mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -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.
54 lines
1.2 KiB
C++
54 lines
1.2 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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#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43c10000
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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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