mirror of https://github.com/ArduPilot/ardupilot
152 lines
3.4 KiB
C++
152 lines
3.4 KiB
C++
// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "RCOutput_AioPRU.h"
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <sys/mman.h>
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#include <signal.h>
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#include "../../Tools/Linux_HAL_Essentials/pru/aiopru/RcAioPRU_bin.h"
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using namespace Linux;
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static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
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static void catch_sigbus(int sig)
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{
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hal.scheduler->panic("RCOutputAioPRU.cpp:SIGBUS error gernerated\n");
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}
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void LinuxRCOutput_AioPRU::init(void* machtnicht)
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{
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uint32_t mem_fd, i;
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uint32_t *iram;
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uint32_t *ctrl;
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signal(SIGBUS,catch_sigbus);
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mem_fd = open("/dev/mem", O_RDWR|O_SYNC);
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pwm = (struct pwm*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_RAM_BASE);
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iram = (uint32_t*)mmap(0, 0x2000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_IRAM_BASE);
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ctrl = (uint32_t*)mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCOUT_PRUSS_CTRL_BASE);
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close(mem_fd);
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// Reset PRU 1
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*ctrl = 0;
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hal.scheduler->delay(1);
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// Load firmware
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for(i = 0; i < sizeof(PRUcode); i++) {
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*(iram + i) = PRUcode[i];
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}
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// Start PRU 1
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*ctrl = 3;
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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 LinuxRCOutput_AioPRU::set_freq(uint32_t chmask, uint16_t freq_hz)
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{
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uint8_t i;
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uint32_t tick = TICK_PER_S / 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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pwm->channel[i].time_t = tick;
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}
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}
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}
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uint16_t LinuxRCOutput_AioPRU::get_freq(uint8_t ch)
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{
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uint16_t ret = 0;
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if(ch < PWM_CHAN_COUNT) {
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ret = TICK_PER_S / pwm->channel[ch].time_t;
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}
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return ret;
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}
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void LinuxRCOutput_AioPRU::enable_ch(uint8_t ch)
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{
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if(ch < PWM_CHAN_COUNT) {
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pwm->channelenable |= 1U << ch;
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}
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}
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void LinuxRCOutput_AioPRU::disable_ch(uint8_t ch)
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{
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if(ch < PWM_CHAN_COUNT) {
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pwm->channelenable &= !(1U << ch);
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}
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}
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void LinuxRCOutput_AioPRU::write(uint8_t ch, uint16_t period_us)
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{
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if(ch < PWM_CHAN_COUNT) {
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pwm->channel[ch].time_high = TICK_PER_US * period_us;
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}
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}
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void LinuxRCOutput_AioPRU::write(uint8_t ch, 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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write(ch + i, period_us[i]);
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}
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}
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uint16_t LinuxRCOutput_AioPRU::read(uint8_t ch)
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{
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uint16_t ret = 0;
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if(ch < PWM_CHAN_COUNT) {
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ret = (pwm->channel[ch].time_high / TICK_PER_US);
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}
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return ret;
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}
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void LinuxRCOutput_AioPRU::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] = pwm->channel[i].time_high / TICK_PER_US;
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}
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}
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#endif
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