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113 lines
3.6 KiB
113 lines
3.6 KiB
/**************************************************************************** |
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* |
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* Copyright (c) 2017 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#ifndef MODULE_NAME |
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#define MODULE_NAME "ocpoc_pwm_out" |
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#endif |
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#include "board_pwm_out.h" |
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#include <px4_platform_common/log.h> |
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#include <fcntl.h> |
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#include <sys/mman.h> |
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#include <unistd.h> |
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using namespace pwm_out; |
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#define RCOUT_ZYNQ_PWM_BASE 0x43c00000 |
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static const int TICK_PER_US = 50; |
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static const int FREQUENCY_PWM = 400; |
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static const int TICK_PER_S = 50000000; |
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OcpocMmapPWMOut::OcpocMmapPWMOut(int max_num_outputs) |
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{ |
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_num_outputs = max_num_outputs; |
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if (_num_outputs > MAX_ZYNQ_PWMS) { |
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PX4_WARN("number of outputs too large. Setting to %i", MAX_ZYNQ_PWMS); |
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_num_outputs = MAX_ZYNQ_PWMS; |
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} |
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} |
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OcpocMmapPWMOut::~OcpocMmapPWMOut() |
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{ |
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if (_shared_mem_cmd) { |
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munmap((void *)_shared_mem_cmd, 0x1000); |
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} |
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} |
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unsigned long OcpocMmapPWMOut::freq2tick(uint16_t freq_hz) |
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{ |
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unsigned long duty = TICK_PER_S / (unsigned long)freq_hz; |
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return duty; |
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} |
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int OcpocMmapPWMOut::init() |
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{ |
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uint32_t mem_fd = open(_device, O_RDWR | O_SYNC); |
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_shared_mem_cmd = (struct pwm_cmd *) mmap(0, 0x1000, PROT_READ | PROT_WRITE, |
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MAP_SHARED, mem_fd, RCOUT_ZYNQ_PWM_BASE); |
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close(mem_fd); |
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if (_shared_mem_cmd == nullptr) { |
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PX4_ERR("initialize pwm pointer failed."); |
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return -1; |
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} |
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for (int i = 0; i < _num_outputs; ++i) { |
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_shared_mem_cmd->periodhi[i].period = freq2tick(FREQUENCY_PWM); |
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_shared_mem_cmd->periodhi[i].hi = freq2tick(FREQUENCY_PWM) / 2; |
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PX4_DEBUG("Output values: %d, %d", _shared_mem_cmd->periodhi[i].period, _shared_mem_cmd->periodhi[i].hi); |
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} |
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return 0; |
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} |
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int OcpocMmapPWMOut::send_output_pwm(const uint16_t *pwm, int num_outputs) |
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{ |
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if (num_outputs > _num_outputs) { |
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num_outputs = _num_outputs; |
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} |
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//convert this to duty_cycle in ns |
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for (int i = 0; i < num_outputs; ++i) { |
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//n = ::asprintf(&data, "%u", pwm[i] * 1000); |
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//::write(_pwm_fd[i], data, n); |
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_shared_mem_cmd->periodhi[i].hi = TICK_PER_US * pwm[i]; |
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//printf("ch:%d, val:%d*%d ", ch, period_us, TICK_PER_US); |
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} |
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return 0; |
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} |
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