mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.7 KiB
C++
52 lines
1.7 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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#pragma once
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#include "AP_HAL_Linux.h"
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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 PWM_CHAN_COUNT 12
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namespace Linux {
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class RCOutput_AioPRU : public AP_HAL::RCOutput {
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void init();
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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void cork(void) override;
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void push(void) override;
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private:
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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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struct pwm {
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volatile uint32_t channelenable;
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struct {
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volatile uint32_t time_high;
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volatile uint32_t time_t;
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} channel[PWM_CHAN_COUNT];
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};
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volatile struct pwm *pwm;
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uint16_t pending[PWM_CHAN_COUNT];
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uint32_t pending_mask;
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bool corked;
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};
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}
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