mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-25 10:08:28 -04:00
2e464a53c2
The switching between different AP_HAL was happening by giving different definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to instantiate. A program or library code would have to explicitly include (and depend) on the concrete implementation of the HAL, even when using it only via interface. The proposed change move this dependency to be link time. There is a AP_HAL::get_HAL() function that is used by the client code. Each implementation of HAL provides its own definition of this function, returning the appropriate concrete instance. Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was removed. The static variables for PX4 and VRBRAIN were named differently to avoid shadowing the extern symbol 'hal'.
137 lines
3.2 KiB
C++
137 lines
3.2 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 == HAL_BOARD_LINUX
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#include "RCOutput_AioPRU.h"
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <sys/mman.h>
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#include <signal.h>
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#include "../../Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU_bin.h"
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using namespace Linux;
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static const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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static void catch_sigbus(int sig)
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{
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hal.scheduler->panic("RCOutputAioPRU.cpp:SIGBUS error gernerated\n");
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}
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void LinuxRCOutput_AioPRU::init(void* machtnicht)
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{
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uint32_t mem_fd;
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uint32_t *iram;
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uint32_t *ctrl;
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signal(SIGBUS,catch_sigbus);
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mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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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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iram = (uint32_t*)mmap(0, 0x2000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_IRAM_BASE);
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ctrl = (uint32_t*)mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_CTRL_BASE);
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close(mem_fd);
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// Reset PRU 1
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*ctrl = 0;
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hal.scheduler->delay(1);
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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 = 3;
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// all outputs default to 50Hz, the top level vehicle code
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// overrides this when necessary
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set_freq(0xFFFFFFFF, 50);
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}
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void LinuxRCOutput_AioPRU::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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uint8_t i;
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uint32_t tick = TICK_PER_S / freq_hz;
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for(i = 0; i < PWM_CHAN_COUNT; i++) {
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if(chmask & (1U << i)) {
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pwm->channel[i].time_t = tick;
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}
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}
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}
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uint16_t LinuxRCOutput_AioPRU::get_freq(uint8_t ch)
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{
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uint16_t ret = 0;
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if(ch < PWM_CHAN_COUNT) {
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ret = TICK_PER_S / pwm->channel[ch].time_t;
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}
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return ret;
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}
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void LinuxRCOutput_AioPRU::enable_ch(uint8_t ch)
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{
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if(ch < PWM_CHAN_COUNT) {
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pwm->channelenable |= 1U << ch;
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}
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}
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void LinuxRCOutput_AioPRU::disable_ch(uint8_t ch)
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{
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if(ch < PWM_CHAN_COUNT) {
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pwm->channelenable &= !(1U << ch);
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}
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}
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void LinuxRCOutput_AioPRU::write(uint8_t ch, uint16_t period_us)
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{
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if(ch < PWM_CHAN_COUNT) {
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pwm->channel[ch].time_high = TICK_PER_US * period_us;
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}
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}
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uint16_t LinuxRCOutput_AioPRU::read(uint8_t ch)
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{
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uint16_t ret = 0;
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if(ch < PWM_CHAN_COUNT) {
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ret = (pwm->channel[ch].time_high / TICK_PER_US);
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}
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return ret;
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}
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void LinuxRCOutput_AioPRU::read(uint16_t* period_us, uint8_t len)
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{
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uint8_t i;
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if(len > PWM_CHAN_COUNT) {
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len = PWM_CHAN_COUNT;
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}
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for(i = 0; i < len; i++) {
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period_us[i] = pwm->channel[i].time_high / TICK_PER_US;
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}
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}
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#endif
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