mirror of https://github.com/ArduPilot/ardupilot
159 lines
5.2 KiB
C
159 lines
5.2 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 <stdio.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include "RcAioPRU_bin.h"
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#define NUM_RING_ENTRIES 300
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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 RCIN_PRUSS_RAM_BASE 0x4a303000
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struct ring_buffer {
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volatile uint16_t ring_head;
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volatile uint16_t ring_tail;
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struct {
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uint32_t s1;
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uint32_t s0;
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} buffer[NUM_RING_ENTRIES];
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};
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struct pwm {
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volatile uint32_t enable;
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volatile uint32_t ch1_hi_time;
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volatile uint32_t ch1_t_time;
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volatile uint32_t ch2_hi_time;
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volatile uint32_t ch2_t_time;
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volatile uint32_t ch3_hi_time;
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volatile uint32_t ch3_t_time;
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volatile uint32_t ch4_hi_time;
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volatile uint32_t ch4_t_time;
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volatile uint32_t ch5_hi_time;
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volatile uint32_t ch5_t_time;
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volatile uint32_t ch6_hi_time;
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volatile uint32_t ch6_t_time;
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volatile uint32_t ch7_hi_time;
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volatile uint32_t ch7_t_time;
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volatile uint32_t ch8_hi_time;
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volatile uint32_t ch8_t_time;
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volatile uint32_t ch9_hi_time;
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volatile uint32_t ch9_t_time;
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volatile uint32_t ch10_hi_time;
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volatile uint32_t ch10_t_time;
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volatile uint32_t ch11_hi_time;
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volatile uint32_t ch11_t_time;
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volatile uint32_t ch12_hi_time;
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volatile uint32_t ch12_t_time;
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volatile uint32_t max_cycle_time;
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};
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volatile struct ring_buffer *ring_buffer;
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volatile struct pwm *pwm;
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int main (void)
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{
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unsigned int ret, i, a, s0, s1, min_s0, min_s1, max_s0, max_s1;
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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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mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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ring_buffer = (struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCIN_PRUSS_RAM_BASE);
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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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usleep(5 * 1000);
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// Load firmware
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for(i = 0; i < ARRAY_SIZE(PRUcode); i++) {
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*(iram + i) = PRUcode[i];
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}
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usleep(5 * 1000);
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// Start PRU 1
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*ctrl = 3;
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i = 1;
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a = 0;
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min_s0 = 0xffffffff;
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min_s1 = 0xffffffff;
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max_s0 = 0;
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max_s1 = 0;
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pwm->ch1_t_time = 200 * 2200;
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pwm->ch2_t_time = 200 * 2300;
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pwm->ch3_t_time = 200 * 2400;
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pwm->ch4_t_time = 200 * 2500;
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pwm->ch5_t_time = 200 * 2600;
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pwm->ch6_t_time = 200 * 2700;
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pwm->ch7_t_time = 200 * 2800;
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pwm->ch8_t_time = 200 * 2900;
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pwm->ch9_t_time = 200 * 3000;
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pwm->ch10_t_time = 200 * 3100;
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pwm->ch11_t_time = 200 * 3200;
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pwm->ch12_t_time = 200 * 3300;
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pwm->enable=0xffffffff;
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while(1) {
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for(a = 0; a < NUM_RING_ENTRIES; a++) {
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s0 = ring_buffer->buffer[a].s0;
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s1 = ring_buffer->buffer[a].s1;
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if((s0 > max_s0) && (s0 != 1001)) {max_s0 = s0;}
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if((s1 > max_s1) && (s1 != 1001)) {max_s1 = s1;}
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if((s0 < min_s0) && (s0 != 1001)) {min_s0 = s0;}
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if((s1 < min_s1) && (s1 != 1001)) {min_s1 = s1;}
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}
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s0 = ring_buffer->buffer[ring_buffer->ring_tail].s0;
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s1 = ring_buffer->buffer[ring_buffer->ring_tail].s1;
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printf("max ct: %u ns head: %u tail: %3u s0: %7u s1: %7u s01: %7u jitter_s0 %u ns jitter_s1 %u ns\n", pwm->max_cycle_time * 5, ring_buffer->ring_head, ring_buffer->ring_tail, s0/200, s1/200, (s0+s1)/200, ((max_s0-min_s0) * 5), ((max_s1-min_s1) * 5));
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// pwm->ch1_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch2_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch1_hi_time = 1000 * 200;
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// pwm->ch2_hi_time = 1500 * 200;
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pwm->ch3_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch4_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch5_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch6_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch7_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch8_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch9_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch10_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch11_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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pwm->ch12_hi_time = (uint32_t)((rand() % 1001 + 900) * 200);
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usleep(50 * 1000);
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if(i < 100) {
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min_s0 = 0xffffffff;
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min_s1 = 0xffffffff;
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max_s0 = 0;
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max_s1 = 0;
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i++;
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}
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else if(((max_s1 - min_s1) * 5) > 1001000) {
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i = 500;
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}
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}
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return 0;
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}
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