mirror of https://github.com/ArduPilot/ardupilot
113 lines
2.6 KiB
C++
113 lines
2.6 KiB
C++
#include "RCOutput_PRU.h"
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#include <dirent.h>
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#include <fcntl.h>
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#include <linux/spi/spidev.h>
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#include <signal.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 <sys/ioctl.h>
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#include <sys/mman.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <unistd.h>
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#include <AP_HAL/AP_HAL.h>
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using namespace Linux;
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#define PWM_CHAN_COUNT 12
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static const uint8_t chan_pru_map[]= {10,8,11,9,7,6,5,4,3,2,1,0}; //chan_pru_map[CHANNEL_NUM] = PRU_REG_R30/31_NUM;
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static void catch_sigbus(int sig)
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{
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AP_HAL::panic("RCOutput.cpp:SIGBUS error generated\n");
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}
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void RCOutput_PRU::init()
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{
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uint32_t mem_fd;
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signal(SIGBUS,catch_sigbus);
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mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC);
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sharedMem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ|PROT_WRITE,
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MAP_SHARED, mem_fd, RCOUT_PRUSS_SHAREDRAM_BASE);
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close(mem_fd);
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// all outputs default to 50Hz, the top level vehicle code
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// overrides this when necessary
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set_freq(0xFFFFFFFF, 50);
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}
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void RCOutput_PRU::set_freq(uint32_t chmask, uint16_t freq_hz) //LSB corresponds to CHAN_1
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{
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uint8_t i;
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unsigned long tick=TICK_PER_S/(unsigned long)freq_hz;
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for (i=0;i<PWM_CHAN_COUNT;i++) {
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if (chmask & (1U<<i)) {
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sharedMem_cmd->periodhi[chan_pru_map[i]][0]=tick;
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}
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}
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}
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uint16_t RCOutput_PRU::get_freq(uint8_t ch)
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{
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return TICK_PER_S/sharedMem_cmd->periodhi[chan_pru_map[ch]][0];
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}
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void RCOutput_PRU::enable_ch(uint8_t ch)
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{
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sharedMem_cmd->enmask |= 1U<<chan_pru_map[ch];
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}
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void RCOutput_PRU::disable_ch(uint8_t ch)
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{
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sharedMem_cmd->enmask &= !(1U<<chan_pru_map[ch]);
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}
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void RCOutput_PRU::write(uint8_t ch, uint16_t period_us)
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{
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if (corked) {
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pending[ch] = period_us;
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pending_mask |= (1U << ch);
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} else {
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sharedMem_cmd->periodhi[chan_pru_map[ch]][1] = TICK_PER_US*period_us;
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}
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}
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uint16_t RCOutput_PRU::read(uint8_t ch)
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{
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return (sharedMem_cmd->hilo_read[chan_pru_map[ch]][1]/TICK_PER_US);
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}
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void RCOutput_PRU::read(uint16_t* period_us, uint8_t len)
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{
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uint8_t i;
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if(len>PWM_CHAN_COUNT){
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len = PWM_CHAN_COUNT;
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}
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for(i=0;i<len;i++){
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period_us[i] = sharedMem_cmd->hilo_read[chan_pru_map[i]][1]/TICK_PER_US;
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}
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}
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void RCOutput_PRU::cork(void)
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{
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corked = true;
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}
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void RCOutput_PRU::push(void)
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{
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if (!corked) {
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return;
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}
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corked = false;
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for (uint8_t i=0; i<ARRAY_SIZE(pending); i++) {
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if (pending_mask & (1U << i)) {
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write(i, pending[i]);
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}
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}
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pending_mask = 0;
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}
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