From 90cbb6ad26e484e534506a3e90c0c838a8633f49 Mon Sep 17 00:00:00 2001
From: Richard Allen <rsaxvc@gmail.com>
Date: Tue, 7 Feb 2023 01:34:46 +0000
Subject: [PATCH] AP_HAL_Linux: Update GPIO and RCInput for pi version change

Update version numbers according to earlier change.

Fixes: 53c1c235b890bba4b8eded0a0144164c70d17be8
---
 libraries/AP_HAL_Linux/GPIO_RPI.cpp    |  9 ++++++---
 libraries/AP_HAL_Linux/RCInput_RPI.cpp | 14 +++++++-------
 2 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/libraries/AP_HAL_Linux/GPIO_RPI.cpp b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
index f64ceb06ba..168f44cec5 100644
--- a/libraries/AP_HAL_Linux/GPIO_RPI.cpp
+++ b/libraries/AP_HAL_Linux/GPIO_RPI.cpp
@@ -163,12 +163,15 @@ void GPIO_RPI::init()
     const int rpi_version = UtilRPI::from(hal.util)->get_rpi_version();
 
     GPIO_RPI::Address peripheral_base;
-    if(rpi_version == 1) {
+    if(rpi_version == 0) {
         peripheral_base = Address::BCM2708_PERIPHERAL_BASE;
-    } else if (rpi_version == 2) {
+    } else if (rpi_version == 1 || rpi_version == 2) {
         peripheral_base = Address::BCM2709_PERIPHERAL_BASE;
-    } else {
+    } else if (rpi_version == 3) {
         peripheral_base = Address::BCM2711_PERIPHERAL_BASE;
+    } else {
+        AP_HAL::panic("Unknown rpi_version, cannot locate peripheral base address");
+        return;
     }
 
     if (!openMemoryDevice()) {
diff --git a/libraries/AP_HAL_Linux/RCInput_RPI.cpp b/libraries/AP_HAL_Linux/RCInput_RPI.cpp
index 7f0b3fac74..2fb2256a71 100644
--- a/libraries/AP_HAL_Linux/RCInput_RPI.cpp
+++ b/libraries/AP_HAL_Linux/RCInput_RPI.cpp
@@ -157,7 +157,7 @@ Memory_table::Memory_table(uint32_t page_count, int version)
     uint32_t i;
     int fdMem, file;
     // Cache coherent adresses depends on RPI's version
-    uint32_t bus = version == 1 ? 0x40000000 : 0xC0000000;
+    uint32_t bus = version == 0 ? 0x40000000 : 0xC0000000;
     uint64_t pageInfo;
     void *offset;
 
@@ -199,7 +199,7 @@ Memory_table::Memory_table(uint32_t page_count, int version)
         munmap(_virt_pages[i], PAGE_SIZE);
 
         void * prev_virt = _virt_pages[i];
-        _virt_pages[i] = mmap(_virt_pages[i], PAGE_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_FIXED | MAP_NORESERVE | MAP_LOCKED, fdMem, ((uintptr_t)_phys_pages[i] & (version == 1 ? 0xFFFFFFFFFFFFFFFF : ~bus)));
+        _virt_pages[i] = mmap(_virt_pages[i], PAGE_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_FIXED | MAP_NORESERVE | MAP_LOCKED, fdMem, ((uintptr_t)_phys_pages[i] & (version == 0 ? 0xFFFFFFFFFFFFFFFF : ~bus)));
         if (_virt_pages[i] == MAP_FAILED) {
             fprintf(stderr, "Failed phys2virt prev_virt=%p phys_page=%p %m\n", prev_virt, _phys_pages[i]);
             printf("Make sure that CONFIG_STRICT_DEVMEM is disabled\n");
@@ -274,17 +274,17 @@ uint32_t Memory_table::get_page_count() const
 // Physical addresses of peripheral depends on Raspberry Pi's version
 void RCInput_RPI::set_physical_addresses()
 {
-    if (_version == 1) { 
+    if (_version == 0) {
         // 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 == 1 || _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) {
+    } else if (_version == 3) {
         dma_base = RCIN_RPI_RPI4_DMA_BASE;
         clk_base = RCIN_RPI_RPI4_CLK_BASE;
         pcm_base = RCIN_RPI_RPI4_PCM_BASE;
@@ -424,7 +424,7 @@ void RCInput_RPI::init_PCM()
     hal.scheduler->delay_microseconds(100);
     clk_reg[RCIN_RPI_PCMCLK_CNTL] = 0x5A000006;                              // Source=PLLD (500MHz)
     hal.scheduler->delay_microseconds(100);
-    if (_version != 4) {
+    if (_version != 3) {
         clk_reg[RCIN_RPI_PCMCLK_DIV] = 0x5A000000 | ((RCIN_RPI_PLL_CLK/RCIN_RPI_SAMPLE_FREQ)<<12);   // Set pcm div for BCM2835 500MHZ clock. If we need to configure DMA frequency.
     }
     else {
@@ -524,7 +524,7 @@ void RCInput_RPI::init()
     uint64_t signal_states(0);
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
-    _version = 2;
+    _version = 1;
 #else
     _version = UtilRPI::from(hal.util)->get_rpi_version();
 #endif