reading in circle buffer?
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uint32_t bytes_available(const uint32_t read_addr, const uint32_t write_addr) const;
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uint32_t get_page_count() const;
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};
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class Linux::LinuxRCInput_Navio : public Linux::LinuxRCInput
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{
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public:
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void init(void*);
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void _timer_tick(void);
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LinuxRCInput_Navio();
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~LinuxRCInput_Navio();
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private:
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//Physical adresses of peripherals. Are different on different Raspberries.
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uint32_t dma_base;
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uint32_t clk_base;
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uint32_t pcm_base;
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//registers
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static volatile uint32_t *pcm_reg;
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static volatile uint32_t *clk_reg;
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static volatile uint32_t *dma_reg;
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Memory_table *circle_buffer;
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Memory_table *con_blocks;
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uint64_t curr_tick;
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uint64_t prev_tick;
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uint64_t delta_time;
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uint32_t curr_tick_inc;
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uint32_t curr_pointer;
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uint32_t curr_channel;
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uint32_t counter;
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uint16_t width_s0;
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uint16_t width_s1;
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uint8_t curr_signal;
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uint8_t last_signal;
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state_t state;
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AP_HAL::DigitalSource *enable_pin;
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void init_dma_cb(dma_cb_t** cbp, uint32_t mode, uint32_t source, uint32_t dest, uint32_t length, uint32_t stride, uint32_t next_cb);
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void* map_peripheral(uint32_t base, uint32_t len);
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void init_registers();
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void init_ctrl_data();
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void init_PCM();
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void init_DMA();
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void init_buffer();
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static void stop_dma();
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static void termination_handler(int signum);
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void set_sigaction();
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void set_physical_addresses(int version);
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void deinit() override;
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};
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#endif // __AP_HAL_LINUX_RCINPUT_NAVIO_H__
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