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Fix for Pi3 and PiZero, by lifting bits from Stuart Shelton's version.

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This commit is contained in:
Richard Hirst 2018-05-01 21:13:45 +01:00
parent 025715a605
commit 4309bab2ca
2 changed files with 25 additions and 12 deletions
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2
ServoBlaster/user/Makefile
View File

@ -3,7 +3,7 @@
all: servod all: servod
servod: servod.c mailbox.c servod: servod.c mailbox.c
gcc -Wall -g -O2 -o servod servod.c mailbox.c -lm gcc -Wall -g -O2 -L/opt/vc/lib -I/opt/vc/include -o servod servod.c mailbox.c -lm -lbcm_host
install: servod install: servod
[ "`id -u`" = "0" ] || { echo "Must be run as root"; exit 1; } [ "`id -u`" = "0" ] || { echo "Must be run as root"; exit 1; }

35
ServoBlaster/user/servod.c
View File

@ -41,6 +41,7 @@
#include <sys/mman.h> #include <sys/mman.h>
#include <getopt.h> #include <getopt.h>
#include <math.h> #include <math.h>
#include <bcm_host.h>
#include "mailbox.h" #include "mailbox.h"
@ -957,13 +958,12 @@ get_model_and_revision(void)
if (strstr(modelstr, "BCM2708")) if (strstr(modelstr, "BCM2708"))
board_model = 1; board_model = 1;
else if (strstr(modelstr, "BCM2709")) else if (strstr(modelstr, "BCM2709") || strstr(modelstr, "BCM2835"))
board_model = 2; board_model = 2;
else if (strstr(modelstr, "BCM2835")) /* Quick hack for Pi-Zero */
board_model = 1;
else else
fatal("servod: Cannot parse the hardware name string\n"); fatal("servod: Cannot parse the hardware name string\n");
/* Revisions documented at http://elinux.org/RPi_HardwareHistory */
ptr = revstr + strlen(revstr) - 3; ptr = revstr + strlen(revstr) - 3;
board_revision = strtol(ptr, &end, 16); board_revision = strtol(ptr, &end, 16);
if (end != ptr + 2) if (end != ptr + 2)
@ -977,16 +977,27 @@ get_model_and_revision(void)
else else
gpio_cfg = 3; gpio_cfg = 3;
periph_virt_base = bcm_host_get_peripheral_address();
dram_phys_base = bcm_host_get_sdram_address();
periph_phys_base = 0x7e000000;
/*
* See https://github.com/raspberrypi/firmware/wiki/Mailbox-property-interface
*
* 1: MEM_FLAG_DISCARDABLE = 1 << 0 // can be resized to 0 at any time. Use for cached data
* MEM_FLAG_NORMAL = 0 << 2 // normal allocating alias. Don't use from ARM
* 4: MEM_FLAG_DIRECT = 1 << 2 // 0xC alias uncached
* 8: MEM_FLAG_COHERENT = 2 << 2 // 0x8 alias. Non-allocating in L2 but coherent
* MEM_FLAG_L1_NONALLOCATING = // Allocating in L2
* (MEM_FLAG_DIRECT | MEM_FLAG_COHERENT)
* 16: MEM_FLAG_ZERO = 1 << 4 // initialise buffer to all zeros
* 32: MEM_FLAG_NO_INIT = 1 << 5 // don't initialise (default is initialise to all ones
* 64: MEM_FLAG_HINT_PERMALOCK = 1 << 6 // Likely to be locked for long periods of time
*
*/
if (board_model == 1) { if (board_model == 1) {
periph_virt_base = 0x20000000; mem_flag = 0x0c; /* MEM_FLAG_DIRECT | MEM_FLAG_COHERENT */
periph_phys_base = 0x7e000000;
dram_phys_base = 0x40000000;
mem_flag = 0x0c;
} else { } else {
periph_virt_base = 0x3f000000; mem_flag = 0x04; /* MEM_FLAG_DIRECT */
periph_phys_base = 0x7e000000;
dram_phys_base = 0xc0000000;
mem_flag = 0x04;
} }
} }
@ -1266,6 +1277,8 @@ main(int argc, char **argv)
get_model_and_revision(); get_model_and_revision();
if (board_model == 1 && gpio_cfg == 1 && p5pins[0]) if (board_model == 1 && gpio_cfg == 1 && p5pins[0])
fatal("Board model 1 revision 1 does not have a P5 header\n"); fatal("Board model 1 revision 1 does not have a P5 header\n");
if (board_model == 2 && p5pins[0])
fatal("Board models 2 and later do not have a P5 header\n");
parse_pin_lists(p1first, p1pins, p5pins); parse_pin_lists(p1first, p1pins, p5pins);