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AP_HAL_LINUX:fix missing setting physical address

This commit is contained in:
MHefny 2021-04-07 18:11:59 +02:00 committed by Lucas De Marchi
parent 30382740d2
commit 6bbfdbaf6a
2 changed files with 23 additions and 5 deletions
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26
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -64,6 +64,10 @@ static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
#endif // CONFIG_HAL_BOARD_SUBTYPE
//Memory Addresses
#define RCIN_RPI_RPI0_DMA_BASE 0x20007000
#define RCIN_RPI_RPI0_CLK_BASE 0x20101000
#define RCIN_RPI_RPI0_PCM_BASE 0x20203000
#define RCIN_RPI_RPI1_DMA_BASE 0x20007000
#define RCIN_RPI_RPI1_CLK_BASE 0x20101000
#define RCIN_RPI_RPI1_PCM_BASE 0x20203000
@ -72,6 +76,14 @@ static uint16_t RcChnGpioTbl[RCIN_RPI_CHN_NUM] = {
#define RCIN_RPI_RPI2_CLK_BASE 0x3F101000
#define RCIN_RPI_RPI2_PCM_BASE 0x3F203000
#define RCIN_RPI_RPI3_DMA_BASE 0x3F007000
#define RCIN_RPI_RPI3_CLK_BASE 0x3F101000
#define RCIN_RPI_RPI3_PCM_BASE 0x3F203000
#define RCIN_RPI_RPI4_DMA_BASE 0xFE007000
#define RCIN_RPI_RPI4_CLK_BASE 0xFE101000
#define RCIN_RPI_RPI4_PCM_BASE 0xFE203000
#define RCIN_RPI_GPIO_LEV0_ADDR 0x7e200034
#define RCIN_RPI_DMA_LEN 0x1000
#define RCIN_RPI_CLK_LEN 0xA8
@ -238,16 +250,22 @@ uint32_t Memory_table::get_page_count() const
}
// Physical addresses of peripheral depends on Raspberry Pi's version
void RCInput_RPI::set_physical_addresses(int version)
void RCInput_RPI::set_physical_addresses()
{
if (version == 1) {
if (_version == 1) {
// 1 & zero are the same
dma_base = RCIN_RPI_RPI1_DMA_BASE;
clk_base = RCIN_RPI_RPI1_CLK_BASE;
pcm_base = RCIN_RPI_RPI1_PCM_BASE;
} else if (version == 2) {
} else if (_version == 2) {
// 2 & 3 are the same
dma_base = RCIN_RPI_RPI2_DMA_BASE;
clk_base = RCIN_RPI_RPI2_CLK_BASE;
pcm_base = RCIN_RPI_RPI2_PCM_BASE;
} else if (_version == 4) {
dma_base = RCIN_RPI_RPI4_DMA_BASE;
clk_base = RCIN_RPI_RPI4_CLK_BASE;
pcm_base = RCIN_RPI_RPI4_PCM_BASE;
}
}
@ -484,7 +502,7 @@ void RCInput_RPI::init()
_version = UtilRPI::from(hal.util)->get_rpi_version();
#endif
set_physical_addresses(_version);
set_physical_addresses();
// Init memory for buffer and for DMA control blocks.
// See comments in "init_ctrl_data()" to understand values "2" and "15"
circle_buffer = new Memory_table(RCIN_RPI_BUFFER_LENGTH * 2, _version);

2
libraries/AP_HAL_Linux/RCInput_RPI.h
View File

@ -143,7 +143,7 @@ private:
static void stop_dma();
static void termination_handler(int signum);
void set_sigaction();
void set_physical_addresses(int version);
void set_physical_addresses();
void teardown() override;
};