ardupilot/libraries/AP_HAL_Linux/RCOutput_Raspilot.cpp

147 lines
3.7 KiB
C++

#include <AP_HAL/AP_HAL.h>
#include "GPIO.h"
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#include "RCOutput_Raspilot.h"
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <unistd.h>
#include <dirent.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdint.h>
#include <math.h>
#include "px4io_protocol.h"
using namespace Linux;
#define PWM_CHAN_COUNT 8
static const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
void LinuxRCOutput_Raspilot::init(void* machtnicht)
{
_spi = hal.spi->device(AP_HAL::SPIDevice_RASPIO);
_spi_sem = _spi->get_semaphore();
if (_spi_sem == NULL) {
hal.scheduler->panic(PSTR("PANIC: RCOutput_Raspilot did not get "
"valid SPI semaphore!"));
return; // never reached
}
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&LinuxRCOutput_Raspilot::_update, void));
}
void LinuxRCOutput_Raspilot::set_freq(uint32_t chmask, uint16_t freq_hz)
{
if (!_spi_sem->take(10)) {
return;
}
struct IOPacket _dma_packet_tx, _dma_packet_rx;
uint16_t count = 1;
_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
_dma_packet_tx.page = 50;
_dma_packet_tx.offset = 3;
_dma_packet_tx.regs[0] = freq_hz;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
_frequency = freq_hz;
_spi_sem->give();
}
uint16_t LinuxRCOutput_Raspilot::get_freq(uint8_t ch)
{
return _frequency;
}
void LinuxRCOutput_Raspilot::enable_ch(uint8_t ch)
{
}
void LinuxRCOutput_Raspilot::disable_ch(uint8_t ch)
{
write(ch, 0);
}
void LinuxRCOutput_Raspilot::write(uint8_t ch, uint16_t period_us)
{
if(ch >= PWM_CHAN_COUNT){
return;
}
_period_us[ch] = period_us;
}
uint16_t LinuxRCOutput_Raspilot::read(uint8_t ch)
{
if(ch >= PWM_CHAN_COUNT){
return 0;
}
return _period_us[ch];
}
void LinuxRCOutput_Raspilot::read(uint16_t* period_us, uint8_t len)
{
for (int i = 0; i < len; i++)
period_us[i] = read(0 + i);
}
void LinuxRCOutput_Raspilot::_update(void)
{
int i;
if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
return;
}
_last_update_timestamp = hal.scheduler->micros();
if (!_spi_sem->take_nonblocking()) {
return;
}
struct IOPacket _dma_packet_tx, _dma_packet_rx;
uint16_t count = 1;
_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
_dma_packet_tx.page = 50;
_dma_packet_tx.offset = 1;
_dma_packet_tx.regs[0] = 75;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
count = 1;
_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
_dma_packet_tx.page = 50;
_dma_packet_tx.offset = 12;
_dma_packet_tx.regs[0] = 0x560B;
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
count = PWM_CHAN_COUNT;
_dma_packet_tx.count_code = count | PKT_CODE_WRITE;
_dma_packet_tx.page = 54;
_dma_packet_tx.offset = 0;
for (i=0; i<PWM_CHAN_COUNT; i++) {
_dma_packet_tx.regs[i] = _period_us[i];
}
_dma_packet_tx.crc = 0;
_dma_packet_tx.crc = crc_packet(&_dma_packet_tx);
_spi->transaction((uint8_t *)&_dma_packet_tx, (uint8_t *)&_dma_packet_rx, sizeof(_dma_packet_tx));
_spi_sem->give();
}
#endif // CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT