mirror of https://github.com/ArduPilot/ardupilot
159 lines
6.4 KiB
C
159 lines
6.4 KiB
C
// 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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#include <stdio.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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//Comment/uncomment the #includes statements depending on your BeagleBone version:
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//#include "RcAioPRU_POCKET_bin.h"
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//#include "RcAioPRU_BBBMINI_bin.h"
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#include "RcAioPRU_BBBLUE_bin.h"
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#define NUM_RING_ENTRIES 300
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#define RCOUT_PRUSS_RAM_BASE 0x4a302000
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#define RCOUT_PRUSS_CTRL_BASE 0x4a324000
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#define RCOUT_PRUSS_IRAM_BASE 0x4a338000
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#define RCIN_PRUSS_RAM_BASE 0x4a303000
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#define ARRAY_SIZE(_arr) (sizeof(_arr) / sizeof(_arr[0]))
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#define PWM_FREQ 50
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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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volatile uint32_t s1;
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volatile uint32_t s0;
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} buffer[NUM_RING_ENTRIES];
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};
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struct pwm {
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volatile uint32_t enable;
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volatile uint32_t ch1_hi_time;
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volatile uint32_t ch1_t_time;
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volatile uint32_t ch2_hi_time;
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volatile uint32_t ch2_t_time;
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volatile uint32_t ch3_hi_time;
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volatile uint32_t ch3_t_time;
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volatile uint32_t ch4_hi_time;
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volatile uint32_t ch4_t_time;
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volatile uint32_t ch5_hi_time;
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volatile uint32_t ch5_t_time;
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volatile uint32_t ch6_hi_time;
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volatile uint32_t ch6_t_time;
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volatile uint32_t ch7_hi_time;
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volatile uint32_t ch7_t_time;
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volatile uint32_t ch8_hi_time;
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volatile uint32_t ch8_t_time;
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volatile uint32_t ch9_hi_time;
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volatile uint32_t ch9_t_time;
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volatile uint32_t ch10_hi_time;
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volatile uint32_t ch10_t_time;
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volatile uint32_t ch11_hi_time;
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volatile uint32_t ch11_t_time;
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volatile uint32_t ch12_hi_time;
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volatile uint32_t ch12_t_time;
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volatile uint32_t time;
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volatile uint32_t max_cycle_time;
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};
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volatile struct ring_buffer *ring_buffer;
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volatile struct pwm *pwm;
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static const uint32_t TICK_PER_US = 200;
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static const uint32_t TICK_PER_S = 200000000;
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static const uint32_t TICK_DURATION_NS = 5;
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int main (void)
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{
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unsigned int ret, s0, s1, min_s0 = 0xffffffff, min_s1 = 0xffffffff, max_s0 = 0, max_s1 = 0;
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uint32_t mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC);
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ring_buffer = (struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCIN_PRUSS_RAM_BASE);
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pwm = (struct pwm*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_RAM_BASE);
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uint32_t *iram = (uint32_t*)mmap(0, 0x2000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_IRAM_BASE);
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uint32_t *ctrl = (uint32_t*)mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_CTRL_BASE);
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uint64_t time_ns;
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close(mem_fd);
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// This loop checks that the IEP counter is really started. If not, the PRU is reset, the program is reload and PRU restarted
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// To report pwm->time and pwm->max_cycle_time, the PRU program must be compiled with -DDEBUG option, for example:
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// pasm -V3 -c RcAioPRU.p RcAioPRU_BBBLUE -DBBBLUE -DDEBUG
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// This is made for you by 'make debug' followed by 'make test'
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do {
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printf("The PRU will be reset\n");
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// Reset PRU 1
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*ctrl = 0;
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//You might uncomment this to identify more easily where the program ends in the IRAM
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//memset(iram, '\0', sizeof(PRUcode) + 128);
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// Load firmware
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memcpy(iram, PRUcode, sizeof(PRUcode));
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// Start PRU 1
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*ctrl |= 2;
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pwm->ch1_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch2_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch3_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch4_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch5_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch6_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch7_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch8_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch9_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch10_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch11_t_time = TICK_PER_S / PWM_FREQ;
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pwm->ch12_t_time = TICK_PER_S / PWM_FREQ;
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pwm->enable=0xffffffff;
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printf("IEP counter: 0x%08x\n", pwm->time);
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} while (pwm->time == 0xffffffff);
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while(1) {
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for(unsigned int a = 0; a < NUM_RING_ENTRIES; a++) {
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s0 = ring_buffer->buffer[a].s0;
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s1 = ring_buffer->buffer[a].s1;
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if(s0 > max_s0) {max_s0 = s0;}
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if(s1 > max_s1) {max_s1 = s1;}
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if(s0 < min_s0) {min_s0 = s0;}
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if(s1 < min_s1) {min_s1 = s1;}
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}
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s0 = ring_buffer->buffer[ring_buffer->ring_tail].s0;
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s1 = ring_buffer->buffer[ring_buffer->ring_tail].s1;
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time_ns = ((double)pwm->time) * ((double)TICK_DURATION_NS);
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printf("max ct: %3u cycles time: %11lluns head: %u tail: %3u s0: %7u s1: %7u s01: %7u jitter_s0: %uns jitter_s1: %uns\n", pwm->max_cycle_time, time_ns, ring_buffer->ring_head, ring_buffer->ring_tail, s0 * TICK_DURATION_NS, s1 * TICK_DURATION_NS, (s0+s1) * TICK_DURATION_NS, ((max_s0-min_s0) * TICK_DURATION_NS), ((max_s1-min_s1) * TICK_DURATION_NS));
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// uint32_t value = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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// pwm->ch1_hi_time = value;
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// pwm->ch2_hi_time = value;
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//pwm->ch1_hi_time = 1500 * TICK_PER_US;
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pwm->ch1_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch2_hi_time = 1500 * TICK_PER_US;
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pwm->ch3_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch4_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch5_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch6_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch7_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch8_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch9_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch10_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch11_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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pwm->ch12_hi_time = (uint32_t)((rand() % 1001 + 900) * TICK_PER_US);
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usleep(1000000);
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min_s0 = 0xffffffff;
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min_s1 = 0xffffffff;
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max_s0 = 0;
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max_s1 = 0;
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}
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return 0;
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}
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