mirror of https://github.com/ArduPilot/ardupilot
147 lines
3.7 KiB
C++
147 lines
3.7 KiB
C++
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#include <AP_HAL/AP_HAL.h>
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#include "GPIO.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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#include "RCOutput_Raspilot.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <dirent.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 <math.h>
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#include "px4io_protocol.h"
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using namespace Linux;
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#define PWM_CHAN_COUNT 8
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static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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void LinuxRCOutput_Raspilot::init(void* machtnicht)
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{
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_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
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_spi_sem = _spi->get_semaphore();
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if (_spi_sem == NULL) {
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hal.scheduler->panic(PSTR("PANIC: RCOutput_Raspilot did not get "
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"valid SPI semaphore!"));
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return; // never reached
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}
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&LinuxRCOutput_Raspilot::_update, void));
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}
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void LinuxRCOutput_Raspilot::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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if (!_spi_sem->take(10)) {
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return;
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}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
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uint16_t count = 1;
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_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
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_dma_packet_tx.page = 50;
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_dma_packet_tx.offset = 3;
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_dma_packet_tx.regs[0] = freq_hz;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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_frequency = freq_hz;
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_spi_sem->give();
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}
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uint16_t LinuxRCOutput_Raspilot::get_freq(uint8_t ch)
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{
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return _frequency;
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}
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void LinuxRCOutput_Raspilot::enable_ch(uint8_t ch)
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{
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}
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void LinuxRCOutput_Raspilot::disable_ch(uint8_t ch)
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{
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write(ch, 0);
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}
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void LinuxRCOutput_Raspilot::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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return;
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}
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_period_us[ch] = period_us;
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}
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uint16_t LinuxRCOutput_Raspilot::read(uint8_t ch)
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{
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if(ch >= PWM_CHAN_COUNT){
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return 0;
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}
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return _period_us[ch];
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}
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void LinuxRCOutput_Raspilot::read(uint16_t* period_us, uint8_t len)
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{
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for (int i = 0; i < len; i++)
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period_us[i] = read(0 + i);
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}
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void LinuxRCOutput_Raspilot::_update(void)
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{
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int i;
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if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
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return;
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}
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_last_update_timestamp = hal.scheduler->micros();
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if (!_spi_sem->take_nonblocking()) {
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return;
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}
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struct IOPacket _dma_packet_tx, _dma_packet_rx;
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uint16_t count = 1;
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_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
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_dma_packet_tx.page = 50;
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_dma_packet_tx.offset = 1;
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_dma_packet_tx.regs[0] = 75;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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count = 1;
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_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
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_dma_packet_tx.page = 50;
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_dma_packet_tx.offset = 12;
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_dma_packet_tx.regs[0] = 0x560B;
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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count = PWM_CHAN_COUNT;
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_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
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_dma_packet_tx.page = 54;
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_dma_packet_tx.offset = 0;
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for (i=0; i<PWM_CHAN_COUNT; i++) {
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_dma_packet_tx.regs[i] = _period_us[i];
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}
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_dma_packet_tx.crc = 0;
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_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
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_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
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_spi_sem->give();
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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