ardupilot/libraries/AP_HAL_Linux/RCOutput_ZYNQ.h

47 lines
1.1 KiB
C++

#pragma once
#include <AP_HAL/AP_HAL.h>
namespace Linux {
#define MAX_ZYNQ_PWMS 8 /* number of pwm channels */
class RCOutput_ZYNQ : public AP_HAL::RCOutput {
public:
void init();
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);
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
void cork(void) override;
void push(void) override;
private:
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
static const int TICK_PER_US=50;
static const int TICK_PER_S=50000000;
#else
static const int TICK_PER_US=100;
static const int TICK_PER_S=100000000;
#endif
// Period|Hi 32 bits each
struct s_period_hi {
uint32_t period;
uint32_t hi;
};
struct pwm_cmd {
struct s_period_hi periodhi[MAX_ZYNQ_PWMS];
};
volatile struct pwm_cmd *sharedMem_cmd;
uint16_t pending[MAX_ZYNQ_PWMS];
bool corked;
uint32_t pending_mask;
};
}