mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.5 KiB
C++
44 lines
1.5 KiB
C++
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#ifndef __AP_HAL_LINUX_RCOUTPUT_H__
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#define __AP_HAL_LINUX_RCOUTPUT_H__
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#include <AP_HAL_Linux.h>
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#define PRUSS_SHAREDRAM_BASE 0x4a310000
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#define MAX_PWMS 12
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#define PWM_CMD_MAGIC 0xf00fbaaf
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#define PWM_REPLY_MAGIC 0xbaaff00f
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#define TICK_PER_US 200
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#define TICK_PER_S 200000000
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#define PWM_CMD_CONFIG 0 /* full configuration in one go */
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#define PWM_CMD_ENABLE 1 /* enable a pwm */
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#define PWM_CMD_DISABLE 2 /* disable a pwm */
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#define PWM_CMD_MODIFY 3 /* modify a pwm */
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#define PWM_CMD_SET 4 /* set a pwm output explicitly */
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#define PWM_CMD_CLR 5 /* clr a pwm output explicitly */
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#define PWM_CMD_TEST 6 /* various crap */
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class Linux::LinuxRCOutput : public AP_HAL::RCOutput {
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void init(void* machtnichts);
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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void write(uint8_t ch, uint16_t* period_us, uint8_t len);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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private:
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struct pwm_cmd {
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uint32_t magic;
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uint32_t enmask; /* enable mask */
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uint32_t offmsk; /* state when pwm is off */
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uint32_t periodhi[MAX_PWMS][2];
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uint32_t hilo_read[MAX_PWMS][2];
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uint32_t enmask_read;
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}*sharedMem_cmd;
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};
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#endif // __AP_HAL_LINUX_RCOUTPUT_H__
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