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120 lines
3.1 KiB
120 lines
3.1 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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HC-SR04 Ultrasonic Distance Sensor connected to BeagleBone Black |
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by Mirko Denecke <mirkix@gmail.com> |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI |
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#include "AP_RangeFinder_BBB_PRU.h" |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <stdint.h> |
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#include <string.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <sys/mman.h> |
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#include <sys/types.h> |
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extern const AP_HAL::HAL& hal; |
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volatile struct range *rangerpru; |
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/* |
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The constructor also initialises the rangefinder. Note that this |
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constructor is not called until detect() returns true, so we |
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already know that we should setup the rangefinder |
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*/ |
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AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state) : |
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AP_RangeFinder_Backend(_state) |
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{ |
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} |
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/* |
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Stop PRU, load firmware (check if firmware is present), start PRU. |
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If we get a result the sensor seems to be there. |
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*/ |
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bool AP_RangeFinder_BBB_PRU::detect() |
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{ |
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bool result = true; |
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uint32_t mem_fd; |
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uint32_t *ctrl; |
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void *ram; |
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mem_fd = open("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC); |
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ctrl = (uint32_t*)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, PRU0_CTRL_BASE); |
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ram = mmap(0, PRU0_IRAM_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, PRU0_IRAM_BASE); |
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// Reset PRU 0 |
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*ctrl = 0; |
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hal.scheduler->delay(1); |
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// Load firmware (.text) |
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FILE *file = fopen("/lib/firmware/rangefinderprutext.bin", "rb"); |
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if(file == nullptr) |
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{ |
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result = false; |
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} |
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if(fread(ram, PRU0_IRAM_SIZE, 1, file) != 1) |
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{ |
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result = false; |
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} |
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fclose(file); |
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munmap(ram, PRU0_IRAM_SIZE); |
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ram = mmap(0, PRU0_DRAM_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, PRU0_DRAM_BASE); |
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// Load firmware (.data) |
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file = fopen("/lib/firmware/rangefinderprudata.bin", "rb"); |
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if(file == nullptr) |
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{ |
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result = false; |
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} |
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if(fread(ram, PRU0_DRAM_SIZE, 1, file) != 1) |
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{ |
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result = false; |
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} |
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fclose(file); |
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munmap(ram, PRU0_DRAM_SIZE); |
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// Map PRU RAM |
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ram = mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, mem_fd, PRU0_DRAM_BASE); |
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close(mem_fd); |
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// Start PRU 0 |
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*ctrl = 2; |
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rangerpru = (volatile struct range*)ram; |
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return result; |
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} |
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/* |
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update the state of the sensor |
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*/ |
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void AP_RangeFinder_BBB_PRU::update(void) |
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{ |
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state.status = (RangeFinder::RangeFinder_Status)rangerpru->status; |
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state.distance_cm = rangerpru->distance; |
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} |
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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