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57 lines
1.3 KiB
57 lines
1.3 KiB
#include "RCInput_ZYNQ.h" |
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#include <errno.h> |
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#include <fcntl.h> |
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#include <poll.h> |
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#include <stdint.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <string.h> |
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#include <sys/mman.h> |
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#include <sys/stat.h> |
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#include <sys/time.h> |
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#include <unistd.h> |
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#include <AP_HAL/AP_HAL.h> |
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#include "GPIO.h" |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ |
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#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43ca0000 |
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#else |
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#define RCIN_ZYNQ_PULSE_INPUT_BASE 0x43c10000 |
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#endif |
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extern const AP_HAL::HAL& hal; |
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using namespace Linux; |
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void RCInput_ZYNQ::init() |
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{ |
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int mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC); |
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if (mem_fd == -1) { |
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AP_HAL::panic("Unable to open /dev/mem"); |
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} |
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pulse_input = (volatile uint32_t*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, |
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MAP_SHARED, mem_fd, RCIN_ZYNQ_PULSE_INPUT_BASE); |
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close(mem_fd); |
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_s0_time = 0; |
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} |
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/* |
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called at 1kHz to check for new pulse capture data from the PL pulse timer |
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*/ |
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void RCInput_ZYNQ::_timer_tick() |
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{ |
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uint32_t v; |
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// all F's means no samples available |
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while((v = *pulse_input) != 0xffffffff) { |
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// Hi bit indicates pin state, low bits denote pulse length |
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if(v & 0x80000000) |
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_s0_time = (v & 0x7fffffff)/TICK_PER_US; |
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else |
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_process_rc_pulse(_s0_time, (v & 0x7fffffff)/TICK_PER_US); |
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} |
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}
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