mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
e8f71a5bd2
Make some member variables protected to follow what we do in other places (and there's no reason to be private). Move defines to .cpp to reduce their visibility.
69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
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CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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#include "RCInput_PRU.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 "GPIO.h"
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#define RCIN_PRUSS_SHAREDRAM_BASE 0x4a312000
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extern const AP_HAL::HAL& hal;
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using namespace Linux;
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void RCInput_PRU::init()
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{
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int mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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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,
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MAP_SHARED, mem_fd, RCIN_PRUSS_SHAREDRAM_BASE);
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close(mem_fd);
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ring_buffer->ring_head = 0;
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_s0_time = 0;
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// enable the spektrum RC input power
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hal.gpio->pinMode(BBB_P8_17, HAL_GPIO_OUTPUT);
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hal.gpio->write(BBB_P8_17, 1);
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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_PRU::_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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if (ring_buffer->buffer[ring_buffer->ring_head].pin_value == 1) {
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// remember the time we spent in the low state
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_s0_time = ring_buffer->buffer[ring_buffer->ring_head].delta_t;
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} else {
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// the pulse value is the sum of the time spent in the low
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// and high states
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_process_rc_pulse(_s0_time, ring_buffer->buffer[ring_buffer->ring_head].delta_t);
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}
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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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