mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.3 KiB
C++
58 lines
1.3 KiB
C++
#include "RCInput_ZYNQ.h"
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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 <AP_HAL/AP_HAL.h>
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#include "GPIO.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
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#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43ca0000
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#else
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#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43c10000
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#endif
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCInput_ZYNQ::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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pulse_input = (volatile uint32_t*) mmap(0, 0x1000, PROT_READ|PROT_WRITE,
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MAP_SHARED, mem_fd, RCIN_ZYNQ_PULSE_INPUT_BASE);
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close(mem_fd);
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_s0_time = 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 PL pulse timer
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*/
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void RCInput_ZYNQ::_timer_tick()
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{
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uint32_t v;
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// all F's means no samples available
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while((v = *pulse_input) != 0xffffffff) {
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// Hi bit indicates pin state, low bits denote pulse length
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if(v & 0x80000000)
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_s0_time = (v & 0x7fffffff)/TICK_PER_US;
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else
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_process_rc_pulse(_s0_time, (v & 0x7fffffff)/TICK_PER_US);
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}
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}
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