mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
490841a814
By opening with O_CLOEXEC we make sure we don't leak the file descriptor when we are exec'ing or calling out subprograms. Right now we currently don't do it so there's no harm, but it's good practice in Linux to have it.
65 lines
2.0 KiB
C++
65 lines
2.0 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 <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#include <errno.h>
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#include <fcntl.h>
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#include <poll.h>
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#include <stdint.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 <sys/mman.h>
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#include <sys/stat.h>
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#include <sys/time.h>
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#include <unistd.h>
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#include "RCInput.h"
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#include "RCInput_AioPRU.h"
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCInput_AioPRU::init()
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{
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int mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC);
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if (mem_fd == -1) {
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AP_HAL::panic("Unable to open /dev/mem");
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}
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ring_buffer = (volatile struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCIN_PRUSS_RAM_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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/*
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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 RCInput_AioPRU::_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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_process_rc_pulse((ring_buffer->buffer[ring_buffer->ring_head].s1_t) / TICK_PER_US,
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(ring_buffer->buffer[ring_buffer->ring_head].s0_t) / TICK_PER_US);
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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_SUBTYPE
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