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GPIO_BBB: fix partially working GPIO init 

use cleaner way to enable all GPIO banks, including GPIO1.
This commit is contained in:
courk 2020-03-01 16:37:42 +01:00 committed by Lucas De Marchi
parent 5fa50c419d
commit b1bf22b53c
2 changed files with 22 additions and 15 deletions
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30
libraries/AP_HAL_Linux/GPIO_BBB.cpp
View File

@ -29,20 +29,6 @@ void GPIO_BBB::init()
{ {
#if LINUX_GPIO_NUM_BANKS == 4 #if LINUX_GPIO_NUM_BANKS == 4
int mem_fd; int mem_fd;
// Enable all GPIO banks
// Without this, access to deactivated banks (i.e. those with no clock source set up) will (logically) fail with SIGBUS
// Idea taken from https://groups.google.com/forum/#!msg/beagleboard/OYFp4EXawiI/Mq6s3sg14HoJ
uint8_t bank_enable[3] = { 5, 65, 105 };
int export_fd = open("/sys/class/gpio/export", O_WRONLY | O_CLOEXEC);
if (export_fd == -1) {
AP_HAL::panic("unable to open /sys/class/gpio/export");
}
for (uint8_t i=0; i<3; i++) {
dprintf(export_fd, "%u\n", (unsigned)bank_enable[i]);
}
close(export_fd);
/* open /dev/mem */ /* open /dev/mem */
if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC)) < 0) { if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC|O_CLOEXEC)) < 0) {
@ -50,6 +36,22 @@ void GPIO_BBB::init()
exit (-1); exit (-1);
} }
/*
Enable all GPIO clocks
Without this, access to deactivated banks (i.e. those with no clock source set up) will (logically) fail with SIGBUS
*/
volatile unsigned *cm_per = (volatile unsigned *)mmap(0, CM_PER_BASE_SIZE, PROT_READ|PROT_WRITE,
MAP_SHARED, mem_fd, CM_PER_BASE);
if ((char *)cm_per == MAP_FAILED) {
AP_HAL::panic("unable to map CM_PER registers");
}
off_t cm_offsets[LINUX_GPIO_NUM_BANKS-1] = { CM_PER_GPIO1_CLKCTRL, CM_PER_GPIO2_CLKCTRL, CM_PER_GPIO3_CLKCTRL };
for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS-1; i++) {
unsigned reg_value = *(cm_per + cm_offsets[i]);
*(cm_per + cm_offsets[i]) = (reg_value & ~0b11) | 0b10;
}
munmap((void *)cm_per, CM_PER_BASE_SIZE);
/* mmap GPIO */ /* mmap GPIO */
off_t offsets[LINUX_GPIO_NUM_BANKS] = { GPIO0_BASE, GPIO1_BASE, GPIO2_BASE, GPIO3_BASE }; off_t offsets[LINUX_GPIO_NUM_BANKS] = { GPIO0_BASE, GPIO1_BASE, GPIO2_BASE, GPIO3_BASE };
for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS; i++) { for (uint8_t i=0; i<LINUX_GPIO_NUM_BANKS; i++) {

7
libraries/AP_HAL_Linux/GPIO_BBB.h
View File

@ -2,7 +2,12 @@
#include "AP_HAL_Linux.h" #include "AP_HAL_Linux.h"
#define SYSFS_GPIO_DIR "/sys/class/gpio" #define CM_PER_BASE 0x44E00000
#define CM_PER_GPIO1_CLKCTRL 0x2B
#define CM_PER_GPIO2_CLKCTRL 0x2C
#define CM_PER_GPIO3_CLKCTRL 0x2D
#define CM_PER_BASE_SIZE 0x00003FFF
#define GPIO0_BASE 0x44E07000 #define GPIO0_BASE 0x44E07000
#define GPIO1_BASE 0x4804C000 #define GPIO1_BASE 0x4804C000