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Code Issues Releases Activity

Make servoblaster write pulse high length even when cnt=0. Also change default tick high from 1 to zero.

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This commit is contained in:
Robin Mallinson 2012-11-12 23:49:39 +00:00
parent b4463ce836
commit e3230cb8d2
3 changed files with 5 additions and 5 deletions
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2
ServoBlaster/README.txt
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@ -39,7 +39,7 @@ pi@raspberrypi ~ $
When the driver is first loaded the GPIO pins are configure to be outputs, and
their pulse widths are set to 0. This is so that servos don't jump to some
arbitrary postion when you load the driver. Once you know where you want your
arbitrary position when you load the driver. Once you know where you want your
servos positioned, write a value to /dev/servoblaster to enable the respective
output. When the driver is unloaded it attempts to shut down the outputs
cleanly, rather than cutting some pulse short and causing a servo position to

8
ServoBlaster/servoblaster.c
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@ -56,7 +56,7 @@
#define DMA_LEN 0x24
#define PWM_BASE (BCM2708_PERI_BASE + 0x20C000)
#define PWM_LEN 0x28
#define CLK_BASE (BCM2708_PERI_BASE + 0x101000)
#define CLK_BASE (BCM2708_PERI_BASE + 0x101000)
#define CLK_LEN 0xA8
#define GPFSEL0 (0x00/4)
@ -236,7 +236,7 @@ int init_module(void)
ctl->cb[i].info = BCM2708_DMA_NO_WIDE_BURSTS | BCM2708_DMA_WAIT_RESP | BCM2708_DMA_D_DREQ | BCM2708_DMA_PER_MAP(5);
ctl->cb[i].src = (uint32_t)(&ctl->pwmdata) & 0x7fffffff;
ctl->cb[i].dst = ((PWM_BASE + PWM_FIFO*4) & 0x00ffffff) | 0x7e000000;
ctl->cb[i].length = sizeof(uint32_t) * 1; // default 1 tick high
ctl->cb[i].length = sizeof(uint32_t) * 0; // default 0 tick high
ctl->cb[i].stride = 0;
ctl->cb[i].next = (uint32_t)(ctl->cb + i + 1) & 0x7fffffff;
// Set gpio lo
@ -404,9 +404,9 @@ static ssize_t dev_write(struct file *filp,const char *buf,size_t count,loff_t *
ctl->cb[servo*4+0].dst = ((GPIO_BASE + GPCLR0*4) & 0x00ffffff) | 0x7e000000;
} else {
ctl->cb[servo*4+0].dst = ((GPIO_BASE + GPSET0*4) & 0x00ffffff) | 0x7e000000;
ctl->cb[servo*4+1].length = cnt * sizeof(uint32_t);
ctl->cb[servo*4+3].length = (cycle_ticks / 8 - cnt) * sizeof(uint32_t);
}
ctl->cb[servo*4+1].length = cnt * sizeof(uint32_t);
ctl->cb[servo*4+3].length = (cycle_ticks / 8 - cnt) * sizeof(uint32_t);
local_irq_enable();
return count;

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ServoBlaster/servoblaster.ko
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