mirror of https://github.com/ArduPilot/ardupilot
160 lines
3.9 KiB
C++
160 lines
3.9 KiB
C++
#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <stdio.h>
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#include <sys/time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <errno.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <sys/mman.h>
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#include <sys/stat.h>
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#include <stdint.h>
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#include "RCInput.h"
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using namespace Linux;
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LinuxRCInput::LinuxRCInput() :
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new_rc_input(false),
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_channel_counter(-1)
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{}
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void LinuxRCInput::init(void* machtnichts)
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{
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int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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ring_buffer = (volatile struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE,
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MAP_SHARED, mem_fd, RCIN_PRUSS_SHAREDRAM_BASE);
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close(mem_fd);
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ring_buffer->ring_head = 0;
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}
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bool LinuxRCInput::new_input()
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{
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return new_rc_input;
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}
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uint8_t LinuxRCInput::num_channels()
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{
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return _num_channels;
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}
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uint16_t LinuxRCInput::read(uint8_t ch)
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{
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new_rc_input = false;
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if (_override[ch]) {
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return _override[ch];
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}
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return _pulse_capt[ch];
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}
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uint8_t LinuxRCInput::read(uint16_t* periods, uint8_t len)
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{
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uint8_t i;
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for (i=0; i<len; i++) {
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if((periods[i] = read(i))){
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continue;
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}
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else{
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break;
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}
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}
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return (i+1);
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}
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bool LinuxRCInput::set_overrides(int16_t *overrides, uint8_t len)
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{
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bool res = false;
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if(len > LINUX_RC_INPUT_NUM_CHANNELS){
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len = LINUX_RC_INPUT_NUM_CHANNELS;
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}
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for (uint8_t i = 0; i < len; i++) {
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res |= set_override(i, overrides[i]);
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}
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return res;
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}
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bool LinuxRCInput::set_override(uint8_t channel, int16_t override)
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{
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if (override < 0) return false; /* -1: no change. */
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if (channel < LINUX_RC_INPUT_NUM_CHANNELS) {
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_override[channel] = override;
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if (override != 0) {
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new_rc_input = true;
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return true;
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}
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}
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return false;
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}
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void LinuxRCInput::clear_overrides()
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{
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for (uint8_t i = 0; i < LINUX_RC_INPUT_NUM_CHANNELS; i++) {
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_override[i] = 0;
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}
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}
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/*
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process a pulse of the given width
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*/
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void LinuxRCInput::_process_pulse(uint16_t width_usec)
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{
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if (width_usec >= 4000) {
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// a long pulse indicates the end of a frame. Reset the
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// channel counter so next pulse is channel 0
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if (_channel_counter != -1) {
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new_rc_input = true;
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_num_channels = _channel_counter;
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}
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_channel_counter = 0;
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return;
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}
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if (_channel_counter == -1) {
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// we are not synchronised
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return;
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}
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// take a reading for the current channel
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_pulse_capt[_channel_counter] = width_usec;
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// move to next channel
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_channel_counter++;
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// if we have reached the maximum supported channels then
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// mark as unsynchronised, so we wait for a wide pulse
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if (_channel_counter >= LINUX_RC_INPUT_NUM_CHANNELS) {
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new_rc_input = true;
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_channel_counter = -1;
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_num_channels = _channel_counter;
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}
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}
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/*
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called at 1kHz to check for new pulse capture data from the PRU
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*/
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void LinuxRCInput::_timer_tick()
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{
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while (ring_buffer->ring_head != ring_buffer->ring_tail) {
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if (ring_buffer->ring_tail >= NUM_RING_ENTRIES) {
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// invalid ring_tail from PRU - ignore RC input
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return;
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}
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if (ring_buffer->buffer[ring_buffer->ring_head].pin_value == 1) {
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// remember the time we spent in the low state
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_s0_time = ring_buffer->buffer[ring_buffer->ring_head].delta_t;
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} else {
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// the pulse value is the sum of the time spent in the low
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// and high states
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_process_pulse(ring_buffer->buffer[ring_buffer->ring_head].delta_t + _s0_time);
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}
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// move to the next ring buffer entry
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ring_buffer->ring_head = (ring_buffer->ring_head + 1) % NUM_RING_ENTRIES;
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}
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}
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#endif // CONFIG_HAL_BOARD
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