mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.9 KiB
C++
58 lines
1.9 KiB
C++
// This program is free software: you can redistribute it and/or modify
|
|
// it under the terms of the GNU General Public License as published by
|
|
// the Free Software Foundation, either version 3 of the License, or
|
|
// (at your option) any later version.
|
|
// This program is distributed in the hope that it will be useful,
|
|
// but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
// GNU General Public License for more details.
|
|
// You should have received a copy of the GNU General Public License
|
|
// along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
#pragma once
|
|
|
|
#include "AP_HAL_Linux.h"
|
|
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
|
|
#define RCOUT_PRUSS_RAM_BASE 0x4a300000
|
|
#define RCOUT_PRUSS_CTRL_BASE 0x4a322000
|
|
#define RCOUT_PRUSS_IRAM_BASE 0x4a334000
|
|
#else
|
|
#define RCOUT_PRUSS_RAM_BASE 0x4a302000
|
|
#define RCOUT_PRUSS_CTRL_BASE 0x4a324000
|
|
#define RCOUT_PRUSS_IRAM_BASE 0x4a338000
|
|
#endif
|
|
#define PWM_CHAN_COUNT 12
|
|
|
|
namespace Linux {
|
|
|
|
class RCOutput_AioPRU : public AP_HAL::RCOutput {
|
|
void init() override;
|
|
void set_freq(uint32_t chmask, uint16_t freq_hz) override;
|
|
uint16_t get_freq(uint8_t ch) override;
|
|
void enable_ch(uint8_t ch) override;
|
|
void disable_ch(uint8_t ch) override;
|
|
void write(uint8_t ch, uint16_t period_us) override;
|
|
uint16_t read(uint8_t ch) override;
|
|
void read(uint16_t* period_us, uint8_t len) override;
|
|
void cork(void) override;
|
|
void push(void) override;
|
|
|
|
private:
|
|
static const uint32_t TICK_PER_US = 200;
|
|
static const uint32_t TICK_PER_S = 200000000;
|
|
|
|
struct pwm {
|
|
volatile uint32_t channelenable;
|
|
struct {
|
|
volatile uint32_t time_high;
|
|
volatile uint32_t time_t;
|
|
} channel[PWM_CHAN_COUNT];
|
|
};
|
|
|
|
volatile struct pwm *pwm;
|
|
uint16_t pending[PWM_CHAN_COUNT];
|
|
uint32_t pending_mask;
|
|
bool corked;
|
|
};
|
|
|
|
}
|