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servod.c
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servod.c
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/*
* servod.c Multiple Servo Driver for the RaspberryPi
* Copyright (c) 2013 Richard Hirst <richardghirst@gmail.com>
* Updated 2017 Stuart Shelton <srcshelton@gmail.com>
*
* This program provides very similar functionality to servoblaster, except
* that rather than implementing it as a kernel module, servod implements
* the functionality as a usr space daemon.
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License version 2 as
* published by the Free Software Foundation.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
/* TODO: Separate idle timeout handling from genuine set-to-zero requests */
/* TODO: Add ability to specify time frame over which an adjustment should be made */
/* TODO: Add servoctl utility to set and query servo positions, etc */
/* TODO: Add slow-start option */
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <errno.h>
#include <stdarg.h>
#include <stdint.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/mman.h>
#include <getopt.h>
#include <math.h>
#include <bcm_host.h>
#include "mailbox.h"
#define DMY 255 // Used to represent an invalid P1 pin, or unmapped servo
#define NUM_P1PINS 40
#define NUM_P5PINS 8
#define MAX_SERVOS 32 /* Only 21 really, but this lets you map servo IDs
* to P1 pins, if you want to
*/
#define MAX_MEMORY_USAGE (16*1024*1024) /* Somewhat arbitrary limit of 16MB */
#define DEFAULT_CYCLE_TIME_US 20000
#define DEFAULT_STEP_TIME_US 10
#define DEFAULT_SERVO_MIN_US 500
#define DEFAULT_SERVO_MAX_US 2500
#define DEVFILE "/dev/servoblaster"
#define CFGFILE "/var/run/servoblaster.status"
#define PAGE_SIZE 4096
#define PAGE_SHIFT 12
#define DMA_CHAN_SIZE 0x100
#define DMA_CHAN_MIN 0
#define DMA_CHAN_MAX 14
#define DMA_CHAN_DEFAULT 14
#define DMA_CHAN_PI4 7
#define DMA_BASE_OFFSET 0x00007000
#define DMA_LEN DMA_CHAN_SIZE * (DMA_CHAN_MAX+1)
#define PWM_BASE_OFFSET 0x0020C000
#define PWM_LEN 0x28
#define CLK_BASE_OFFSET 0x00101000
#define CLK_LEN 0xA8
#define GPIO_BASE_OFFSET 0x00200000
#define GPIO_LEN 0x100
#define PCM_BASE_OFFSET 0x00203000
#define PCM_LEN 0x24
#define DMA_VIRT_BASE (periph_virt_base + DMA_BASE_OFFSET)
#define PWM_VIRT_BASE (periph_virt_base + PWM_BASE_OFFSET)
#define CLK_VIRT_BASE (periph_virt_base + CLK_BASE_OFFSET)
#define GPIO_VIRT_BASE (periph_virt_base + GPIO_BASE_OFFSET)
#define PCM_VIRT_BASE (periph_virt_base + PCM_BASE_OFFSET)
#define PWM_PHYS_BASE (periph_phys_base + PWM_BASE_OFFSET)
#define PCM_PHYS_BASE (periph_phys_base + PCM_BASE_OFFSET)
#define GPIO_PHYS_BASE (periph_phys_base + GPIO_BASE_OFFSET)
#define DMA_NO_WIDE_BURSTS (1<<26)
#define DMA_WAIT_RESP (1<<3)
#define DMA_D_DREQ (1<<6)
#define DMA_PER_MAP(x) ((x)<<16)
#define DMA_END (1<<1)
#define DMA_RESET (1<<31)
#define DMA_INT (1<<2)
#define DMA_CS (0x00/4)
#define DMA_CONBLK_AD (0x04/4)
#define DMA_SOURCE_AD (0x0c/4)
#define DMA_DEBUG (0x20/4)
#define GPIO_FSEL0 (0x00/4)
#define GPIO_SET0 (0x1c/4)
#define GPIO_CLR0 (0x28/4)
#define GPIO_LEV0 (0x34/4)
#define GPIO_PULLEN (0x94/4)
#define GPIO_PULLCLK (0x98/4)
#define GPIO_MODE_IN 0
#define GPIO_MODE_OUT 1
#define PWM_CTL (0x00/4)
#define PWM_DMAC (0x08/4)
#define PWM_RNG1 (0x10/4)
#define PWM_FIFO (0x18/4)
#define PWMCLK_CNTL 40
#define PWMCLK_DIV 41
#define PWMCTL_MODE1 (1<<1)
#define PWMCTL_PWEN1 (1<<0)
#define PWMCTL_CLRF (1<<6)
#define PWMCTL_USEF1 (1<<5)
#define PWMDMAC_ENAB (1<<31)
#define PWMDMAC_THRSHLD ((15<<8)|(15<<0))
#define PCM_CS_A (0x00/4)
#define PCM_FIFO_A (0x04/4)
#define PCM_MODE_A (0x08/4)
#define PCM_RXC_A (0x0c/4)
#define PCM_TXC_A (0x10/4)
#define PCM_DREQ_A (0x14/4)
#define PCM_INTEN_A (0x18/4)
#define PCM_INT_STC_A (0x1c/4)
#define PCM_GRAY (0x20/4)
#define PCMCLK_CNTL 38
#define PCMCLK_DIV 39
#define PLLDFREQ_MHZ_DEFAULT 500
#define PLLDFREQ_MHZ_PI4 750
#define DELAY_VIA_PWM 0
#define DELAY_VIA_PCM 1
#define ROUNDUP(val, blksz) (((val)+((blksz)-1)) & ~(blksz-1))
typedef struct {
uint32_t info, src, dst, length,
stride, next, pad[2];
} dma_cb_t;
#define BUS_TO_PHYS(x) ((x)&~0xC0000000)
/* Define which P1 header pins to use by default. These are the eight standard
* GPIO pins (those coloured green in the diagram on this page:
* http://elinux.org/Rpi_Low-level_peripherals
*
* Which P1 header pins are actually used can be overridden via command line
* parameter '--p1pins=...'.
*/
static char *default_p1_pins = "7,11,12,13,15,16,18,22";
static char *default_p5_pins = "";
static uint8_t rev1_p1pin2gpio_map[] = {
DMY, // P1-1 3v3
DMY, // P1-2 5v
0, // P1-3 GPIO 0 (SDA)
DMY, // P1-4 5v
1, // P1-5 GPIO 1 (SCL)
DMY, // P1-6 Ground
4, // P1-7 GPIO 4 (GPCLK0)
14, // P1-8 GPIO 14 (TXD)
DMY, // P1-9 Ground
15, // P1-10 GPIO 15 (RXD)
17, // P1-11 GPIO 17
18, // P1-12 GPIO 18 (PCM_CLK)
21, // P1-13 GPIO 21
DMY, // P1-14 Ground
22, // P1-15 GPIO 22
23, // P1-16 GPIO 23
DMY, // P1-17 3v3
24, // P1-18 GPIO 24
10, // P1-19 GPIO 10 (MOSI)
DMY, // P1-20 Ground
9, // P1-21 GPIO 9 (MISO)
25, // P1-22 GPIO 25
11, // P1-23 GPIO 11 (SCLK)
8, // P1-24 GPIO 8 (CE0)
DMY, // P1-25 Ground
7, // P1-26 GPIO 7 (CE1)
};
static uint8_t rev1_p5pin2gpio_map[] = {
DMY, // (P5-1 on rev 2 boards)
DMY, // (P5-2 on rev 2 boards)
DMY, // (P5-3 on rev 2 boards)
DMY, // (P5-4 on rev 2 boards)
DMY, // (P5-5 on rev 2 boards)
DMY, // (P5-6 on rev 2 boards)
DMY, // (P5-7 on rev 2 boards)
DMY, // (P5-8 on rev 2 boards)
};
static uint8_t rev2_p1pin2gpio_map[] = {
DMY, // P1-1 3v3
DMY, // P1-2 5v
2, // P1-3 GPIO 2 (SDA)
DMY, // P1-4 5v
3, // P1-5 GPIO 3 (SCL)
DMY, // P1-6 Ground
4, // P1-7 GPIO 4 (GPCLK0)
14, // P1-8 GPIO 14 (TXD)
DMY, // P1-9 Ground
15, // P1-10 GPIO 15 (RXD)
17, // P1-11 GPIO 17
18, // P1-12 GPIO 18 (PCM_CLK)
27, // P1-13 GPIO 27
DMY, // P1-14 Ground
22, // P1-15 GPIO 22
23, // P1-16 GPIO 23
DMY, // P1-17 3v3
24, // P1-18 GPIO 24
10, // P1-19 GPIO 10 (MOSI)
DMY, // P1-20 Ground
9, // P1-21 GPIO 9 (MISO)
25, // P1-22 GPIO 25
11, // P1-23 GPIO 11 (SCLK)
8, // P1-24 GPIO 8 (CE0)
DMY, // P1-25 Ground
7, // P1-26 GPIO 7 (CE1)
};
static uint8_t rev2_p5pin2gpio_map[] = {
DMY, // P5-1 5v0
DMY, // P5-2 3v3
28, // P5-3 GPIO 28 (I2C0_SDA)
29, // P5-4 GPIO 29 (I2C0_SCL)
30, // P5-5 GPIO 30
31, // P5-6 GPIO 31
DMY, // P5-7 Ground
DMY, // P5-8 Ground
};
static uint8_t bplus_p1pin2gpio_map[] = {
DMY, // P1-1 3v3
DMY, // P1-2 5v
2, // P1-3 GPIO 2 (SDA)
DMY, // P1-4 5v
3, // P1-5 GPIO 3 (SCL)
DMY, // P1-6 Ground
4, // P1-7 GPIO 4 (GPCLK0)
14, // P1-8 GPIO 14 (TXD)
DMY, // P1-9 Ground
15, // P1-10 GPIO 15 (RXD)
17, // P1-11 GPIO 17
18, // P1-12 GPIO 18 (PCM_CLK)
27, // P1-13 GPIO 27
DMY, // P1-14 Ground
22, // P1-15 GPIO 22
23, // P1-16 GPIO 23
DMY, // P1-17 3v3
24, // P1-18 GPIO 24
10, // P1-19 GPIO 10 (MOSI)
DMY, // P1-20 Ground
9, // P1-21 GPIO 9 (MISO)
25, // P1-22 GPIO 25
11, // P1-23 GPIO 11 (SCLK)
8, // P1-24 GPIO 8 (CE0)
DMY, // P1-25 Ground
7, // P1-26 GPIO 7 (CE1)
DMY, // P1-27 ID_SD
DMY, // P1-28 ID_SC
5, // P1-29 GPIO 5
DMY, // P1-30 Ground
6, // P1-31 GPIO 5
12, // P1-32 GPIO 12
13, // P1-33 GPIO 13
DMY, // P1-34 Ground
19, // P1-35 GPIO 19
16, // P1-36 GPIO 16
26, // P1-37 GPIO 26
20, // P1-38 GPIO 20
DMY, // P1-39 Ground
21, // P1-40 GPIO 21
};
// bcm_host_get_model_type() return values to name mapping
static const char *model_names[] = {
"A", "B", "A+", "B+", "2B", "Alpha", "CM", "CM2", "3B", "Zero", "CM3",
"Custom", "ZeroW", "3B+", "3A+", "FPGA", "CM3+", "4B"
};
#define NUM_MODELS (sizeof(model_names)/sizeof(*model_names))
// cycle_time_us is the pulse cycle time per servo, in microseconds.
// Typically it should be 20ms, or 20000us.
// step_time_us is the pulse width increment granularity, again in microseconds.
// Setting step_time_us too low will likely cause problems as the DMA controller
// will use too much memory bandwidth. 10us is a good value, though you
// might be ok setting it as low as 2us.
static int cycle_time_us;
static int step_time_us;
static uint8_t servo2gpio[MAX_SERVOS];
static uint8_t p1pin2servo[NUM_P1PINS+1];
static uint8_t p5pin2servo[NUM_P5PINS+1];
static int servostart[MAX_SERVOS];
static int servowidth[MAX_SERVOS];
static int num_servos;
static uint32_t gpiomode[MAX_SERVOS];
static int restore_gpio_modes;
static volatile uint32_t *pwm_reg;
static volatile uint32_t *pcm_reg;
static volatile uint32_t *clk_reg;
static volatile uint32_t *dma_reg;
static volatile uint32_t *gpio_reg;
static int delay_hw = DELAY_VIA_PWM;
static struct timeval *servo_kill_time;
static uint32_t plldfreq_mhz;
static int dma_chan;
static int idle_timeout;
static int invert = 0;
static int servo_min_ticks;
static int servo_max_ticks;
static int num_samples;
static int num_cbs;
static int num_pages;
static uint32_t *turnoff_mask;
static uint32_t *turnon_mask;
static dma_cb_t *cb_base;
static int board_is_model_1;
static int gpio_cfg;
static uint32_t periph_phys_base;
static uint32_t periph_virt_base;
static uint32_t dram_phys_base;
static uint32_t mem_flag;
static char *gpio_desc[] = {
"Unknown",
"P1 (26 pins)",
"P1 (26 pins), P5 (8 pins)",
"P1 (40 pins)"
};
static struct {
int handle; /* From mbox_open() */
uint32_t size; /* Required size */
unsigned mem_ref; /* From mem_alloc() */
unsigned bus_addr; /* From mem_lock() */
uint8_t *virt_addr; /* From mapmem() */
} mbox;
static void udelay(const int us);
static void terminate(__attribute__((unused)) const int dummy);
static void fatal(const char *fmt, ...);
static void init_idle_timers(void);
static void update_idle_time(const int servo);
static void get_next_idle_timeout(struct timeval *tv);
static uint32_t gpio_get_mode(const uint32_t gpio);
static void gpio_set_mode(const uint32_t gpio, const uint32_t mode);
static void gpio_set(const int gpio, const int level);
static uint32_t mem_virt_to_phys(void *virt);
static void *map_peripheral(const uint32_t base, const uint32_t len);
static void set_servo_idle(const int servo);
static void set_servo(const int servo, const int width);
static void setup_sighandlers(void);
static void init_ctrl_data(void);
static void init_hardware(void);
static void do_status(const char *filename);
static void do_debug(void);
static int parse_width(const int servo, const char *width_arg);
static void go_go_go(void);
static void get_model_and_revision(void);
static void parse_pin_lists(const int p1first, const char *p1pins, const char*p5pins);
static uint8_t gpiosearch(const uint8_t gpio, const uint8_t *map, const int len);
static char *gpio2pinname(const uint8_t gpio);
static int parse_min_max_arg(const char *arg, const char *name);
int main(int argc, char **argv);
static void
udelay(const int us)
{
struct timespec ts = { 0, us * 1000 };
nanosleep(&ts, NULL);
}
static void
terminate(__attribute__((unused))const int dummy)
{
int i;
if (dma_reg && mbox.virt_addr) {
for (i = 0; i < MAX_SERVOS; i++) {
if (servo2gpio[i] != DMY)
set_servo(i, 0);
}
udelay(cycle_time_us);
dma_reg[DMA_CS] = DMA_RESET;
udelay(10);
}
if (restore_gpio_modes) {
for (i = 0; i < MAX_SERVOS; i++) {
if (servo2gpio[i] != DMY)
gpio_set_mode(servo2gpio[i], gpiomode[i]);
}
}
if (mbox.virt_addr != NULL) {
unmapmem(mbox.virt_addr, mbox.size);
mem_unlock(mbox.handle, mbox.mem_ref);
mem_free(mbox.handle, mbox.mem_ref);
if (mbox.handle >= 0)
mbox_close(mbox.handle);
}
unlink(DEVFILE);
unlink(CFGFILE);
exit(1);
}
static void
fatal(const char *fmt, ...)
{
va_list ap;
va_start(ap, fmt);
vfprintf(stderr, fmt, ap);
va_end(ap);
terminate(0);
}
static void
init_idle_timers(void)
{
servo_kill_time = calloc(MAX_SERVOS, sizeof(struct timeval));
if (!servo_kill_time)
fatal("servod: calloc() failed\n");
}
static void
update_idle_time(const int servo)
{
if (idle_timeout == 0)
return;
gettimeofday(servo_kill_time + servo, NULL);
servo_kill_time[servo].tv_sec += idle_timeout / 1000;
servo_kill_time[servo].tv_usec += (idle_timeout % 1000) * 1000;
while (servo_kill_time[servo].tv_usec >= 1000000) {
servo_kill_time[servo].tv_usec -= 1000000;
servo_kill_time[servo].tv_sec++;
}
}
static void
get_next_idle_timeout(struct timeval *tv)
{
int i;
struct timeval now;
struct timeval min = { 60, 0 };
long this_diff, min_diff;
gettimeofday(&now, NULL);
for (i = 0; i < MAX_SERVOS; i++) {
if (servo2gpio[i] == DMY || servo_kill_time[i].tv_sec == 0)
continue;
else if (servo_kill_time[i].tv_sec < now.tv_sec ||
(servo_kill_time[i].tv_sec == now.tv_sec &&
servo_kill_time[i].tv_usec <= now.tv_usec)) {
servo_kill_time[i].tv_sec = 0;
set_servo_idle(i);
} else {
this_diff = (servo_kill_time[i].tv_sec - now.tv_sec) * 1000000
+ servo_kill_time[i].tv_usec - now.tv_usec;
min_diff = min.tv_sec * 1000000 + min.tv_usec;
if (this_diff < min_diff) {
min.tv_sec = this_diff / 1000000;
min.tv_usec = this_diff % 1000000;
}
}
}
*tv = min;
}
static uint32_t
gpio_get_mode(const uint32_t gpio)
{
uint32_t fsel = gpio_reg[GPIO_FSEL0 + gpio/10];
return (fsel >> ((gpio % 10) * 3)) & 7;
}
static void
gpio_set_mode(const uint32_t gpio, const uint32_t mode)
{
uint32_t fsel = gpio_reg[GPIO_FSEL0 + gpio/10];
fsel &= ~(7 << ((gpio % 10) * 3));
fsel |= mode << ((gpio % 10) * 3);
gpio_reg[GPIO_FSEL0 + gpio/10] = fsel;
}
static void
gpio_set(const int gpio, const int level)
{
if (level)
gpio_reg[GPIO_SET0] = 1 << gpio;
else
gpio_reg[GPIO_CLR0] = 1 << gpio;
}
static uint32_t
mem_virt_to_phys(void *virt)
{
uint32_t offset = (uint8_t *)virt - mbox.virt_addr;
return mbox.bus_addr + offset;
}
static void *
map_peripheral(const uint32_t base, const uint32_t len)
{
int fd = open("/dev/mem", O_RDWR|O_SYNC);
void * vaddr;
if (fd < 0)
fatal("servod: Failed to open /dev/mem: %m\n");
vaddr = mmap(NULL, len, PROT_READ|PROT_WRITE, MAP_SHARED, fd, base);
if (vaddr == MAP_FAILED)
fatal("servod: Failed to map peripheral at 0x%08x: %m\n", base);
close(fd);
return vaddr;
}
static void
set_servo_idle(const int servo)
{
/* Just remove the 'turn-on' action and allow the 'turn-off' action at
* the end of the current pulse to turn it off. Special case if
* current width is 100%; in that case there will be no 'turn-off'
* action, so we will need to force the output off here. We must not
* force the output in other cases, because that might lead to
* truncated pulses which would make a servo change position.
*/
turnon_mask[servo] = 0;
if (servowidth[servo] == num_samples)
gpio_set(servo2gpio[servo], invert ? 1 : 0);
}
/* Carefully add or remove bits from the turnoff_mask such that regardless
* of where the DMA controller is in its cycle, and whether we are increasing
* or decreasing the pulse width, the generated pulse will only ever be the
* old width or the new width. If we don't take such care then there could be
* a cycle with some pulse width between the two requested ones. That doesn't
* really matter for servos, but when driving LEDs some odd intensity for one
* cycle can be noticeable. It may be that the servo output has been turned
* off via the inactivity timer, which is handled by always setting the turnon
* mask appropriately at the end of this function.
*/
static void
set_servo(const int servo, const int width)
{
volatile uint32_t *dp;
int i;
uint32_t mask = 1 << servo2gpio[servo];
if (width > servowidth[servo]) {
dp = turnoff_mask + servostart[servo] + width;
if (dp >= turnoff_mask + num_samples)
dp -= num_samples;
for (i = width; i > servowidth[servo]; i--) {
dp--;
if (dp < turnoff_mask)
dp = turnoff_mask + num_samples - 1;
//printf("%5d, clearing at %p\n", dp - ctl->turnoff, dp);
*dp &= ~mask;
}
} else if (width < servowidth[servo]) {
dp = turnoff_mask + servostart[servo] + width;
if (dp >= turnoff_mask + num_samples)
dp -= num_samples;
for (i = width; i < servowidth[servo]; i++) {
//printf("%5d, setting at %p\n", dp - ctl->turnoff, dp);
*dp++ |= mask;
if (dp >= turnoff_mask + num_samples)
dp = turnoff_mask;
}
}
servowidth[servo] = width;
if (width == 0) {
turnon_mask[servo] = 0;
} else {
turnon_mask[servo] = mask;
}
update_idle_time(servo);
}
static void
setup_sighandlers(void)
{
int i;
// Catch all signals possible - it is vital we kill the DMA engine
// on process exit!
for (i = 0; i < 64; i++) {
struct sigaction sa;
memset(&sa, 0, sizeof(sa));
sa.sa_handler = terminate;
sigaction(i, &sa, NULL);
}
}
static void
init_ctrl_data(void)
{
dma_cb_t *cbp = cb_base;
uint32_t phys_fifo_addr, cbinfo;
uint32_t phys_gpclr0;
uint32_t phys_gpset0;
int servo, i, numservos = 0, curstart = 0;
uint32_t maskall = 0;
if (invert) {
phys_gpclr0 = GPIO_PHYS_BASE + 0x1c;
phys_gpset0 = GPIO_PHYS_BASE + 0x28;
} else {
phys_gpclr0 = GPIO_PHYS_BASE + 0x28;
phys_gpset0 = GPIO_PHYS_BASE + 0x1c;
}
if (delay_hw == DELAY_VIA_PWM) {
phys_fifo_addr = PWM_PHYS_BASE + 0x18;
cbinfo = DMA_NO_WIDE_BURSTS | DMA_WAIT_RESP | DMA_D_DREQ | DMA_PER_MAP(5);
} else {
phys_fifo_addr = PCM_PHYS_BASE + 0x04;
cbinfo = DMA_NO_WIDE_BURSTS | DMA_WAIT_RESP | DMA_D_DREQ | DMA_PER_MAP(2);
}
memset(turnon_mask, 0, MAX_SERVOS * sizeof(*turnon_mask));
for (servo = 0 ; servo < MAX_SERVOS; servo++) {
servowidth[servo] = 0;
if (servo2gpio[servo] != DMY) {
numservos++;
maskall |= 1 << servo2gpio[servo];
}
}
for (i = 0; i < num_samples; i++)
turnoff_mask[i] = maskall;
for (servo = 0; servo < MAX_SERVOS; servo++) {
if (servo2gpio[servo] != DMY) {
servostart[servo] = curstart;
curstart += num_samples / num_servos;
}
}
servo = 0;
while (servo < MAX_SERVOS && servo2gpio[servo] == DMY)
servo++;
for (i = 0; i < num_samples; i++) {
cbp->info = DMA_NO_WIDE_BURSTS | DMA_WAIT_RESP;
cbp->src = mem_virt_to_phys(turnoff_mask + i);
cbp->dst = phys_gpclr0;
cbp->length = 4;
cbp->stride = 0;
cbp->next = mem_virt_to_phys(cbp + 1);
cbp++;
if (i == servostart[servo]) {
cbp->info = DMA_NO_WIDE_BURSTS | DMA_WAIT_RESP;
cbp->src = mem_virt_to_phys(turnon_mask + servo);
cbp->dst = phys_gpset0;
cbp->length = 4;
cbp->stride = 0;
cbp->next = mem_virt_to_phys(cbp + 1);
cbp++;
servo++;
while (servo < MAX_SERVOS && servo2gpio[servo] == DMY)
servo++;
}
// Delay
cbp->info = cbinfo;
cbp->src = mem_virt_to_phys(turnoff_mask); // Any data will do
cbp->dst = phys_fifo_addr;
cbp->length = 4;
cbp->stride = 0;
cbp->next = mem_virt_to_phys(cbp + 1);
cbp++;
}
cbp--;
cbp->next = mem_virt_to_phys(cb_base);
}
static void
init_hardware(void)
{
if (delay_hw == DELAY_VIA_PWM) {
// Initialise PWM
pwm_reg[PWM_CTL] = 0;
udelay(10);
clk_reg[PWMCLK_CNTL] = 0x5A000006; // Source=PLLD (500MHz or 750MHz on Pi4)
udelay(100);
clk_reg[PWMCLK_DIV] = 0x5A000000 | (plldfreq_mhz<<12); // set pwm div to give 1MHz
udelay(100);
clk_reg[PWMCLK_CNTL] = 0x5A000016; // Source=PLLD and enable
udelay(100);
pwm_reg[PWM_RNG1] = step_time_us;
udelay(10);
pwm_reg[PWM_DMAC] = PWMDMAC_ENAB | PWMDMAC_THRSHLD;
udelay(10);
pwm_reg[PWM_CTL] = PWMCTL_CLRF;
udelay(10);
pwm_reg[PWM_CTL] = PWMCTL_USEF1 | PWMCTL_PWEN1;
udelay(10);
} else {
// Initialise PCM
pcm_reg[PCM_CS_A] = 1; // Disable Rx+Tx, Enable PCM block
udelay(100);
clk_reg[PCMCLK_CNTL] = 0x5A000006; // Source=PLLD (500MHz or 750MHz on Pi4)
udelay(100);
clk_reg[PCMCLK_DIV] = 0x5A000000 | (plldfreq_mhz<<12); // Set pcm div to give 1MHz
udelay(100);
clk_reg[PCMCLK_CNTL] = 0x5A000016; // Source=PLLD and enable
udelay(100);
pcm_reg[PCM_TXC_A] = 0<<31 | 1<<30 | 0<<20 | 0<<16; // 1 channel, 8 bits
udelay(100);
pcm_reg[PCM_MODE_A] = (step_time_us - 1) << 10;
udelay(100);
pcm_reg[PCM_CS_A] |= 1<<4 | 1<<3; // Clear FIFOs
udelay(100);
pcm_reg[PCM_DREQ_A] = 64<<24 | 64<<8; // DMA Req when one slot is free?
udelay(100);
pcm_reg[PCM_CS_A] |= 1<<9; // Enable DMA
udelay(100);
}
// Initialise the DMA
dma_reg[DMA_CS] = DMA_RESET;
udelay(10);
dma_reg[DMA_CS] = DMA_INT | DMA_END;
dma_reg[DMA_CONBLK_AD] = mem_virt_to_phys(cb_base);
dma_reg[DMA_DEBUG] = 7; // clear debug error flags
dma_reg[DMA_CS] = 0x10880001; // go, mid priority, wait for outstanding writes
if (delay_hw == DELAY_VIA_PCM) {
pcm_reg[PCM_CS_A] |= 1<<2; // Enable Tx
}
}
static void
do_status(const char *filename)
{
uint32_t last;
int status = -1;
char *f, *of, *p;
int fd;
const char *dma_dead = "ERROR: DMA not running\n";
if (!strlen(filename) || *filename == '\n') {
fprintf(stderr, "ERROR: A filename into which to write status information is required\n");
return;
}
if ((f = malloc(strlen(filename) + 1 )) == NULL)
fatal("servod: malloc() failed");
of = f;
strcpy(f, filename);
while (*f == ' ')
f++;
if (of + strlen(of) == f || *f == '\n') {
fprintf(stderr, "ERROR: Invalid filename '%.*s'\n", strlen(filename) - 1, filename);
free(of);
return;
}
p = f + strlen(f) - 1;
while (p > f && (*p == '\n' || *p == '\r' || *p == ' '))
*p-- = '\0';
if (!strlen(f)) {
fprintf(stderr, "ERROR: Invalid filename '%.*s'\n", strlen(filename) - 1, filename);
free(of);
return;
}
last = dma_reg[DMA_CONBLK_AD];
udelay(step_time_us*2);
if (dma_reg[DMA_CONBLK_AD] != last)
status = 0;
if ((fd = open(f, O_WRONLY|O_CREAT, 0666)) >= 0) {
if (status == 0)
write(fd, "OK\n", 3);
else
write(fd, dma_dead, strlen(dma_dead));
close(fd);
printf("INFO: Status information written to file '%s'\n", f);
} else {
fprintf(stderr, "ERROR: Failed to open %s for writing: %m\n", f);
}
free(of);
}
static void
do_debug(void)
{
int i;
uint32_t mask = 0;
uint32_t last;
last = dma_reg[DMA_CONBLK_AD];
udelay(step_time_us*2);
printf("%08x %08x\n", last, dma_reg[DMA_CONBLK_AD]);
printf("---------------------------\n");
printf("Servo Start Width TurnOn\n");
for (i = 0; i < MAX_SERVOS; i++) {
if (servo2gpio[i] != DMY) {
printf("%3d: %6d %6d %6d\n", i, servostart[i],
servowidth[i], !!turnon_mask[i]);
mask |= 1 << servo2gpio[i];
}
}
printf("\nData:\n");
last = 0xffffffff;
for (i = 0; i < num_samples; i++) {
uint32_t curr = turnoff_mask[i] & mask;
if (curr != last)
printf("@%5d: %08x\n", i, curr);
last = curr;
}
printf("---------------------------\n");
}
static int
parse_width(const int servo, const char *width_arg)
{
char *p, *digits, *od;
double width;
if ((digits = malloc(strlen(width_arg) + 1)) == NULL)
fatal("servod: malloc() failed");
od = digits;
strcpy(digits, width_arg);
if (*digits == '-' || *digits == '+') {
digits++;
}
if (*digits < '0' || *digits > '9') {
free(od);
return -1;
}
width = strtod(digits, &p);
if (*p == '\0') {
/* Specified in steps */
} else if (!strcmp(p, "us")) {
width /= step_time_us;
} else if (!strcmp(p, "%")) {
width = width * (servo_max_ticks - servo_min_ticks) / 100.0 + servo_min_ticks;
} else {
free(od);
return -1;
}
width = floor(width);
if (*od == '+') {
width = servowidth[servo] + width;
if (width > servo_max_ticks)
width = servo_max_ticks;
} else if (*od == '-') {
width = servowidth[servo] - width;
if (width < servo_min_ticks)
width = servo_min_ticks;
}
free(od);
if (width == 0) {
return (int)width;
} else if (width < servo_min_ticks || width > servo_max_ticks) {
return -1;
} else {
return (int)width;
}
}
static void
go_go_go(void)
{
int fd;
struct timeval tv;
static char line[128];
int nchars = 0;
if ((fd = open(DEVFILE, O_RDWR|O_NONBLOCK)) == -1)
fatal("servod: Failed to open %s: %m\n", DEVFILE);
for (;;) {
int n, width, servo;
fd_set ifds;
char width_arg[64];
FD_ZERO(&ifds);
FD_SET(fd, &ifds);
get_next_idle_timeout(&tv);
if ((n = select(fd+1, &ifds, NULL, NULL, &tv)) != 1)
continue;
while (read(fd, line+nchars, 1) == 1) {
if (line[nchars] == '\n') {
line[++nchars] = '\0';
nchars = 0;
if (line[0] == 'p' || line[0] == 'P') {
int hdr, pin, width;
n = sscanf(line+1, "%d-%d=%s", &hdr, &pin, width_arg);
if (n != 3) {
fprintf(stderr, "ERROR: Unknown command '%.*s'\n", strlen(line) - 1, line);
} else if (hdr != 1 && hdr != 5) {
fprintf(stderr, "ERROR: Invalid header 'P%d'\n", hdr);
} else if (pin < 1 ||
(hdr == 1 && pin > NUM_P1PINS) ||
(hdr == 5 && pin > NUM_P5PINS)) {
fprintf(stderr, "ERROR: Invalid pin number 'P%d-%d'\n", hdr, pin);
} else if ((hdr == 1 && p1pin2servo[pin] == DMY) ||
(hdr == 5 && p5pin2servo[pin] == DMY)) {
fprintf(stderr, "ERROR: Pin 'P%d-%d' is not mapped to a servo\n", hdr, pin);
} else {
if (hdr == 1) {
servo = p1pin2servo[pin];
} else {
servo = p5pin2servo[pin];
}
if ((width = parse_width(servo, width_arg)) < 0) {
fprintf(stderr, "ERROR: Invalid width '%s'\n", width_arg);
} else {
set_servo(servo, width);
}
}
} else {
n = sscanf(line, "%d=%s", &servo, width_arg);
if (!strcmp(line, "debug\n")) {
do_debug();
} else if (!strncmp(line, "status ", 7)) {
do_status(line + 7);
} else if (n != 2) {
fprintf(stderr, "ERROR: Unknown command '%.*s'\n", strlen(line) - 1, line);
} else if (servo < 0 || servo >= MAX_SERVOS) {
fprintf(stderr, "ERROR: Invalid servo number '%d'\n", servo);
} else if (servo2gpio[servo] == DMY) {
fprintf(stderr, "ERROR: Servo '%d' is not mapped to a GPIO pin\n", servo);
} else if ((width = parse_width(servo, width_arg)) < 0) {
fprintf(stderr, "ERROR: Invalid width '%s'\n", width_arg);
} else {
set_servo(servo, width);
}
}
} else {
if (++nchars >= 126) {
fprintf(stderr, "ERROR: Input too long '%s'\n", line);
nchars = 0;
}
}
}
}
}
/* Extract board revision from /proc/cpuinfo, and from that determine the
* mem_flag to use, and what the GPIO config is (26 pins, 40 pins, whether
* there is a separate P5 GPIO header). Query the bcm library for SDRAM
* and peripheral base addresses.
*/
static void
get_model_and_revision(void)
{