mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.4 KiB
C++
44 lines
1.4 KiB
C++
|
|
#ifndef __AP_HAL_LINUX_RCOUTPUT_ZYNQ_H__
|
|
#define __AP_HAL_LINUX_RCOUTPUT_ZYNQ_H__
|
|
|
|
#include <AP_HAL_Linux.h>
|
|
#define RCOUT_ZYNQ_PWM_BASE 0x43c00000 //FIXME hardcoding is the devil's work
|
|
#define MAX_PWMS 8 //FIXME
|
|
#define PWM_CMD_CONFIG 0 /* full configuration in one go */
|
|
#define PWM_CMD_ENABLE 1 /* enable a pwm */
|
|
#define PWM_CMD_DISABLE 2 /* disable a pwm */
|
|
#define PWM_CMD_MODIFY 3 /* modify a pwm */
|
|
#define PWM_CMD_SET 4 /* set a pwm output explicitly */
|
|
#define PWM_CMD_CLR 5 /* clr a pwm output explicitly */
|
|
#define PWM_CMD_TEST 6 /* various crap */
|
|
|
|
|
|
class Linux::LinuxRCOutput_ZYNQ : public AP_HAL::RCOutput {
|
|
void init(void* machtnichts);
|
|
void set_freq(uint32_t chmask, uint16_t freq_hz);
|
|
uint16_t get_freq(uint8_t ch);
|
|
void enable_ch(uint8_t ch);
|
|
void disable_ch(uint8_t ch);
|
|
void write(uint8_t ch, uint16_t period_us);
|
|
void write(uint8_t ch, uint16_t* period_us, uint8_t len);
|
|
uint16_t read(uint8_t ch);
|
|
void read(uint16_t* period_us, uint8_t len);
|
|
|
|
private:
|
|
static const int TICK_PER_US=100;
|
|
static const int TICK_PER_S=100000000;
|
|
|
|
// Period|Hi 32 bits each
|
|
struct s_period_hi {
|
|
uint32_t period;
|
|
uint32_t hi;
|
|
};
|
|
struct pwm_cmd {
|
|
struct s_period_hi periodhi[MAX_PWMS];
|
|
};
|
|
volatile struct pwm_cmd *sharedMem_cmd;
|
|
};
|
|
|
|
#endif // __AP_HAL_LINUX_RCOUTPUT_ZYNQ_H__
|