mirror of https://github.com/ArduPilot/ardupilot
47 lines
1.1 KiB
C++
47 lines
1.1 KiB
C++
#pragma once
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#include <AP_HAL/AP_HAL.h>
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namespace Linux {
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#define MAX_ZYNQ_PWMS 8 /* number of pwm channels */
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class RCOutput_ZYNQ : public AP_HAL::RCOutput {
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public:
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void init();
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void set_freq(uint32_t chmask, uint16_t freq_hz);
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uint16_t get_freq(uint8_t ch);
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void enable_ch(uint8_t ch);
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void disable_ch(uint8_t ch);
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void write(uint8_t ch, uint16_t period_us);
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uint16_t read(uint8_t ch);
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void read(uint16_t* period_us, uint8_t len);
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void cork(void) override;
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void push(void) override;
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private:
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
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static const int TICK_PER_US=50;
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static const int TICK_PER_S=50000000;
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#else
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static const int TICK_PER_US=100;
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static const int TICK_PER_S=100000000;
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#endif
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// Period|Hi 32 bits each
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struct s_period_hi {
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uint32_t period;
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uint32_t hi;
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};
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struct pwm_cmd {
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struct s_period_hi periodhi[MAX_ZYNQ_PWMS];
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};
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volatile struct pwm_cmd *sharedMem_cmd;
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uint16_t pending[MAX_ZYNQ_PWMS];
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bool corked;
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uint32_t pending_mask;
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};
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}
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