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AP_HAL_Linux: Raspberry 64OS Address fix

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Mohammad Hefny 2022-12-15 22:14:22 +02:00 committed by Andrew Tridgell
parent 5a429a9a79
commit feece150c6
2 changed files with 6 additions and 4 deletions
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8
libraries/AP_HAL_Linux/RCInput_RPI.cpp
View File

@ -167,6 +167,7 @@ Memory_table::Memory_table(uint32_t page_count, int version)
if ((fdMem = open("/dev/mem", O_RDWR | O_SYNC | O_CLOEXEC)) < 0) {
fprintf(stderr, "Failed to open /dev/mem\n");
printf("Make sure that CONFIG_STRICT_DEVMEM is disabled\n");
exit(-1);
}
@ -192,7 +193,7 @@ Memory_table::Memory_table(uint32_t page_count, int version)
// 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, ((uintptr_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 ? 0xFFFFFFFFFFFFFFFF : ~bus)));
memset(_virt_pages[i], 0xee, PAGE_SIZE);
}
close(file);
@ -232,11 +233,11 @@ void *Memory_table::get_virt_addr(const uint32_t phys_addr) const
// This function returns offset from the beginning of the buffer using virtual
// address and memory_table.
uint32_t Memory_table::get_offset(void ** const pages, const uint32_t addr) const
uint32_t Memory_table::get_offset(void ** const pages, const uint64_t addr) const
{
uint32_t i = 0;
for (; i < _page_count; i++) {
if ((uintptr_t) pages[i] == (addr & 0xFFFFF000) ) {
if ((uintptr_t) pages[i] == (addr & 0xFFFFFFFFFFFFF000) ) {
return (i*PAGE_SIZE + (addr & 0xFFF));
}
}
@ -286,6 +287,7 @@ void *RCInput_RPI::map_peripheral(uint32_t base, uint32_t len)
if (fd < 0) {
printf("Failed to open /dev/mem: %m\n");
printf("Make sure that CONFIG_STRICT_DEVMEM is disabled\n");
return nullptr;
}
vaddr = mmap(nullptr, len, PROT_READ | PROT_WRITE, MAP_SHARED, fd, base);

2
libraries/AP_HAL_Linux/RCInput_RPI.h
View File

@ -71,7 +71,7 @@ public:
void* get_page(void **pages, const uint32_t addr) const;
// This function returns offset from the beginning of the buffer using (virtual) address in 'pages' and memory_table.
uint32_t get_offset(void **pages, const uint32_t addr) const;
uint32_t get_offset(void **pages, const uint64_t addr) const;
//How many bytes are available for reading in circle buffer?
uint32_t bytes_available(const uint32_t read_addr, const uint32_t write_addr) const;