aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

HAL_Linux: implement cork/push for RCOutput_AioPRU

Browse Source
This commit is contained in:
Andrew Tridgell 2016-10-12 11:05:17 +11:00
parent e356797888
commit c8179a0887
2 changed files with 27 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
libraries/AP_HAL_Linux/RCOutput_AioPRU.cpp
View File

@ -98,7 +98,12 @@ void RCOutput_AioPRU::disable_ch(uint8_t ch)
void RCOutput_AioPRU::write(uint8_t ch, uint16_t period_us)
{
if(ch < PWM_CHAN_COUNT) {
pwm->channel[ch].time_high = TICK_PER_US * period_us;
if (corked) {
pending_mask |= (1U << ch);
pending[ch] = period_us;
} else {
pwm->channel[ch].time_high = TICK_PER_US * period_us;
}
}
}
@ -125,3 +130,19 @@ void RCOutput_AioPRU::read(uint16_t* period_us, uint8_t len)
period_us[i] = pwm->channel[i].time_high / TICK_PER_US;
}
}
void RCOutput_AioPRU::cork(void)
{
corked = true;
}
void RCOutput_AioPRU::push(void)
{
corked = false;
for (uint8_t i=0; i<PWM_CHAN_COUNT; i++) {
if (pending_mask & (1U<<i)) {
write(i, pending[i]);
}
}
pending_mask = 0;
}

5
libraries/AP_HAL_Linux/RCOutput_AioPRU.h
View File

@ -27,6 +27,8 @@ class RCOutput_AioPRU : public AP_HAL::RCOutput {
void write(uint8_t ch, uint16_t period_us);
uint16_t read(uint8_t ch);
void read(uint16_t* period_us, uint8_t len);
void cork(void) override;
void push(void) override;
private:
static const uint32_t TICK_PER_US = 200;
@ -41,6 +43,9 @@ private:
};
volatile struct pwm *pwm;
uint16_t pending[PWM_CHAN_COUNT];
uint32_t pending_mask;
bool corked;
};
}