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76 lines
2.5 KiB
C++
76 lines
2.5 KiB
C++
/****************************************************************************
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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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#pragma once
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#include "common.h"
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namespace linux_pwm_out
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{
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/**
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** class OcpocMmapPWMOut
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* PWM output class for Aerotenna OcPoC via mmap
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*/
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class OcpocMmapPWMOut : public PWMOutBase
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{
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public:
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OcpocMmapPWMOut(int max_num_outputs);
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virtual ~OcpocMmapPWMOut();
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int init() override;
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int send_output_pwm(const uint16_t *pwm, int num_outputs) override;
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private:
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static unsigned long freq2tick(uint16_t freq_hz);
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static constexpr int MAX_ZYNQ_PWMS = 8; /**< maximum number of pwm channels */
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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 *_shared_mem_cmd = nullptr;
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static constexpr const char *_device = "/dev/mem";
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int _num_outputs;
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};
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}
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