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38 lines
1.3 KiB
38 lines
1.3 KiB
#pragma once |
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#include "AP_HAL_Linux.h" |
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#define RCOUT_ZYNQ_PWM_BASE 0x43c00000 //FIXME hardcoding is the devil's work |
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#define MAX_ZYNQ_PWMS 8 /* number of pwm channels */ |
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#define PWM_CMD_CONFIG 0 /* full configuration in one go */ |
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#define PWM_CMD_ENABLE 1 /* enable a pwm */ |
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#define PWM_CMD_DISABLE 2 /* disable a pwm */ |
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#define PWM_CMD_MODIFY 3 /* modify a pwm */ |
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#define PWM_CMD_SET 4 /* set a pwm output explicitly */ |
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#define PWM_CMD_CLR 5 /* clr a pwm output explicitly */ |
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#define PWM_CMD_TEST 6 /* various crap */ |
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class Linux::RCOutput_ZYNQ : public AP_HAL::RCOutput { |
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void init(); |
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void set_freq(uint32_t chmask, uint16_t freq_hz); |
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uint16_t get_freq(uint8_t ch); |
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void enable_ch(uint8_t ch); |
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void disable_ch(uint8_t ch); |
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void write(uint8_t ch, uint16_t period_us); |
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uint16_t read(uint8_t ch); |
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void read(uint16_t* period_us, uint8_t len); |
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private: |
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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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// 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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};
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