mirror of https://github.com/ArduPilot/ardupilot
118 lines
3.2 KiB
C++
118 lines
3.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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HC-SR04 Ultrasonic Distance Sensor connected to BeagleBone Black
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by Mirko Denecke <mirkix@gmail.com>
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#include "AP_RangeFinder_BBB_PRU.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <string.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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extern const AP_HAL::HAL& hal;
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volatile struct range *rangerpru;
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/*
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The constructor also initialises the rangefinder. Note that this
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constructor is not called until detect() returns true, so we
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already know that we should setup the rangefinder
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*/
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AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
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AP_RangeFinder_Backend(_state, _params)
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{
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}
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/*
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Stop PRU, load firmware (check if firmware is present), start PRU.
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If we get a result the sensor seems to be there.
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*/
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bool AP_RangeFinder_BBB_PRU::detect()
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{
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bool result = true;
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uint32_t mem_fd;
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uint32_t *ctrl;
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void *ram;
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mem_fd = open("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC);
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ctrl = (uint32_t*)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, PRU0_CTRL_BASE);
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ram = mmap(0, PRU0_IRAM_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, PRU0_IRAM_BASE);
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// Reset PRU 0
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*ctrl = 0;
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hal.scheduler->delay(1);
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// Load firmware (.text)
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FILE *file = fopen("/lib/firmware/rangefinderprutext.bin", "rb");
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if (file == nullptr) {
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result = false;
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}
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if (fread(ram, PRU0_IRAM_SIZE, 1, file) != 1) {
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result = false;
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}
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fclose(file);
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munmap(ram, PRU0_IRAM_SIZE);
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ram = mmap(0, PRU0_DRAM_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, PRU0_DRAM_BASE);
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// Load firmware (.data)
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file = fopen("/lib/firmware/rangefinderprudata.bin", "rb");
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if (file == nullptr) {
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result = false;
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}
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if (fread(ram, PRU0_DRAM_SIZE, 1, file) != 1) {
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result = false;
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}
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fclose(file);
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munmap(ram, PRU0_DRAM_SIZE);
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// Map PRU RAM
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ram = mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, PRU0_DRAM_BASE);
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close(mem_fd);
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// Start PRU 0
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*ctrl = 2;
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rangerpru = (volatile struct range*)ram;
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return result;
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}
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/*
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update the state of the sensor
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*/
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void AP_RangeFinder_BBB_PRU::update(void)
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{
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state.status = (RangeFinder::RangeFinder_Status)rangerpru->status;
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state.distance_cm = rangerpru->distance;
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state.last_reading_ms = AP_HAL::millis();
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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