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AP_HAL_Linux: Update GPIO and RCInput for pi version change

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Update version numbers according to earlier change.

Fixes: 53c1c235b8
This commit is contained in:
Richard Allen 2023-02-07 01:34:46 +00:00 committed by Lucas De Marchi
parent 693068e68a
commit 90cbb6ad26
2 changed files with 13 additions and 10 deletions
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9
libraries/AP_HAL_Linux/GPIO_RPI.cpp
View File

@ -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()) {

14
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -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