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Refactored enable code for use with Bridge. Added overlay for Bridge.…
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… Added compatibility table. Added runtime detect of kernel version.
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@modmaker
modmaker committed Aug 11, 2013
1 parent bc10024 commit 5ebd566
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Showing 3 changed files with 629 additions and 109 deletions.
2 changes: 1 addition & 1 deletion bebopr.h
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Original file line number Diff line number Diff line change
Expand Up @@ -74,7 +74,7 @@ extern int config_set_e_axis_mode( int relative);

// return the kernel type running
typedef enum {
e_kernel_3_2, e_kernel_3_8
e_kernel_unknown, e_kernel_other, e_kernel_3_2, e_kernel_3_8
} kernel_type;
extern kernel_type get_kernel_type( void);

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196 changes: 88 additions & 108 deletions bebopr_r2.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
#include <stdint.h>
#include <stdlib.h>
#include <string.h>
#include <sys/utsname.h>

#include "analog.h"
#include "temp.h"
Expand All @@ -15,6 +16,21 @@
#include "eeprom.h"
#include "gpio.h"

/*
* Supported hardware configurations:
*
* +-----+-----------+----------+-----+-----------+----------+
* | BeagleBone (white) | BeagleBone Black |
* +--------+ +-----------+----------+ +-----------+----------+
* | kernel | | ENA_PATCH | BRIDGE | | ENA_PATCH | BRIDGE |
* +--------+-----+-----------+----------+-----+-----------+----------+
* | 3.2 | X X - - - - |
* +--------+---------------------------------------------------------+
* | 3.8 | X X X - X X |
* +--------+---------------------------------------------------------+
*
*/

/*
* Here one defines where to find the analog input signals.
* This happens to be a rather complex matter with lots of
Expand Down Expand Up @@ -214,24 +230,55 @@ static const heater_config_record heater_config_data[] = {

static int use_pololu_drivers = 1;

static kernel_type current_kernel = e_kernel_unknown;
static char kernel_release[ 50] = { 0 };

kernel_type get_kernel_type( void)
{
if (current_kernel == e_kernel_unknown) {
struct utsname u;
if (uname( &u) == 0) {
if (strncmp( u.release, "3.2", 3) == 0) {
current_kernel = e_kernel_3_2;
} else if (strncmp( u.release, "3.8", 3) == 0) {
current_kernel = e_kernel_3_8;
} else {
current_kernel = e_kernel_other;
}
strncpy( kernel_release, u.release, sizeof( kernel_release));
kernel_release[ sizeof( kernel_release) - 1] = '\0';
}
}
return current_kernel;
}

int bebopr_pre_init( void)
{
int result = -1;

fprintf( stderr, "Using configuration for kernel version %s, BBB is %s, BONE_BRIDGE is %s\n",
(get_kernel_type() == e_kernel_3_8) ? "3.8" : "3.2",
#ifdef BBB
"defined",
#else
"not defined",
#endif
char options[ 100];
options[ 0] = '\0';
#ifdef BONE_ENA_PATCH
strcat( options, "+EnablePatch");
#endif
#ifdef BONE_BRIDGE
"defined"
#else
"not defined"
#endif
);

strcat( options, "+Bridge");
#endif
if (get_kernel_type() == e_kernel_unknown) {
fprintf( stderr, "BeBoPr%s is not compatible with running on kernel version %s.\n",
options, kernel_release);
result = -1;
goto done;
}
fprintf( stderr, "BeBoPr%s configured for '%s' running on kernel version %s.\n",
options, (get_kernel_type() == e_kernel_3_8) ? "3.8" : "3.2", kernel_release);
#ifdef BONE_BRIDGE
if (get_kernel_type() == e_kernel_3_2) {
fprintf( stderr, "The Bridge is only supported with a device-tree kernel (3.8+)!\n");
result = -1;
goto done;
}
#endif
result = analog_config( analog_config_data, NR_ITEMS( analog_config_data));
if (result < 0) {
fprintf( stderr, "analog_config failed!\n");
Expand Down Expand Up @@ -526,127 +573,60 @@ char config_keep_alive_char( void)
}


#ifdef BONE_BRIDGE

typedef enum {
eXdir = 45, eXstp = 44, eXena = 4,
eYdir = 47, eYstp = 46, eYena = 5,
eZdir = 49, eZstp = 48, eZena = 14,
eEdir = 3, eEstp = 2, eEena = 15
} stepper_signals;

const stepper_signals step_io[] = {
eXdir, eXstp, eXena, eYdir, eYstp, eYena, eZdir, eZstp, eZena, eEdir, eEstp, eEena
};

const int step_ena[] = {
eXena, eYena, eZena, eEena
};

#endif

/*
* Late initialization enables I/O power.
*/
int bebopr_post_init( void)
{
int result = -1;

#ifdef BONE_BRIDGE
/*
* The gpio signals controlled by the PRU must be initialized properly to function
*/
/* initialize all stepper signals as outputs */
for (int i = 0 ; i < NR_ITEMS( step_io) ; ++i) {
gpio_write_int_value_to_file( "export", step_io[ i]);
gpio_write_value_to_pin_file( step_io[ i], "direction", "out");
}
/* keep stepper enables negated */
for (int i = 0 ; i < NR_ITEMS( step_ena) ; ++i) {
gpio_write_value_to_pin_file( step_ena[ i], "value", "1");
}
fprintf( stderr, "Acquired stepper GPIO pins\n");
#endif

#if defined( BONE_BRIDGE) || defined( BONE_ENA_PATCH)
/*
* For modified BeBoPrs (i.e. with the enable patch applied to
* make it compatible with Beaglebone Black), this is the only
* signal of importance.
* make it compatible with Beaglebone Black), or with use of
* a Bridge, only one enable signal is used:
*
* IO_PWR_ON = R7 / TIMER4 / GPIO2[2] / gpio66
* !IO_PWR_ON = R7 / GPIO2[2] / gpio66 / TIMER4
*/
const int io_enan = 66;
gpio_write_int_value_to_file( "export", io_enan);
gpio_write_value_to_pin_file( io_enan, "direction", "out");
gpio_write_value_to_pin_file( io_enan, "value", "0");
if (get_kernel_type() == e_kernel_3_2) {
gpio_write_int_value_to_file( "export", 66);
gpio_write_value_to_pin_file( 66, "direction", "out");
}
gpio_write_value_to_pin_file( 66, "value", "0");
#else
/*
* IO_PWR_ON = R9 / GPIO1[6] / gpio38 / gpmc_ad6
* !IO_PWR_ON = R8 / GPIO1[2] / gpio34 / gpmc_ad2
*/
gpio_write_int_value_to_file( "export", 38);
gpio_write_value_to_pin_file( 38, "direction", "out");
if (get_kernel_type() == e_kernel_3_2) {
gpio_write_int_value_to_file( "export", 38);
gpio_write_value_to_pin_file( 38, "direction", "out");
gpio_write_int_value_to_file( "export", 34);
gpio_write_value_to_pin_file( 34, "direction", "out");
}
gpio_write_value_to_pin_file( 38, "value", "1");

gpio_write_int_value_to_file( "export", 34);
gpio_write_value_to_pin_file( 34, "direction", "out");
gpio_write_value_to_pin_file( 34, "value", "0");
#endif

fprintf( stderr, "Turned BEBOPR I/O power on\n");
result = 0;

return result;
return 0;
}

void bebopr_exit( void)
{
#if defined( BONE_BRIDGE) || defined( BONE_ENA_PATCH)
/*
* For modified BeBoPrs (i.e. with the enable patch applied to
* make it compatible with Beaglebone Black), this is the only
* signal of importance.
*
* IO_PWR_ON = R7 / TIMER4 / GPIO2[2] / gpio66
*/
const int io_enan = 66;
gpio_write_value_to_pin_file( io_enan, "direction", "in");
gpio_write_int_value_to_file( "unexport", io_enan);
gpio_write_value_to_pin_file( 66, "value", "1");
if (get_kernel_type() == e_kernel_3_2) {
gpio_write_value_to_pin_file( 66, "direction", "in");
gpio_write_int_value_to_file( "unexport", 66);
}
#else
/*
* IO_PWR_ON = R9 / GPIO1[6] / gpio38 / gpmc_ad6
* !IO_PWR_ON = R8 / GPIO1[2] / gpio34 / gpmc_ad2
*/
gpio_write_value_to_pin_file( 38, "direction", "in");
gpio_write_int_value_to_file( "unexport", 38);
gpio_write_value_to_pin_file( 34, "direction", "in");
gpio_write_int_value_to_file( "unexport", 34);
#endif

fprintf( stderr, "Turned BEBOPR I/O power off\n");

#ifdef BONE_BRIDGE
/*
* Release all output signals after setting to input first
*/
for (int i = 0 ; i < NR_ITEMS( step_io) ; ++i) {
gpio_write_value_to_pin_file( step_io[ i], "direction", "in");
gpio_write_int_value_to_file( "unexport", step_io[ i]);
gpio_write_value_to_pin_file( 38, "value", "1");
gpio_write_value_to_pin_file( 34, "value", "0");
if (get_kernel_type() == e_kernel_3_2) {
gpio_write_value_to_pin_file( 38, "direction", "in");
gpio_write_int_value_to_file( "unexport", 38);
gpio_write_value_to_pin_file( 34, "direction", "in");
gpio_write_int_value_to_file( "unexport", 34);
}
fprintf( stderr, "Released stepper GPIO pins\n");
#endif
fprintf( stderr, "Turned BEBOPR I/O power off\n");
}

kernel_type get_kernel_type( void)
{
/*
* FIXME: determine at runtime !
* also remove the BBB #ifdefs in this file!
*/
#ifdef BBB
return e_kernel_3_8;
#else
return e_kernel_3_2;
#endif
}

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