mirror of https://github.com/ArduPilot/ardupilot
135 lines
3.2 KiB
C++
135 lines
3.2 KiB
C++
#ifndef __AP_HAL_LINUX_RCINPUT_RPI_H__
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#define __AP_HAL_LINUX_RCINPUT_RPI_H__
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#include "AP_HAL_Linux.h"
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#include "RCInput.h"
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#include <signal.h>
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#include <pthread.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <string.h>
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#include <errno.h>
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#include <stdarg.h>
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#include <stdint.h>
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#include <signal.h>
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#include <time.h>
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#include <sys/time.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 <sys/mman.h>
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#include <assert.h>
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#include <queue>
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enum state_t{
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RCIN_RPI_INITIAL_STATE = -1,
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RCIN_RPI_ZERO_STATE = 0,
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RCIN_RPI_ONE_STATE = 1
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};
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//Memory table structure
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typedef struct {
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void **virt_pages;
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void **phys_pages;
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uint32_t page_count;
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} memory_table_t;
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//DMA control block structure
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typedef struct {
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uint32_t info, src, dst, length,
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stride, next, pad[2];
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} dma_cb_t;
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class Memory_table {
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// Allow RCInput_RPI access to private members of Memory_table
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friend class Linux::RCInput_RPI;
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private:
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void** _virt_pages;
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void** _phys_pages;
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uint32_t _page_count;
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public:
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Memory_table();
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Memory_table(uint32_t, int);
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~Memory_table();
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//Get virtual address from the corresponding physical address from memory_table.
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void* get_virt_addr(const uint32_t phys_addr) const;
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// This function returns physical address with help of pointer, which is offset from the beginning of the buffer.
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void* get_page(void **pages, const uint32_t addr) const;
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// This function returns offset from the beginning of the buffer using (virtual) address in 'pages' and memory_table.
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uint32_t get_offset(void **pages, const uint32_t addr) const;
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//How many bytes are available for reading in circle buffer?
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uint32_t bytes_available(const uint32_t read_addr, const uint32_t write_addr) const;
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uint32_t get_page_count() const;
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};
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class Linux::RCInput_RPI : public Linux::RCInput
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{
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public:
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void init(void*);
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void _timer_tick(void);
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RCInput_RPI();
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~RCInput_RPI();
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private:
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//Physical adresses of peripherals. Are different on different Raspberries.
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uint32_t dma_base;
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uint32_t clk_base;
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uint32_t pcm_base;
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//registers
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static volatile uint32_t *pcm_reg;
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static volatile uint32_t *clk_reg;
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static volatile uint32_t *dma_reg;
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Memory_table *circle_buffer;
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Memory_table *con_blocks;
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uint64_t curr_tick;
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uint64_t prev_tick;
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uint64_t delta_time;
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uint32_t curr_tick_inc;
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uint32_t curr_pointer;
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uint32_t curr_channel;
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uint32_t counter;
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uint16_t width_s0;
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uint16_t width_s1;
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uint8_t curr_signal;
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uint8_t last_signal;
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state_t state;
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AP_HAL::DigitalSource *enable_pin;
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void init_dma_cb(dma_cb_t** cbp, uint32_t mode, uint32_t source, uint32_t dest, uint32_t length, uint32_t stride, uint32_t next_cb);
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void* map_peripheral(uint32_t base, uint32_t len);
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void init_registers();
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void init_ctrl_data();
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void init_PCM();
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void init_DMA();
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void init_buffer();
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static void stop_dma();
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static void termination_handler(int signum);
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void set_sigaction();
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void set_physical_addresses(int version);
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void deinit() override;
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};
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#endif // __AP_HAL_LINUX_RCINPUT_RPI_H__
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