mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.1 KiB
C++
66 lines
2.1 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 <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#include <stdio.h>
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#include <sys/time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <sys/mman.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#include "RCInput.h"
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#include "RCInput_AioPRU.h"
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCInput_AioPRU::init()
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{
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int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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if (mem_fd == -1) {
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AP_HAL::panic("Unable to open /dev/mem");
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}
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ring_buffer = (volatile struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCIN_PRUSS_RAM_BASE);
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close(mem_fd);
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ring_buffer->ring_head = 0;
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}
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/*
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called at 1kHz to check for new pulse capture data from the PRU
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*/
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void RCInput_AioPRU::_timer_tick()
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{
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while (ring_buffer->ring_head != ring_buffer->ring_tail) {
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if (ring_buffer->ring_tail >= NUM_RING_ENTRIES) {
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// invalid ring_tail from PRU - ignore RC input
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return;
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}
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_process_rc_pulse((ring_buffer->buffer[ring_buffer->ring_head].s1_t) / TICK_PER_US,
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(ring_buffer->buffer[ring_buffer->ring_head].s0_t) / TICK_PER_US);
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// move to the next ring buffer entry
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ring_buffer->ring_head = (ring_buffer->ring_head + 1) % NUM_RING_ENTRIES;
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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