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65 lines
2.1 KiB
65 lines
2.1 KiB
// 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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#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 <stdio.h> |
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#include <sys/time.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 <errno.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <poll.h> |
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#include <sys/mman.h> |
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#include <sys/stat.h> |
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#include <stdint.h> |
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#include "RCInput.h" |
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#include "RCInput_AioPRU.h" |
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extern const AP_HAL::HAL& hal; |
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using namespace Linux; |
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void RCInput_AioPRU::init() |
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{ |
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int mem_fd = open("/dev/mem", O_RDWR|O_SYNC); |
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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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ring_buffer = (volatile struct ring_buffer*) mmap(0, 0x1000, PROT_READ|PROT_WRITE, MAP_SHARED, mem_fd, RCIN_PRUSS_RAM_BASE); |
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close(mem_fd); |
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ring_buffer->ring_head = 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 PRU |
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*/ |
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void RCInput_AioPRU::_timer_tick() |
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{ |
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while (ring_buffer->ring_head != ring_buffer->ring_tail) { |
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if (ring_buffer->ring_tail >= NUM_RING_ENTRIES) { |
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// invalid ring_tail from PRU - ignore RC input |
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return; |
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} |
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_process_rc_pulse((ring_buffer->buffer[ring_buffer->ring_head].s1_t) / TICK_PER_US, |
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(ring_buffer->buffer[ring_buffer->ring_head].s0_t) / TICK_PER_US); |
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// move to the next ring buffer entry |
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ring_buffer->ring_head = (ring_buffer->ring_head + 1) % NUM_RING_ENTRIES; |
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} |
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} |
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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