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AP_HAL_Linux: cleanup pointer casts in RCInput_Navio 

Although RPi is 32 bits, use uintptr_t and friends for casts.
This commit is contained in:
dgrat 2015-08-15 12:29:14 +02:00 committed by Andrew Tridgell
parent 80e182f827
commit e96a1bae8a
1 changed files with 30 additions and 12 deletions
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42
libraries/AP_HAL_Linux/RCInput_Navio.cpp
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@ -111,19 +111,19 @@ Memory_table::Memory_table(uint32_t page_count, int version)
//Magic to determine the physical address for this page:
offset = mmap(0, _page_count*PAGE_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_ANONYMOUS|MAP_NORESERVE|MAP_LOCKED,-1,0);
lseek(file, ((uint32_t)offset)/PAGE_SIZE*8, SEEK_SET);
lseek(file, ((uintptr_t)offset)/PAGE_SIZE*8, SEEK_SET);
//Get list of available cache coherent physical addresses
for (i = 0; i < _page_count; i++) {
_virt_pages[i] = mmap(0, PAGE_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_ANONYMOUS|MAP_NORESERVE|MAP_LOCKED,-1,0);
::read(file, &pageInfo, 8);
_phys_pages[i] = (void*)((uint32_t)(pageInfo*PAGE_SIZE) | bus);
_phys_pages[i] = (void*)((uintptr_t)(pageInfo*PAGE_SIZE) | bus);
}
//Map physical addresses to virtual memory
for (i = 0; i < _page_count; i++) {
munmap(_virt_pages[i], PAGE_SIZE);
_virt_pages[i] = mmap(_virt_pages[i], PAGE_SIZE, PROT_READ|PROT_WRITE, MAP_SHARED|MAP_FIXED|MAP_NORESERVE|MAP_LOCKED, fdMem, ((uint32_t)_phys_pages[i] & (version == 1 ? 0xFFFFFFFF : ~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 == 1 ? 0xFFFFFFFF : ~bus)));
memset(_virt_pages[i], 0xee, PAGE_SIZE);
}
close(file);
@ -152,8 +152,8 @@ void* Memory_table::get_virt_addr(const uint32_t phys_addr) const
// FIXME: if the address room in _phys_pages is not fragmented one may avoid a complete loop ..
uint32_t i = 0;
for (; i < _page_count; i++) {
if ((uint32_t) _phys_pages[i] == (((uint32_t) phys_addr) & 0xFFFFF000)) {
return (void*) ((uint32_t) _virt_pages[i] + (phys_addr & 0xFFF));
if ((uintptr_t) _phys_pages[i] == (((uintptr_t) phys_addr) & 0xFFFFF000)) {
return (void*) ((uintptr_t) _virt_pages[i] + (phys_addr & 0xFFF));
}
}
return NULL;
@ -165,7 +165,7 @@ uint32_t Memory_table::get_offset(void ** const pages, const uint32_t addr) cons
{
uint32_t i = 0;
for (; i < _page_count; i++) {
if ((uint32_t) pages[i] == (addr & 0xFFFFF000) ) {
if ((uintptr_t) pages[i] == (addr & 0xFFFFF000) ) {
return (i*PAGE_SIZE + (addr & 0xFFF));
}
}
@ -310,14 +310,26 @@ void LinuxRCInput_Navio::init_ctrl_data()
if(i % 56 == 0) {
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_NAVIO_DMA_NO_WIDE_BURSTS | RCIN_NAVIO_DMA_WAIT_RESP | RCIN_NAVIO_DMA_DEST_INC | RCIN_NAVIO_DMA_SRC_INC, RCIN_NAVIO_TIMER_BASE, (uint32_t) circle_buffer->get_page(circle_buffer->_phys_pages, dest), 8, 0, (uint32_t) con_blocks->get_page(con_blocks->_phys_pages, cbp + sizeof(dma_cb_t)));
init_dma_cb(&cbp_curr, RCIN_NAVIO_DMA_NO_WIDE_BURSTS | RCIN_NAVIO_DMA_WAIT_RESP | RCIN_NAVIO_DMA_DEST_INC | RCIN_NAVIO_DMA_SRC_INC, RCIN_NAVIO_TIMER_BASE,
(uintptr_t) circle_buffer->get_page(circle_buffer->_phys_pages, dest),
8,
0,
(uintptr_t) con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
dest += 8;
cbp += sizeof(dma_cb_t);
}
// Transfer GPIO (1 byte)
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_NAVIO_DMA_NO_WIDE_BURSTS | RCIN_NAVIO_DMA_WAIT_RESP, RCIN_NAVIO_GPIO_LEV0_ADDR, (uint32_t) circle_buffer->get_page(circle_buffer->_phys_pages, dest), 1, 0, (uint32_t) con_blocks->get_page(con_blocks->_phys_pages, cbp + sizeof(dma_cb_t)));
init_dma_cb(&cbp_curr, RCIN_NAVIO_DMA_NO_WIDE_BURSTS | RCIN_NAVIO_DMA_WAIT_RESP, RCIN_NAVIO_GPIO_LEV0_ADDR,
(uintptr_t) circle_buffer->get_page(circle_buffer->_phys_pages, dest),
1,
0,
(uintptr_t) con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
dest += 1;
cbp += sizeof(dma_cb_t);
@ -326,12 +338,18 @@ void LinuxRCInput_Navio::init_ctrl_data()
each sample of GPIO is limited by writing to PCA queue.
*/
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_NAVIO_DMA_NO_WIDE_BURSTS | RCIN_NAVIO_DMA_WAIT_RESP | RCIN_NAVIO_DMA_D_DREQ | RCIN_NAVIO_DMA_PER_MAP(2), RCIN_NAVIO_TIMER_BASE, phys_fifo_addr, 4, 0, (uint32_t) con_blocks->get_page(con_blocks->_phys_pages, cbp + sizeof(dma_cb_t)));
init_dma_cb(&cbp_curr, RCIN_NAVIO_DMA_NO_WIDE_BURSTS | RCIN_NAVIO_DMA_WAIT_RESP | RCIN_NAVIO_DMA_D_DREQ | RCIN_NAVIO_DMA_PER_MAP(2),
RCIN_NAVIO_TIMER_BASE, phys_fifo_addr,
4,
0,
(uintptr_t)con_blocks->get_page(con_blocks->_phys_pages,
cbp + sizeof(dma_cb_t) ) );
cbp += sizeof(dma_cb_t);
}
//Make last control block point to the first (to make circle)
cbp -= sizeof(dma_cb_t);
((dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp))->next = (uint32_t) con_blocks->get_page(con_blocks->_phys_pages, 0);
((dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp))->next = (uintptr_t) con_blocks->get_page(con_blocks->_phys_pages, 0);
}
@ -372,7 +390,7 @@ void LinuxRCInput_Navio::init_DMA()
dma_reg[RCIN_NAVIO_DMA_CS | RCIN_NAVIO_DMA_CHANNEL << 8] = RCIN_NAVIO_DMA_RESET; //Reset DMA
hal.scheduler->delay_microseconds(100);
dma_reg[RCIN_NAVIO_DMA_CS | RCIN_NAVIO_DMA_CHANNEL << 8] = RCIN_NAVIO_DMA_INT | RCIN_NAVIO_DMA_END;
dma_reg[RCIN_NAVIO_DMA_CONBLK_AD | RCIN_NAVIO_DMA_CHANNEL << 8] = reinterpret_cast<uint32_t>(con_blocks->get_page(con_blocks->_phys_pages, 0));//Set first control block address
dma_reg[RCIN_NAVIO_DMA_CONBLK_AD | RCIN_NAVIO_DMA_CHANNEL << 8] = reinterpret_cast<uintptr_t>(con_blocks->get_page(con_blocks->_phys_pages, 0));//Set first control block address
dma_reg[RCIN_NAVIO_DMA_DEBUG | RCIN_NAVIO_DMA_CHANNEL << 8] = 7; // clear debug error flags
dma_reg[RCIN_NAVIO_DMA_CS | RCIN_NAVIO_DMA_CHANNEL << 8] = 0x10880001; // go, mid priority, wait for outstanding writes
}
@ -472,7 +490,7 @@ void LinuxRCInput_Navio::_timer_tick()
}
//How many bytes have DMA transfered (and we can process)?
counter = circle_buffer->bytes_available(curr_pointer, circle_buffer->get_offset(circle_buffer->_virt_pages, (uint32_t)x));
counter = circle_buffer->bytes_available(curr_pointer, circle_buffer->get_offset(circle_buffer->_virt_pages, (uintptr_t)x));
//We can't stay in method for a long time, because it may lead to delays
if (counter > RCIN_NAVIO_MAX_COUNTER) {
counter = RCIN_NAVIO_MAX_COUNTER;