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46 lines
1.2 KiB
46 lines
1.2 KiB
#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() override; |
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void set_freq(uint32_t chmask, uint16_t freq_hz) override; |
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uint16_t get_freq(uint8_t ch) override; |
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void enable_ch(uint8_t ch) override; |
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void disable_ch(uint8_t ch) override; |
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void write(uint8_t ch, uint16_t period_us) override; |
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uint16_t read(uint8_t ch) override; |
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void read(uint16_t* period_us, uint8_t len) override; |
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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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