From 213d89909e4d9c61d91c7b9155df110771ceab74 Mon Sep 17 00:00:00 2001 From: Chang YiYu Date: Tue, 22 Sep 2015 21:24:30 +0800 Subject: [PATCH 1/7] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index b3479d4..9d772fe 100644 --- a/README.md +++ b/README.md @@ -14,7 +14,7 @@ Java Embedded 7. [GPIO的基礎應用與實作（上）](http://www.codedata.com.tw/java/java-embedded-7-raspberry-pi-gpio-implementation-1/) 8. [GPIO的基礎應用與實作（下）](http://www.codedata.com.tw/java/java-embedded-7-raspberry-pi-gpio-implementation-2/) 9. [紅外線測距模組與類比數位轉換](http://www.codedata.com.tw/java/java-embedded-9-gpio-ultrasonic-wave/) -10. [GPIO進階應用 – 步進馬達達](http://www.codedata.com.tw/java/java-embedded-10-gpio-motor/) +10. [GPIO進階應用 – 步進馬達](http://www.codedata.com.tw/java/java-embedded-10-gpio-motor/) 11. [控制直流馬達 - 使用L293D晶片](http://www.codedata.com.tw/java/java-embedded-11-parking-lot/) 12. [整合應用 – PiFan](http://www.codedata.com.tw/java/java-embedded-12-parking-lot-2/) From 1e2c15d9665f69945c832790a639bbd0dc5b53ae Mon Sep 17 00:00:00 2001 From: Chang YiYu Date: Thu, 4 Feb 2016 17:41:04 +0800 Subject: [PATCH 2/7] ServoBlaster update --- files/ServoBlaster20160204.zip | Bin 0 -> 22405 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 files/ServoBlaster20160204.zip diff --git a/files/ServoBlaster20160204.zip b/files/ServoBlaster20160204.zip new file mode 100644 index 0000000000000000000000000000000000000000..7ab3134f78bef11a6f7715d327d71fe987eaf925 GIT binary patch literal 22405 zcmdqJQ;mNlBTZEL4(+qQPvwr$(CZQHh;xzpB8-u>07y7kvr|2Z%B>D;+iL|ZR& zwiaXb(PKo9K9{@{FbEXDU!#*iS@b`C{O1W400BVB*ulkC&`RIY$=HETMI8np601>_ zNbp4Y2@nN9{?Akt0Ej=IHjMu{75nc~X&ub%?5vDw9nEMRUG4r_=&u38{EvmMHhQJD z^l(P+YMm*E@lThEy_N}FAyUa*!Es4YJ2;ZyG|?5>)4&sux^9mu#OH^X*ZcYMPp@<3 z%QAff_LPI*oR#_RYBF<@0ziLv?a9P=C325@NEoG@@SSdI3h5~yi5(i;?U~5;bR*fH 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z;$~Gg9xLh~Hr#Nw4PL}*Hd&I4#^r;cz3!j96Y1{{70fLb)Zc#3ZpedLq?vLt9_$J$ z>VmZ~s&|-DDQacE)h&8NW)A4OaZh0CB+Pjp(`W`ku(T>XP0)d#Em9g z)bTi+fcwu)jIQu@?QZQo^cwt07s`MNiB5`MD?~H;(bI^^mlaGN+4xMzdEKzKV}wwE z6l?ybNIZPQ`-hG*AB$yLkwR>sPLKZ|5;_DL%xlMx4H7P*as&rukSn7 zUp0N_&3|*v8-+f+I=%h$r*i?SzvrFY^hVn9p8WD~mGAR7CA+Isk9{ijf3ZJu`O&~G zTP}up9m6wSoJTBvN$pkktTCEYb4p|B9%Zo@QNiZqsbY$2P9;YkdMY1jvgrqtiZ18H z2h%sY&;A;9)kJI6-}60b!8%nRu1c{Tn!Opr@U6qRXF&h} DS`D0( literal 0 HcmV?d00001 From 745a865b1b3c7ccdf4e694df721e66d368e7de63 Mon Sep 17 00:00:00 2001 From: Chang YiYu Date: Thu, 4 Feb 2016 17:59:04 +0800 Subject: [PATCH 6/7] ServoBlaster --- ServoBlaster/Makefile | 25 + ServoBlaster/init-script | 41 ++ ServoBlaster/mailbox.c | 261 ++++++++ ServoBlaster/mailbox.h | 47 ++ ServoBlaster/ripple.sh | 30 + ServoBlaster/servod.c | 1324 +++++++++++++++++++++++++++++++++++++ ServoBlaster/servodebug.c | 220 ++++++ 7 files changed, 1948 insertions(+) create mode 100644 ServoBlaster/Makefile create mode 100755 ServoBlaster/init-script create mode 100644 ServoBlaster/mailbox.c create mode 100644 ServoBlaster/mailbox.h create mode 100755 ServoBlaster/ripple.sh create mode 100644 ServoBlaster/servod.c create mode 100644 ServoBlaster/servodebug.c diff --git a/ServoBlaster/Makefile b/ServoBlaster/Makefile new file mode 100644 index 0000000..fbcee13 --- /dev/null +++ b/ServoBlaster/Makefile @@ -0,0 +1,25 @@ + +.PHONY: all install uninstall +all: servod + +servod: servod.c mailbox.c + gcc -Wall -g -O2 -o servod servod.c mailbox.c -lm + +install: servod + [ "`id -u`" = "0" ] || { echo "Must be run as root"; exit 1; } + cp -f servod /usr/local/sbin + cp -f init-script /etc/init.d/servoblaster + chmod 755 /etc/init.d/servoblaster + update-rc.d servoblaster defaults 92 08 + /etc/init.d/servoblaster start + +uninstall: + [ "`id -u`" = "0" ] || { echo "Must be run as root"; exit 1; } + [ -e /etc/init.d/servoblaster ] && /etc/init.d/servoblaster stop || : + update-rc.d servoblaster remove + rm -f /usr/local/sbin/servod + rm -f /etc/init.d/servoblaster + +clean: + rm -f servod + diff --git a/ServoBlaster/init-script b/ServoBlaster/init-script new file mode 100755 index 0000000..269b053 --- /dev/null +++ b/ServoBlaster/init-script @@ -0,0 +1,41 @@ +#!/bin/sh +### BEGIN INIT INFO +# Provides: servoblaster +# Required-Start: hostname $local_fs +# Required-Stop: +# Should-Start: +# Default-Start: 2 3 4 5 +# Default-Stop: 0 1 6 +# Short-Description: Start/stop servod. +# Description: This script starts/stops servod. +### END INIT INFO + +PATH=/sbin:/usr/sbin:/bin:/usr/bin +. /lib/init/vars.sh + +OPTS="--idle-timeout=2000" + +res=0 + +case "$1" in + start) + /usr/local/sbin/servod $OPTS >/dev/null + ;; + restart|reload|force-reload) + killall servod + /usr/local/sbin/servod $OPTS >/dev/null + ;; + stop) + killall servod + ;; + status) + [ -e /dev/servoblaster ] || res=4 + ;; + *) + echo "Usage: servoblaster [start|stop|status]" >&2 + res=3 + ;; +esac + +exit $res + diff --git a/ServoBlaster/mailbox.c b/ServoBlaster/mailbox.c new file mode 100644 index 0000000..d019cc7 --- /dev/null +++ b/ServoBlaster/mailbox.c @@ -0,0 +1,261 @@ +/* +Copyright (c) 2012, Broadcom Europe Ltd. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the copyright holder nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "mailbox.h" + +#define PAGE_SIZE (4*1024) + +void *mapmem(unsigned base, unsigned size) +{ + int mem_fd; + unsigned offset = base % PAGE_SIZE; + base = base - offset; + /* open /dev/mem */ + if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) { + printf("can't open /dev/mem\nThis program should be run as root. Try prefixing command with: sudo\n"); + exit (-1); + } + void *mem = mmap( + 0, + size, + PROT_READ|PROT_WRITE, + MAP_SHARED/*|MAP_FIXED*/, + mem_fd, + base); +#ifdef DEBUG + printf("base=0x%x, mem=%p\n", base, mem); +#endif + if (mem == MAP_FAILED) { + printf("mmap error %d\n", (int)mem); + exit (-1); + } + close(mem_fd); + return (char *)mem + offset; +} + +void *unmapmem(void *addr, unsigned size) +{ + int s = munmap(addr, size); + if (s != 0) { + printf("munmap error %d\n", s); + exit (-1); + } + + return NULL; +} + +/* + * use ioctl to send mbox property message + */ + +static int mbox_property(int file_desc, void *buf) +{ + int ret_val = ioctl(file_desc, IOCTL_MBOX_PROPERTY, buf); + + if (ret_val < 0) { + printf("ioctl_set_msg failed:%d\n", ret_val); + } + +#ifdef DEBUG + unsigned *p = buf; int i; unsigned size = *(unsigned *)buf; + for (i=0; i + +#define MAJOR_NUM 100 +#define IOCTL_MBOX_PROPERTY _IOWR(MAJOR_NUM, 0, char *) +#define DEVICE_FILE_NAME "/dev/servoblaster-mb" + +int mbox_open(); +void mbox_close(int file_desc); + +unsigned get_version(int file_desc); +unsigned mem_alloc(int file_desc, unsigned size, unsigned align, unsigned flags); +unsigned mem_free(int file_desc, unsigned handle); +unsigned mem_lock(int file_desc, unsigned handle); +unsigned mem_unlock(int file_desc, unsigned handle); +void *mapmem(unsigned base, unsigned size); +void *unmapmem(void *addr, unsigned size); + +unsigned execute_code(int file_desc, unsigned code, unsigned r0, unsigned r1, unsigned r2, unsigned r3, unsigned r4, unsigned r5); +unsigned execute_qpu(int file_desc, unsigned num_qpus, unsigned control, unsigned noflush, unsigned timeout); +unsigned qpu_enable(int file_desc, unsigned enable); diff --git a/ServoBlaster/ripple.sh b/ServoBlaster/ripple.sh new file mode 100755 index 0000000..4cb1a6b --- /dev/null +++ b/ServoBlaster/ripple.sh @@ -0,0 +1,30 @@ +#!/bin/sh + +leds() +{ + echo 0=$1 > /dev/servoblaster + echo 1=$2 > /dev/servoblaster + echo 2=$3 > /dev/servoblaster + echo 4=$4 > /dev/servoblaster +} + +b=0 +d=0.1 + +while true; do + leds $b 0 0 0 + sleep $d + leds 0 $b 0 0 + sleep $d + leds 0 0 $b 0 + sleep $d + leds 0 0 0 $b + sleep $d + leds 0 0 $b 0 + sleep $d + leds 0 $b 0 0 + sleep $d + b=$(( b + 100 )) + [ $b = 2000 ] && b=0 +done + diff --git a/ServoBlaster/servod.c b/ServoBlaster/servod.c new file mode 100644 index 0000000..407e9ed --- /dev/null +++ b/ServoBlaster/servod.c @@ -0,0 +1,1324 @@ +/* + * servod.c Multiple Servo Driver for the RaspberryPi + * Copyright (c) 2013 Richard Hirst + * + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "mailbox.h" + +#define DMY 255 // Used to represent an invalid P1 pin, or unmapped servo + +#define NUM_P1PINS 26 +#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 "/dev/servoblaster-cfg" +#define MBFILE DEVICE_FILE_NAME /* From mailbox.h */ + +#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_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_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 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 +}; + +// 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 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_model; +static int board_revision; + +static uint32_t periph_phys_base; +static uint32_t periph_virt_base; +static uint32_t dram_phys_base; +static uint32_t mem_flag; + +static struct { + int handle; /* From mbox_open() */ + unsigned mem_ref; /* From mem_alloc() */ + unsigned bus_addr; /* From mem_lock() */ + uint8_t *virt_addr; /* From mapmem() */ +} mbox; + +static void set_servo(int servo, int width); +static void set_servo_idle(int servo); +static void gpio_set_mode(uint32_t gpio, uint32_t mode); +static char *gpio2pinname(uint8_t gpio); + +static void +udelay(int us) +{ + struct timespec ts = { 0, us * 1000 }; + + nanosleep(&ts, NULL); +} + +static void +terminate(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, num_pages * 4096); + mem_unlock(mbox.handle, mbox.mem_ref); + mem_free(mbox.handle, mbox.mem_ref); + } + + unlink(DEVFILE); + unlink(CFGFILE); + exit(1); +} + +static void +fatal(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(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(uint32_t gpio) +{ + uint32_t fsel = gpio_reg[GPIO_FSEL0 + gpio/10]; + + return (fsel >> ((gpio % 10) * 3)) & 7; +} + +static void +gpio_set_mode(uint32_t gpio, 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(int gpio, 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(uint32_t base, 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(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(int servo, 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) + udelay(100); + clk_reg[PWMCLK_DIV] = 0x5A000000 | (500<<12); // set pwm div to 500, giving 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) + udelay(100); + clk_reg[PCMCLK_DIV] = 0x5A000000 | (500<<12); // Set pcm div to 500, giving 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_debug(void) +{ + int i; + uint32_t mask = 0; + uint32_t last = 0xffffffff; + + 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"); + 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(int servo, char *width_arg) +{ + char *p; + char *digits = width_arg; + double width; + + if (*width_arg == '-' || *width_arg == '+') { + digits++; + } + + if (*digits < '0' || *digits > '9') { + 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 { + return -1; + } + width = floor(width); + if (*width_arg == '+') { + width = servowidth[servo] + width; + if (width > servo_max_ticks) + width = servo_max_ticks; + } else if (*width_arg == '-') { + width = servowidth[servo] - width; + if (width < servo_min_ticks) + width = servo_min_ticks; + } + + 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, "Bad input: %s", line); + } else if (hdr != 1 && hdr != 5) { + fprintf(stderr, "Invalid header P%d\n", hdr); + } else if (pin < 1 || + (hdr == 1 && pin > NUM_P1PINS) || + (hdr == 5 && pin > NUM_P5PINS)) { + fprintf(stderr, "Invalid pin number P%d-%d\n", hdr, pin); + } else if ((hdr == 1 && p1pin2servo[pin] == DMY) || + (hdr == 5 && p5pin2servo[pin] == DMY)) { + fprintf(stderr, "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, "Invalid width specified\n"); + } else { + set_servo(servo, width); + } + } + } else { + n = sscanf(line, "%d=%s", &servo, width_arg); + if (!strcmp(line, "debug\n")) { + do_debug(); + } else if (n != 2) { + fprintf(stderr, "Bad input: %s", line); + } else if (servo < 0 || servo >= MAX_SERVOS) { + fprintf(stderr, "Invalid servo number %d\n", servo); + } else if (servo2gpio[servo] == DMY) { + fprintf(stderr, "Servo %d is not mapped to a GPIO pin\n", servo); + } else if ((width = parse_width(servo, width_arg)) < 0) { + fprintf(stderr, "Invalid width specified\n"); + } else { + set_servo(servo, width); + } + } + } else { + if (++nchars >= 126) { + fprintf(stderr, "Input too long\n"); + nchars = 0; + } + } + } + } +} + +/* Determining the board revision is a lot more complicated than it should be + * (see comments in wiringPi for details). We will just look at the last two + * digits of the Revision string and treat '00' and '01' as errors, '02' and + * '03' as rev 1, and any other hex value as rev 2. + * TODO: This is wrong. Fix in line with current WiringPi. + */ +static void +get_model_and_revision(void) +{ + char buf[128], revstr[128], modelstr[128]; + char *ptr, *end, *res; + FILE *fp; + + revstr[0] = modelstr[0] = '\0'; + + fp = fopen("/proc/cpuinfo", "r"); + + if (!fp) + fatal("Unable to open /proc/cpuinfo: %m\n"); + + while ((res = fgets(buf, 128, fp))) { + if (!strncasecmp("model name", buf, 8)) + memcpy(modelstr, buf, 128); + else if (!strncasecmp(buf, "revision", 8)) + memcpy(revstr, buf, 128); + } + fclose(fp); + + if (modelstr[0] == '\0') + fatal("servod: No 'Model name' record in /proc/cpuinfo\n"); + if (revstr[0] == '\0') + fatal("servod: No 'Revision' record in /proc/cpuinfo\n"); + + if (strstr(modelstr, "ARMv6")) + board_model = 1; + else if (strstr(modelstr, "ARMv7")) + board_model = 2; + else + fatal("servod: Cannot parse the model name string\n"); + + ptr = revstr + strlen(revstr) - 3; + board_revision = strtol(ptr, &end, 16); + if (end != ptr + 2) + fatal("servod: Failed to parse Revision string\n"); + if (board_revision < 1) + fatal("servod: Invalid board Revision\n"); + else if (board_revision < 4) + board_revision = 1; + else + board_revision = 2; + + if (board_model == 1) { + periph_virt_base = 0x20000000; + periph_phys_base = 0x7e000000; + dram_phys_base = 0x40000000; + mem_flag = 0x0c; + } else { + periph_virt_base = 0x3f000000; + periph_phys_base = 0x7e000000; + dram_phys_base = 0xc0000000; + mem_flag = 0x04; + } +} + +static void +parse_pin_lists(int p1first, char *p1pins, char*p5pins) +{ + char *name, *pins; + int i, mapcnt; + uint8_t *map, *pNpin2servo; + int lst, servo = 0; + FILE *fp; + + memset(servo2gpio, DMY, sizeof(servo2gpio)); + memset(p1pin2servo, DMY, sizeof(p1pin2servo)); + memset(p5pin2servo, DMY, sizeof(p5pin2servo)); + for (lst = 0; lst < 2; lst++) { + if (lst == 0 && p1first) { + name = "P1"; + pins = p1pins; + if (board_model == 1 && board_revision == 1) { + map = rev1_p1pin2gpio_map; + mapcnt = sizeof(rev1_p1pin2gpio_map); + } else { + map = rev2_p1pin2gpio_map; + mapcnt = sizeof(rev2_p1pin2gpio_map); + } + pNpin2servo = p1pin2servo; + } else { + name = "P5"; + pins = p5pins; + if (board_model == 1 && board_revision == 1) { + map = rev1_p5pin2gpio_map; + mapcnt = sizeof(rev1_p5pin2gpio_map); + } else { + map = rev2_p5pin2gpio_map; + mapcnt = sizeof(rev2_p5pin2gpio_map); + } + pNpin2servo = p5pin2servo; + } + while (*pins) { + char *end; + long pin = strtol(pins, &end, 0); + + if (*end && (end == pins || *end != ',')) + fatal("Invalid character '%c' in %s pin list\n", *end, name); + if (pin < 0 || pin > mapcnt) + fatal("Invalid pin number %d in %s pin list\n", pin, name); + if (servo == MAX_SERVOS) + fatal("Too many servos specified\n"); + if (pin == 0) { + servo++; + } else { + if (map[pin-1] == DMY) + fatal("Pin %d on header %s cannot be used for a servo output\n", pin, name); + pNpin2servo[pin] = servo; + servo2gpio[servo++] = map[pin-1]; + num_servos++; + } + pins = end; + if (*pins == ',') + pins++; + } + } + /* Write a cfg file so can tell which pins are used for servos */ + fp = fopen(CFGFILE, "w"); + if (fp) { + if (p1first) + fprintf(fp, "p1pins=%s\np5pins=%s\n", p1pins, p5pins); + else + fprintf(fp, "p5pins=%s\np1pins=%s\n", p5pins, p1pins); + fprintf(fp, "\nServo mapping:\n"); + for (i = 0; i < MAX_SERVOS; i++) { + if (servo2gpio[i] == DMY) + continue; + fprintf(fp, " %2d on %-5s GPIO-%d\n", i, gpio2pinname(servo2gpio[i]), servo2gpio[i]); + } + fclose(fp); + } +} + +static uint8_t +gpiosearch(uint8_t gpio, uint8_t *map, int len) +{ + while (--len) { + if (map[len] == gpio) + return len+1; + } + return 0; +} + +static char * +gpio2pinname(uint8_t gpio) +{ + static char res[16]; + uint8_t pin; + + if (board_model == 1 && board_revision == 1) { + if ((pin = gpiosearch(gpio, rev1_p1pin2gpio_map, sizeof(rev1_p1pin2gpio_map)))) + sprintf(res, "P1-%d", pin); + else if ((pin = gpiosearch(gpio, rev1_p5pin2gpio_map, sizeof(rev1_p5pin2gpio_map)))) + sprintf(res, "P5-%d", pin); + else + fatal("Cannot map GPIO %d to a header pin\n", gpio); + } else { + if ((pin = gpiosearch(gpio, rev2_p1pin2gpio_map, sizeof(rev2_p1pin2gpio_map)))) + sprintf(res, "P1-%d", pin); + else if ((pin = gpiosearch(gpio, rev2_p5pin2gpio_map, sizeof(rev2_p5pin2gpio_map)))) + sprintf(res, "P5-%d", pin); + else + fatal("Cannot map GPIO %d to a header pin\n", gpio); + } + + return res; +} + +static int +parse_min_max_arg(char *arg, char *name) +{ + char *p; + double val = strtod(arg, &p); + + if (*arg < '0' || *arg > '9' || val < 0) { + fatal("Invalid %s value specified\n", name); + } else if (*p == '\0') { + if (val != floor(val)) { + fatal("Invalid %s value specified\n", name); + } + return (int)val; + } else if (!strcmp(p, "us")) { + if (val != floor(val)) { + fatal("Invalid %s value specified\n", name); + } + if ((int)val % step_time_us) { + fatal("%s value is not a multiple of step-time\n", name); + } + return val / step_time_us; + } else if (!strcmp(p, "%")) { + if (val < 0 || val > 100.0) { + fatal("%s value must be between 0% and 100% inclusive\n", name); + } + return (int)(val * (double)cycle_time_us / 100.0 / step_time_us); + } else { + fatal("Invalid %s value specified\n", name); + } + + return -1; /* Never reached */ +} + +int +main(int argc, char **argv) +{ + int i; + char *p1pins = default_p1_pins; + char *p5pins = default_p5_pins; + int p1first = 1, hadp1 = 0, hadp5 = 0; + char *servo_min_arg = NULL; + char *servo_max_arg = NULL; + char *idle_timeout_arg = NULL; + char *cycle_time_arg = NULL; + char *step_time_arg = NULL; + char *dma_chan_arg = NULL; + char *p; + int daemonize = 1; + + setvbuf(stdout, NULL, _IOLBF, 0); + + while (1) { + int c; + int option_index; + + static struct option long_options[] = { + { "pcm", no_argument, 0, 'p' }, + { "idle-timeout", required_argument, 0, 't' }, + { "help", no_argument, 0, 'h' }, + { "p1pins", required_argument, 0, '1' }, + { "p5pins", required_argument, 0, '5' }, + { "min", required_argument, 0, 'm' }, + { "max", required_argument, 0, 'x' }, + { "invert", no_argument, 0, 'i' }, + { "cycle-time", required_argument, 0, 'c' }, + { "step-size", required_argument, 0, 's' }, + { "debug", no_argument, 0, 'f' }, + { "dma-chan", required_argument, 0, 'd' }, + { 0, 0, 0, 0 } + }; + + c = getopt_long(argc, argv, "mxhnt:15icsfd", long_options, &option_index); + if (c == -1) { + break; + } else if (c =='d') { + dma_chan_arg = optarg; + } else if (c == 'f') { + daemonize = 0; + } else if (c == 'p') { + delay_hw = DELAY_VIA_PCM; + } else if (c == 't') { + idle_timeout_arg = optarg; + } else if (c == 'c') { + cycle_time_arg = optarg; + } else if (c == 's') { + step_time_arg = optarg; + } else if (c == 'm') { + servo_min_arg = optarg; + } else if (c == 'x') { + servo_max_arg = optarg; + } else if (c == 'i') { + invert = 1; + } else if (c == 'h') { + printf("\nUsage: %s \n\n" + "Options:\n" + " --pcm tells servod to use PCM rather than PWM hardware\n" + " to implement delays\n" + " --idle-timeout=Nms tells servod to stop sending servo pulses for a\n" + " given output N milliseconds after the last update\n" + " --cycle-time=Nus Control pulse cycle time in microseconds, default\n" + " %dus\n" + " --step-size=Nus Pulse width increment step size in microseconds,\n" + " default %dus\n" + " --min={N|Nus|N%%} specifies the minimum allowed pulse width, default\n" + " %d steps or %dus\n" + " --max={N|Nus|N%%} specifies the maximum allowed pulse width, default\n" + " %d steps or %dus\n" + " --invert Inverts outputs\n" + " --dma-chan=N tells servod which dma channel to use, default %d\n" + " --p1pins= tells servod which pins on the P1 header to use\n" + " --p5pins= tells servod which pins on the P5 header to use\n" + "\nwhere defaults to \"%s\" for p1pins and\n" + "\"%s\" for p5pins. p5pins is only valid on rev 2 boards.\n\n" + "min and max values can be specified in units of steps, in microseconds,\n" + "or as a percentage of the cycle time. So, for example, if cycle time is\n" + "20000us and step size is 10us then the following are equivalent:\n\n" + " --min=50 --min=500us --min=2.5%%\n\n" + "For the default configuration, example commands to set the first servo\n" + "to the mid position would be any of:\n\n" + " echo 0=150 > /dev/servoblaster # Specify as a number of steps\n" + " echo 0=50%% > /dev/servoblaster # Specify as a percentage\n" + " echo 0=1500us > /dev/servoblaster # Specify as microseconds\n" + " echo P1-7=150 > /dev/servoblaster # Using P1 pin number rather\n" + " echo P1-7=50%% > /dev/servoblaster # ... than servo number\n" + " echo P1-7=1500us > /dev/servoblaster\n\n" + "Servo adjustments may also be specified relative to the current\n" + "position by adding a '+' or '-' prefix to the width as follows:\n\n" + " echo 0=+10 > /dev/servoblaster\n" + " echo 0=-20 > /dev/servoblaster\n\n", + argv[0], + DEFAULT_CYCLE_TIME_US, + DEFAULT_STEP_TIME_US, + DEFAULT_SERVO_MIN_US/DEFAULT_STEP_TIME_US, DEFAULT_SERVO_MIN_US, + DEFAULT_SERVO_MAX_US/DEFAULT_STEP_TIME_US, DEFAULT_SERVO_MAX_US, + DMA_CHAN_DEFAULT, default_p1_pins, default_p5_pins); + exit(0); + } else if (c == '1') { + p1pins = optarg; + hadp1 = 1; + if (!hadp5) + p1first = 1; + } else if (c == '5') { + p5pins = optarg; + hadp5 = 1; + if (!hadp1) + p1first = 0; + } else { + fatal("Invalid parameter\n"); + } + } + get_model_and_revision(); + if (board_model == 1 && board_revision == 1 && p5pins[0]) + fatal("Board model 1 revision 1 does not have a P5 header\n"); + + parse_pin_lists(p1first, p1pins, p5pins); + + if (dma_chan_arg) { + dma_chan = strtol(dma_chan_arg, &p, 10); + if (*dma_chan_arg < '0' || *dma_chan_arg > '9' || + *p || dma_chan < DMA_CHAN_MIN || dma_chan > DMA_CHAN_MAX) + fatal("Invalid dma-chan specified\n"); + } else { + dma_chan = DMA_CHAN_DEFAULT; + } + + if (idle_timeout_arg) { + idle_timeout = strtol(idle_timeout_arg, &p, 10); + if (*idle_timeout_arg < '0' || *idle_timeout_arg > '9' || + (*p && strcmp(p, "ms")) || + idle_timeout < 10 || idle_timeout > 3600000) + fatal("Invalid idle-timeout specified\n"); + } else { + idle_timeout = 0; + } + + if (cycle_time_arg) { + cycle_time_us = strtol(cycle_time_arg, &p, 10); + if (*cycle_time_arg < '0' || *cycle_time_arg > '9' || + (*p && strcmp(p, "us")) || + cycle_time_us < 1000 || cycle_time_us > 1000000) + fatal("Invalid cycle-time specified\n"); + } else { + cycle_time_us = DEFAULT_CYCLE_TIME_US; + } + + if (step_time_arg) { + step_time_us = strtol(step_time_arg, &p, 10); + if (*step_time_arg < '0' || *step_time_arg > '9' || + (*p && strcmp(p, "us")) || + step_time_us < 2 || step_time_us > 1000) { + fatal("Invalid step-size specified\n"); + } + } else { + step_time_us = DEFAULT_STEP_TIME_US; + } + + if (cycle_time_us % step_time_us) { + fatal("cycle-time is not a multiple of step-size\n"); + } + + if (cycle_time_us / step_time_us < 100) { + fatal("cycle-time must be at least 100 * step-size\n"); + } + + if (servo_min_arg) { + servo_min_ticks = parse_min_max_arg(servo_min_arg, "min"); + } else { + servo_min_ticks = DEFAULT_SERVO_MIN_US / step_time_us; + } + + if (servo_max_arg) { + servo_max_ticks = parse_min_max_arg(servo_max_arg, "max"); + } else { + servo_max_ticks = DEFAULT_SERVO_MAX_US / step_time_us; + } + + num_samples = cycle_time_us / step_time_us; + num_cbs = num_samples * 2 + MAX_SERVOS; + num_pages = (num_cbs * sizeof(dma_cb_t) + num_samples * 4 + + MAX_SERVOS * 4 + PAGE_SIZE - 1) >> PAGE_SHIFT; + + if (num_pages > MAX_MEMORY_USAGE / PAGE_SIZE) { + fatal("Using too much memory; reduce cycle-time or increase step-size\n"); + } + + if (servo_max_ticks > num_samples) { + fatal("max value is larger than cycle time\n"); + } + if (servo_min_ticks >= servo_max_ticks) { + fatal("min value is >= max value\n"); + } + + printf("\nBoard model: %7d\n", board_model); + printf("Board revision: %7d\n", board_revision); + printf("Using hardware: %s\n", delay_hw == DELAY_VIA_PWM ? "PWM" : "PCM"); + printf("Using DMA channel: %7d\n", dma_chan); + if (idle_timeout) + printf("Idle timeout: %7dms\n", idle_timeout); + else + printf("Idle timeout: Disabled\n"); + printf("Number of servos: %7d\n", num_servos); + printf("Servo cycle time: %7dus\n", cycle_time_us); + printf("Pulse increment step size: %7dus\n", step_time_us); + printf("Minimum width value: %7d (%dus)\n", servo_min_ticks, + servo_min_ticks * step_time_us); + printf("Maximum width value: %7d (%dus)\n", servo_max_ticks, + servo_max_ticks * step_time_us); + printf("Output levels: %s\n", invert ? "Inverted" : " Normal"); + printf("\nUsing P1 pins: %s\n", p1pins); + if (board_model > 1 || board_revision > 1) + printf("Using P5 pins: %s\n", p5pins); + printf("\nServo mapping:\n"); + for (i = 0; i < MAX_SERVOS; i++) { + if (servo2gpio[i] == DMY) + continue; + printf(" %2d on %-5s GPIO-%d\n", i, gpio2pinname(servo2gpio[i]), servo2gpio[i]); + } + printf("\n"); + + init_idle_timers(); + setup_sighandlers(); + + dma_reg = map_peripheral(DMA_VIRT_BASE, DMA_LEN); + dma_reg += dma_chan * DMA_CHAN_SIZE / sizeof(uint32_t); + pwm_reg = map_peripheral(PWM_VIRT_BASE, PWM_LEN); + pcm_reg = map_peripheral(PCM_VIRT_BASE, PCM_LEN); + clk_reg = map_peripheral(CLK_VIRT_BASE, CLK_LEN); + gpio_reg = map_peripheral(GPIO_VIRT_BASE, GPIO_LEN); + + /* Use the mailbox interface to the VC to ask for physical memory */ + unlink(MBFILE); + if (mknod(MBFILE, S_IFCHR|0600, makedev(249, 0)) < 0) + fatal("Failed to create mailbox device\n"); + mbox.handle = mbox_open(); + if (mbox.handle < 0) + fatal("Failed to open mailbox\n"); + mbox.mem_ref = mem_alloc(mbox.handle, num_pages * 4096, 4096, mem_flag); + /* TODO: How do we know that succeeded? */ + printf("mem_ref %u\n", mbox.mem_ref); + mbox.bus_addr = mem_lock(mbox.handle, mbox.mem_ref); + printf("bus_addr = %u\n", mbox.bus_addr); + mbox.virt_addr = mapmem(BUS_TO_PHYS(mbox.bus_addr), num_pages * 4096); + printf("virt_addr %p\n", mbox.virt_addr); + + turnoff_mask = (uint32_t *)mbox.virt_addr; + turnon_mask = (uint32_t *)(mbox.virt_addr + num_samples * sizeof(uint32_t)); + cb_base = (dma_cb_t *)(mbox.virt_addr + + ROUNDUP(num_samples + MAX_SERVOS, 8) * sizeof(uint32_t)); + + for (i = 0; i < MAX_SERVOS; i++) { + if (servo2gpio[i] == DMY) + continue; + gpiomode[i] = gpio_get_mode(servo2gpio[i]); + gpio_set(servo2gpio[i], invert ? 1 : 0); + gpio_set_mode(servo2gpio[i], GPIO_MODE_OUT); + } + restore_gpio_modes = 1; + + init_ctrl_data(); + init_hardware(); + + unlink(DEVFILE); + if (mkfifo(DEVFILE, 0666) < 0) + fatal("servod: Failed to create %s: %m\n", DEVFILE); + if (chmod(DEVFILE, 0666) < 0) + fatal("servod: Failed to set permissions on %s: %m\n", DEVFILE); + + if (daemonize && daemon(0,1) < 0) + fatal("servod: Failed to daemonize process: %m\n"); + + go_go_go(); + + return 0; +} + diff --git a/ServoBlaster/servodebug.c b/ServoBlaster/servodebug.c new file mode 100644 index 0000000..8db7005 --- /dev/null +++ b/ServoBlaster/servodebug.c @@ -0,0 +1,220 @@ +/* + * servodebug.c - a utility to help debug issues with ServoBlaster + * + * This code should be compiled with the command: + * + * gcc -Wall -O2 -o servodebug servodebug.c + * + * It should be run with the command: + * + * sudo chrt 1 ./servodebug + * + * Richard Hirst - Nov 25th 2012 + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define BCM2708_DMA_NO_WIDE_BURSTS (1<<26) +#define BCM2708_DMA_WAIT_RESP (1<<3) +#define BCM2708_DMA_D_DREQ (1<<6) +#define BCM2708_DMA_PER_MAP(x) ((x)<<16) +#define BCM2708_DMA_END (1<<1) +#define BCM2708_DMA_RESET (1<<31) +#define BCM2708_DMA_INT (1<<2) + +#define DMA_CHAN_SIZE 0x100 +#define DMA_CHAN_MIN 0 +#define DMA_CHAN_MAX 14 +#define DMA_CHAN_DEFAULT 14 + +#define DMA_CS (0x00/4) +#define DMA_CONBLK_AD (0x04/4) +#define DMA_DEBUG (0x20/4) + +#define GPIO_BASE 0x3f200000 +#define GPIO_LEN 0xB4 +#define DMA_BASE 0x3f007000 +#define DMA_LEN DMA_CHAN_SIZE * (DMA_CHAN_MAX+1) +#define PWM_BASE 0x3f20C000 +#define PWM_LEN 0x28 +#define CLK_BASE 0x3f101000 +#define CLK_LEN 0xA8 +#define TICK_BASE 0x3f003000 +#define TICK_LEN 0x08 + +#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) +// I think this means it requests as soon as there is one free slot in the FIFO +// which is what we want as burst DMA would mess up our timing.. +#define PWMDMAC_THRSHLD ((15<<8)|(15<<0)) + +#define GPFSEL0 (0x00/4) +#define GPCLR0 (0x28/4) +#define GPLEV0 (0x34/4) + +typedef struct { + uint32_t info, src, dst, length, + stride, next, pad[2]; +} dma_cb_t; + +static volatile uint32_t *gpio_reg; +static volatile uint32_t *pwm_reg; +static volatile uint32_t *clk_reg; +static volatile uint32_t *dma_reg; +static volatile uint32_t *tick_reg; + +static uint32_t dma_chan = DMA_CHAN_DEFAULT; + +static uint8_t servo2gpio[] = { + 4, // P1-7 + 17, // P1-11 +#ifdef PWM0_ON_GPIO18 + 1, // P1-5 (GPIO-18, P1-12 is currently PWM0, for debug) +#else + 18, // P1-12 +#endif + 21, // P1-13 + 22, // P1-15 + 23, // P1-16 + 24, // P1-18 + 25, // P1-22 +}; +#define NUM_SERVOS (sizeof(servo2gpio)/sizeof(servo2gpio[0])) + +struct { + uint32_t stamp; + uint32_t levels; +} trans[20]; + +static void +fatal(char *fmt, ...) +{ + va_list ap; + + va_start(ap, fmt); + vfprintf(stderr, fmt, ap); + va_end(ap); + exit(1); +} + +static void +msleep(int ms) +{ + struct timespec ts = { 0, ms * 1000 * 1000 }; + + if (nanosleep(&ts, NULL)) { + fprintf(stderr, "nanosleep() failed: %s\n", strerror(errno)); + exit(1); + } +} + +static void * +map_peripheral(uint32_t base, uint32_t len) +{ + int fd = open("/dev/mem", O_RDWR); + void * vaddr; + + if (fd < 0) + fatal("Failed to open /dev/mem: %m\n"); + vaddr = mmap(NULL, len, PROT_READ|PROT_WRITE, MAP_SHARED, fd, base); + if (vaddr == MAP_FAILED) + fatal("Failed to map peripheral at 0x%08x: %m\n", base); + close(fd); + + return vaddr; +} + +int +main(int argc, char **argv) +{ + int tr, i; + uint32_t v1, v2, mask, t1; + struct timeval tv1, tv2; + + printf("This code should be compiled with the command:\n\n"); + printf(" gcc -Wall -O2 -o servodebug servodebug.c\n"); + printf("\nIt should be run with the command:\n\n"); + printf(" sudo chrt 1 ./servodebug\n\n"); + gpio_reg = map_peripheral(GPIO_BASE, GPIO_LEN); + dma_reg = map_peripheral(DMA_BASE, DMA_LEN); + dma_reg += dma_chan * DMA_CHAN_SIZE / sizeof(uint32_t); + pwm_reg = map_peripheral(PWM_BASE, PWM_LEN); + clk_reg = map_peripheral(CLK_BASE, CLK_LEN); + tick_reg = map_peripheral(TICK_BASE, TICK_LEN); + + v1 = dma_reg[DMA_CONBLK_AD]; + msleep(5); + v2 = dma_reg[DMA_CONBLK_AD]; + + if (v1 == v2) + fatal("DMA controller is not running - is the module loaded?\n"); + printf("\nGood, DMA controller is running\n"); + + printf("\nTiming 1M cycles of system tick, should take 1000000us\n"); + printf("but small variations are to be expected\n"); + gettimeofday(&tv1, NULL); + v1 = tick_reg[1]; + while (tick_reg[1] - v1 < 1000000) + ; + gettimeofday(&tv2, NULL); + i = (tv2.tv_sec - tv1.tv_sec) * 1000000 + tv2.tv_usec - tv1.tv_usec; + printf("\n1M increments of system tick measured at %dus\n", i); + + printf("\nMonitoring for the first 20 transitions on servo control lines\n"); + + for (i = 0, mask = 0; i < NUM_SERVOS; i++) + mask |= 1 << servo2gpio[i]; + + t1 = tick_reg[1]; + v1 = gpio_reg[GPLEV0] & mask; + for (tr = 0; tr < 20; tr++) { + do { + if (tick_reg[1] - t1 > 1000000) + fatal("No servo pulses generated - have you tried \"echo 0=100 > /dev/servoblaster\"?\n"); + v2 = gpio_reg[GPLEV0] & mask; + } while (v1 == v2); + trans[tr].stamp = tick_reg[1]; + trans[tr].levels = v2; + v1 = v2; + } + + for (tr = 1; tr < 20; tr++) + trans[tr].stamp -= trans[0].stamp; + trans[0].stamp = 0; + printf("\n time outputs\n (us) 76543210\n"); + for (tr = 0; tr < 20; tr++) { + printf(" %6d ", trans[tr].stamp); + for (i = NUM_SERVOS - 1; i >= 0; i--) + printf("%s", trans[tr].levels & (1 << servo2gpio[i]) ? "1" : "0"); + printf("\n"); + } + printf("\n"); + + return 0; +} + From 37a7c6d383a921a61934ab8219b52b786bfa6082 Mon Sep 17 00:00:00 2001 From: Chang YiYu Date: Thu, 4 Feb 2016 18:01:56 +0800 Subject: [PATCH 7/7] Remove --- ServoBlaster/Makefile | 25 - ServoBlaster/init-script | 41 - ServoBlaster/mailbox.c | 261 ------- ServoBlaster/mailbox.h | 47 -- ServoBlaster/ripple.sh | 30 - ServoBlaster/servod.c | 1324 -------------------------------- ServoBlaster/servodebug.c | 220 ------ files/ServoBlaster.tar.gz | Bin 16732 -> 0 bytes files/ServoBlaster20160204.gz | Bin 16743 -> 0 bytes files/ServoBlaster20160204.tgz | Bin 16743 -> 0 bytes files/ServoBlaster20160204.zip | Bin 22405 -> 0 bytes 11 files changed, 1948 deletions(-) delete mode 100644 ServoBlaster/Makefile delete mode 100755 ServoBlaster/init-script delete mode 100644 ServoBlaster/mailbox.c delete mode 100644 ServoBlaster/mailbox.h delete mode 100755 ServoBlaster/ripple.sh delete mode 100644 ServoBlaster/servod.c delete mode 100644 ServoBlaster/servodebug.c delete mode 100644 files/ServoBlaster.tar.gz delete mode 100644 files/ServoBlaster20160204.gz delete mode 100644 files/ServoBlaster20160204.tgz delete mode 100644 files/ServoBlaster20160204.zip diff --git a/ServoBlaster/Makefile b/ServoBlaster/Makefile deleted file mode 100644 index fbcee13..0000000 --- a/ServoBlaster/Makefile +++ /dev/null @@ -1,25 +0,0 @@ - -.PHONY: all install uninstall -all: servod - -servod: servod.c mailbox.c - gcc -Wall -g -O2 -o servod servod.c mailbox.c -lm - -install: servod - [ "`id -u`" = "0" ] || { echo "Must be run as root"; exit 1; } - cp -f servod /usr/local/sbin - cp -f init-script /etc/init.d/servoblaster - chmod 755 /etc/init.d/servoblaster - update-rc.d servoblaster defaults 92 08 - /etc/init.d/servoblaster start - -uninstall: - [ "`id -u`" = "0" ] || { echo "Must be run as root"; exit 1; } - [ -e /etc/init.d/servoblaster ] && /etc/init.d/servoblaster stop || : - update-rc.d servoblaster remove - rm -f /usr/local/sbin/servod - rm -f /etc/init.d/servoblaster - -clean: - rm -f servod - diff --git a/ServoBlaster/init-script b/ServoBlaster/init-script deleted file mode 100755 index 269b053..0000000 --- a/ServoBlaster/init-script +++ /dev/null @@ -1,41 +0,0 @@ -#!/bin/sh -### BEGIN INIT INFO -# Provides: servoblaster -# Required-Start: hostname $local_fs -# Required-Stop: -# Should-Start: -# Default-Start: 2 3 4 5 -# Default-Stop: 0 1 6 -# Short-Description: Start/stop servod. -# Description: This script starts/stops servod. -### END INIT INFO - -PATH=/sbin:/usr/sbin:/bin:/usr/bin -. /lib/init/vars.sh - -OPTS="--idle-timeout=2000" - -res=0 - -case "$1" in - start) - /usr/local/sbin/servod $OPTS >/dev/null - ;; - restart|reload|force-reload) - killall servod - /usr/local/sbin/servod $OPTS >/dev/null - ;; - stop) - killall servod - ;; - status) - [ -e /dev/servoblaster ] || res=4 - ;; - *) - echo "Usage: servoblaster [start|stop|status]" >&2 - res=3 - ;; -esac - -exit $res - diff --git a/ServoBlaster/mailbox.c b/ServoBlaster/mailbox.c deleted file mode 100644 index d019cc7..0000000 --- a/ServoBlaster/mailbox.c +++ /dev/null @@ -1,261 +0,0 @@ -/* -Copyright (c) 2012, Broadcom Europe Ltd. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of the copyright holder nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "mailbox.h" - -#define PAGE_SIZE (4*1024) - -void *mapmem(unsigned base, unsigned size) -{ - int mem_fd; - unsigned offset = base % PAGE_SIZE; - base = base - offset; - /* open /dev/mem */ - if ((mem_fd = open("/dev/mem", O_RDWR|O_SYNC) ) < 0) { - printf("can't open /dev/mem\nThis program should be run as root. Try prefixing command with: sudo\n"); - exit (-1); - } - void *mem = mmap( - 0, - size, - PROT_READ|PROT_WRITE, - MAP_SHARED/*|MAP_FIXED*/, - mem_fd, - base); -#ifdef DEBUG - printf("base=0x%x, mem=%p\n", base, mem); -#endif - if (mem == MAP_FAILED) { - printf("mmap error %d\n", (int)mem); - exit (-1); - } - close(mem_fd); - return (char *)mem + offset; -} - -void *unmapmem(void *addr, unsigned size) -{ - int s = munmap(addr, size); - if (s != 0) { - printf("munmap error %d\n", s); - exit (-1); - } - - return NULL; -} - -/* - * use ioctl to send mbox property message - */ - -static int mbox_property(int file_desc, void *buf) -{ - int ret_val = ioctl(file_desc, IOCTL_MBOX_PROPERTY, buf); - - if (ret_val < 0) { - printf("ioctl_set_msg failed:%d\n", ret_val); - } - -#ifdef DEBUG - unsigned *p = buf; int i; unsigned size = *(unsigned *)buf; - for (i=0; i - -#define MAJOR_NUM 100 -#define IOCTL_MBOX_PROPERTY _IOWR(MAJOR_NUM, 0, char *) -#define DEVICE_FILE_NAME "/dev/servoblaster-mb" - -int mbox_open(); -void mbox_close(int file_desc); - -unsigned get_version(int file_desc); -unsigned mem_alloc(int file_desc, unsigned size, unsigned align, unsigned flags); -unsigned mem_free(int file_desc, unsigned handle); -unsigned mem_lock(int file_desc, unsigned handle); -unsigned mem_unlock(int file_desc, unsigned handle); -void *mapmem(unsigned base, unsigned size); -void *unmapmem(void *addr, unsigned size); - -unsigned execute_code(int file_desc, unsigned code, unsigned r0, unsigned r1, unsigned r2, unsigned r3, unsigned r4, unsigned r5); -unsigned execute_qpu(int file_desc, unsigned num_qpus, unsigned control, unsigned noflush, unsigned timeout); -unsigned qpu_enable(int file_desc, unsigned enable); diff --git a/ServoBlaster/ripple.sh b/ServoBlaster/ripple.sh deleted file mode 100755 index 4cb1a6b..0000000 --- a/ServoBlaster/ripple.sh +++ /dev/null @@ -1,30 +0,0 @@ -#!/bin/sh - -leds() -{ - echo 0=$1 > /dev/servoblaster - echo 1=$2 > /dev/servoblaster - echo 2=$3 > /dev/servoblaster - echo 4=$4 > /dev/servoblaster -} - -b=0 -d=0.1 - -while true; do - leds $b 0 0 0 - sleep $d - leds 0 $b 0 0 - sleep $d - leds 0 0 $b 0 - sleep $d - leds 0 0 0 $b - sleep $d - leds 0 0 $b 0 - sleep $d - leds 0 $b 0 0 - sleep $d - b=$(( b + 100 )) - [ $b = 2000 ] && b=0 -done - diff --git a/ServoBlaster/servod.c b/ServoBlaster/servod.c deleted file mode 100644 index 407e9ed..0000000 --- a/ServoBlaster/servod.c +++ /dev/null @@ -1,1324 +0,0 @@ -/* - * servod.c Multiple Servo Driver for the RaspberryPi - * Copyright (c) 2013 Richard Hirst - * - * 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 -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "mailbox.h" - -#define DMY 255 // Used to represent an invalid P1 pin, or unmapped servo - -#define NUM_P1PINS 26 -#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 "/dev/servoblaster-cfg" -#define MBFILE DEVICE_FILE_NAME /* From mailbox.h */ - -#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_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_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 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 -}; - -// 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 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_model; -static int board_revision; - -static uint32_t periph_phys_base; -static uint32_t periph_virt_base; -static uint32_t dram_phys_base; -static uint32_t mem_flag; - -static struct { - int handle; /* From mbox_open() */ - unsigned mem_ref; /* From mem_alloc() */ - unsigned bus_addr; /* From mem_lock() */ - uint8_t *virt_addr; /* From mapmem() */ -} mbox; - -static void set_servo(int servo, int width); -static void set_servo_idle(int servo); -static void gpio_set_mode(uint32_t gpio, uint32_t mode); -static char *gpio2pinname(uint8_t gpio); - -static void -udelay(int us) -{ - struct timespec ts = { 0, us * 1000 }; - - nanosleep(&ts, NULL); -} - -static void -terminate(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, num_pages * 4096); - mem_unlock(mbox.handle, mbox.mem_ref); - mem_free(mbox.handle, mbox.mem_ref); - } - - unlink(DEVFILE); - unlink(CFGFILE); - exit(1); -} - -static void -fatal(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(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(uint32_t gpio) -{ - uint32_t fsel = gpio_reg[GPIO_FSEL0 + gpio/10]; - - return (fsel >> ((gpio % 10) * 3)) & 7; -} - -static void -gpio_set_mode(uint32_t gpio, 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(int gpio, 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(uint32_t base, 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(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(int servo, 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) - udelay(100); - clk_reg[PWMCLK_DIV] = 0x5A000000 | (500<<12); // set pwm div to 500, giving 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) - udelay(100); - clk_reg[PCMCLK_DIV] = 0x5A000000 | (500<<12); // Set pcm div to 500, giving 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_debug(void) -{ - int i; - uint32_t mask = 0; - uint32_t last = 0xffffffff; - - 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"); - 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(int servo, char *width_arg) -{ - char *p; - char *digits = width_arg; - double width; - - if (*width_arg == '-' || *width_arg == '+') { - digits++; - } - - if (*digits < '0' || *digits > '9') { - 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 { - return -1; - } - width = floor(width); - if (*width_arg == '+') { - width = servowidth[servo] + width; - if (width > servo_max_ticks) - width = servo_max_ticks; - } else if (*width_arg == '-') { - width = servowidth[servo] - width; - if (width < servo_min_ticks) - width = servo_min_ticks; - } - - 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, "Bad input: %s", line); - } else if (hdr != 1 && hdr != 5) { - fprintf(stderr, "Invalid header P%d\n", hdr); - } else if (pin < 1 || - (hdr == 1 && pin > NUM_P1PINS) || - (hdr == 5 && pin > NUM_P5PINS)) { - fprintf(stderr, "Invalid pin number P%d-%d\n", hdr, pin); - } else if ((hdr == 1 && p1pin2servo[pin] == DMY) || - (hdr == 5 && p5pin2servo[pin] == DMY)) { - fprintf(stderr, "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, "Invalid width specified\n"); - } else { - set_servo(servo, width); - } - } - } else { - n = sscanf(line, "%d=%s", &servo, width_arg); - if (!strcmp(line, "debug\n")) { - do_debug(); - } else if (n != 2) { - fprintf(stderr, "Bad input: %s", line); - } else if (servo < 0 || servo >= MAX_SERVOS) { - fprintf(stderr, "Invalid servo number %d\n", servo); - } else if (servo2gpio[servo] == DMY) { - fprintf(stderr, "Servo %d is not mapped to a GPIO pin\n", servo); - } else if ((width = parse_width(servo, width_arg)) < 0) { - fprintf(stderr, "Invalid width specified\n"); - } else { - set_servo(servo, width); - } - } - } else { - if (++nchars >= 126) { - fprintf(stderr, "Input too long\n"); - nchars = 0; - } - } - } - } -} - -/* Determining the board revision is a lot more complicated than it should be - * (see comments in wiringPi for details). We will just look at the last two - * digits of the Revision string and treat '00' and '01' as errors, '02' and - * '03' as rev 1, and any other hex value as rev 2. - * TODO: This is wrong. Fix in line with current WiringPi. - */ -static void -get_model_and_revision(void) -{ - char buf[128], revstr[128], modelstr[128]; - char *ptr, *end, *res; - FILE *fp; - - revstr[0] = modelstr[0] = '\0'; - - fp = fopen("/proc/cpuinfo", "r"); - - if (!fp) - fatal("Unable to open /proc/cpuinfo: %m\n"); - - while ((res = fgets(buf, 128, fp))) { - if (!strncasecmp("model name", buf, 8)) - memcpy(modelstr, buf, 128); - else if (!strncasecmp(buf, "revision", 8)) - memcpy(revstr, buf, 128); - } - fclose(fp); - - if (modelstr[0] == '\0') - fatal("servod: No 'Model name' record in /proc/cpuinfo\n"); - if (revstr[0] == '\0') - fatal("servod: No 'Revision' record in /proc/cpuinfo\n"); - - if (strstr(modelstr, "ARMv6")) - board_model = 1; - else if (strstr(modelstr, "ARMv7")) - board_model = 2; - else - fatal("servod: Cannot parse the model name string\n"); - - ptr = revstr + strlen(revstr) - 3; - board_revision = strtol(ptr, &end, 16); - if (end != ptr + 2) - fatal("servod: Failed to parse Revision string\n"); - if (board_revision < 1) - fatal("servod: Invalid board Revision\n"); - else if (board_revision < 4) - board_revision = 1; - else - board_revision = 2; - - if (board_model == 1) { - periph_virt_base = 0x20000000; - periph_phys_base = 0x7e000000; - dram_phys_base = 0x40000000; - mem_flag = 0x0c; - } else { - periph_virt_base = 0x3f000000; - periph_phys_base = 0x7e000000; - dram_phys_base = 0xc0000000; - mem_flag = 0x04; - } -} - -static void -parse_pin_lists(int p1first, char *p1pins, char*p5pins) -{ - char *name, *pins; - int i, mapcnt; - uint8_t *map, *pNpin2servo; - int lst, servo = 0; - FILE *fp; - - memset(servo2gpio, DMY, sizeof(servo2gpio)); - memset(p1pin2servo, DMY, sizeof(p1pin2servo)); - memset(p5pin2servo, DMY, sizeof(p5pin2servo)); - for (lst = 0; lst < 2; lst++) { - if (lst == 0 && p1first) { - name = "P1"; - pins = p1pins; - if (board_model == 1 && board_revision == 1) { - map = rev1_p1pin2gpio_map; - mapcnt = sizeof(rev1_p1pin2gpio_map); - } else { - map = rev2_p1pin2gpio_map; - mapcnt = sizeof(rev2_p1pin2gpio_map); - } - pNpin2servo = p1pin2servo; - } else { - name = "P5"; - pins = p5pins; - if (board_model == 1 && board_revision == 1) { - map = rev1_p5pin2gpio_map; - mapcnt = sizeof(rev1_p5pin2gpio_map); - } else { - map = rev2_p5pin2gpio_map; - mapcnt = sizeof(rev2_p5pin2gpio_map); - } - pNpin2servo = p5pin2servo; - } - while (*pins) { - char *end; - long pin = strtol(pins, &end, 0); - - if (*end && (end == pins || *end != ',')) - fatal("Invalid character '%c' in %s pin list\n", *end, name); - if (pin < 0 || pin > mapcnt) - fatal("Invalid pin number %d in %s pin list\n", pin, name); - if (servo == MAX_SERVOS) - fatal("Too many servos specified\n"); - if (pin == 0) { - servo++; - } else { - if (map[pin-1] == DMY) - fatal("Pin %d on header %s cannot be used for a servo output\n", pin, name); - pNpin2servo[pin] = servo; - servo2gpio[servo++] = map[pin-1]; - num_servos++; - } - pins = end; - if (*pins == ',') - pins++; - } - } - /* Write a cfg file so can tell which pins are used for servos */ - fp = fopen(CFGFILE, "w"); - if (fp) { - if (p1first) - fprintf(fp, "p1pins=%s\np5pins=%s\n", p1pins, p5pins); - else - fprintf(fp, "p5pins=%s\np1pins=%s\n", p5pins, p1pins); - fprintf(fp, "\nServo mapping:\n"); - for (i = 0; i < MAX_SERVOS; i++) { - if (servo2gpio[i] == DMY) - continue; - fprintf(fp, " %2d on %-5s GPIO-%d\n", i, gpio2pinname(servo2gpio[i]), servo2gpio[i]); - } - fclose(fp); - } -} - -static uint8_t -gpiosearch(uint8_t gpio, uint8_t *map, int len) -{ - while (--len) { - if (map[len] == gpio) - return len+1; - } - return 0; -} - -static char * -gpio2pinname(uint8_t gpio) -{ - static char res[16]; - uint8_t pin; - - if (board_model == 1 && board_revision == 1) { - if ((pin = gpiosearch(gpio, rev1_p1pin2gpio_map, sizeof(rev1_p1pin2gpio_map)))) - sprintf(res, "P1-%d", pin); - else if ((pin = gpiosearch(gpio, rev1_p5pin2gpio_map, sizeof(rev1_p5pin2gpio_map)))) - sprintf(res, "P5-%d", pin); - else - fatal("Cannot map GPIO %d to a header pin\n", gpio); - } else { - if ((pin = gpiosearch(gpio, rev2_p1pin2gpio_map, sizeof(rev2_p1pin2gpio_map)))) - sprintf(res, "P1-%d", pin); - else if ((pin = gpiosearch(gpio, rev2_p5pin2gpio_map, sizeof(rev2_p5pin2gpio_map)))) - sprintf(res, "P5-%d", pin); - else - fatal("Cannot map GPIO %d to a header pin\n", gpio); - } - - return res; -} - -static int -parse_min_max_arg(char *arg, char *name) -{ - char *p; - double val = strtod(arg, &p); - - if (*arg < '0' || *arg > '9' || val < 0) { - fatal("Invalid %s value specified\n", name); - } else if (*p == '\0') { - if (val != floor(val)) { - fatal("Invalid %s value specified\n", name); - } - return (int)val; - } else if (!strcmp(p, "us")) { - if (val != floor(val)) { - fatal("Invalid %s value specified\n", name); - } - if ((int)val % step_time_us) { - fatal("%s value is not a multiple of step-time\n", name); - } - return val / step_time_us; - } else if (!strcmp(p, "%")) { - if (val < 0 || val > 100.0) { - fatal("%s value must be between 0% and 100% inclusive\n", name); - } - return (int)(val * (double)cycle_time_us / 100.0 / step_time_us); - } else { - fatal("Invalid %s value specified\n", name); - } - - return -1; /* Never reached */ -} - -int -main(int argc, char **argv) -{ - int i; - char *p1pins = default_p1_pins; - char *p5pins = default_p5_pins; - int p1first = 1, hadp1 = 0, hadp5 = 0; - char *servo_min_arg = NULL; - char *servo_max_arg = NULL; - char *idle_timeout_arg = NULL; - char *cycle_time_arg = NULL; - char *step_time_arg = NULL; - char *dma_chan_arg = NULL; - char *p; - int daemonize = 1; - - setvbuf(stdout, NULL, _IOLBF, 0); - - while (1) { - int c; - int option_index; - - static struct option long_options[] = { - { "pcm", no_argument, 0, 'p' }, - { "idle-timeout", required_argument, 0, 't' }, - { "help", no_argument, 0, 'h' }, - { "p1pins", required_argument, 0, '1' }, - { "p5pins", required_argument, 0, '5' }, - { "min", required_argument, 0, 'm' }, - { "max", required_argument, 0, 'x' }, - { "invert", no_argument, 0, 'i' }, - { "cycle-time", required_argument, 0, 'c' }, - { "step-size", required_argument, 0, 's' }, - { "debug", no_argument, 0, 'f' }, - { "dma-chan", required_argument, 0, 'd' }, - { 0, 0, 0, 0 } - }; - - c = getopt_long(argc, argv, "mxhnt:15icsfd", long_options, &option_index); - if (c == -1) { - break; - } else if (c =='d') { - dma_chan_arg = optarg; - } else if (c == 'f') { - daemonize = 0; - } else if (c == 'p') { - delay_hw = DELAY_VIA_PCM; - } else if (c == 't') { - idle_timeout_arg = optarg; - } else if (c == 'c') { - cycle_time_arg = optarg; - } else if (c == 's') { - step_time_arg = optarg; - } else if (c == 'm') { - servo_min_arg = optarg; - } else if (c == 'x') { - servo_max_arg = optarg; - } else if (c == 'i') { - invert = 1; - } else if (c == 'h') { - printf("\nUsage: %s \n\n" - "Options:\n" - " --pcm tells servod to use PCM rather than PWM hardware\n" - " to implement delays\n" - " --idle-timeout=Nms tells servod to stop sending servo pulses for a\n" - " given output N milliseconds after the last update\n" - " --cycle-time=Nus Control pulse cycle time in microseconds, default\n" - " %dus\n" - " --step-size=Nus Pulse width increment step size in microseconds,\n" - " default %dus\n" - " --min={N|Nus|N%%} specifies the minimum allowed pulse width, default\n" - " %d steps or %dus\n" - " --max={N|Nus|N%%} specifies the maximum allowed pulse width, default\n" - " %d steps or %dus\n" - " --invert Inverts outputs\n" - " --dma-chan=N tells servod which dma channel to use, default %d\n" - " --p1pins= tells servod which pins on the P1 header to use\n" - " --p5pins= tells servod which pins on the P5 header to use\n" - "\nwhere defaults to \"%s\" for p1pins and\n" - "\"%s\" for p5pins. p5pins is only valid on rev 2 boards.\n\n" - "min and max values can be specified in units of steps, in microseconds,\n" - "or as a percentage of the cycle time. So, for example, if cycle time is\n" - "20000us and step size is 10us then the following are equivalent:\n\n" - " --min=50 --min=500us --min=2.5%%\n\n" - "For the default configuration, example commands to set the first servo\n" - "to the mid position would be any of:\n\n" - " echo 0=150 > /dev/servoblaster # Specify as a number of steps\n" - " echo 0=50%% > /dev/servoblaster # Specify as a percentage\n" - " echo 0=1500us > /dev/servoblaster # Specify as microseconds\n" - " echo P1-7=150 > /dev/servoblaster # Using P1 pin number rather\n" - " echo P1-7=50%% > /dev/servoblaster # ... than servo number\n" - " echo P1-7=1500us > /dev/servoblaster\n\n" - "Servo adjustments may also be specified relative to the current\n" - "position by adding a '+' or '-' prefix to the width as follows:\n\n" - " echo 0=+10 > /dev/servoblaster\n" - " echo 0=-20 > /dev/servoblaster\n\n", - argv[0], - DEFAULT_CYCLE_TIME_US, - DEFAULT_STEP_TIME_US, - DEFAULT_SERVO_MIN_US/DEFAULT_STEP_TIME_US, DEFAULT_SERVO_MIN_US, - DEFAULT_SERVO_MAX_US/DEFAULT_STEP_TIME_US, DEFAULT_SERVO_MAX_US, - DMA_CHAN_DEFAULT, default_p1_pins, default_p5_pins); - exit(0); - } else if (c == '1') { - p1pins = optarg; - hadp1 = 1; - if (!hadp5) - p1first = 1; - } else if (c == '5') { - p5pins = optarg; - hadp5 = 1; - if (!hadp1) - p1first = 0; - } else { - fatal("Invalid parameter\n"); - } - } - get_model_and_revision(); - if (board_model == 1 && board_revision == 1 && p5pins[0]) - fatal("Board model 1 revision 1 does not have a P5 header\n"); - - parse_pin_lists(p1first, p1pins, p5pins); - - if (dma_chan_arg) { - dma_chan = strtol(dma_chan_arg, &p, 10); - if (*dma_chan_arg < '0' || *dma_chan_arg > '9' || - *p || dma_chan < DMA_CHAN_MIN || dma_chan > DMA_CHAN_MAX) - fatal("Invalid dma-chan specified\n"); - } else { - dma_chan = DMA_CHAN_DEFAULT; - } - - if (idle_timeout_arg) { - idle_timeout = strtol(idle_timeout_arg, &p, 10); - if (*idle_timeout_arg < '0' || *idle_timeout_arg > '9' || - (*p && strcmp(p, "ms")) || - idle_timeout < 10 || idle_timeout > 3600000) - fatal("Invalid idle-timeout specified\n"); - } else { - idle_timeout = 0; - } - - if (cycle_time_arg) { - cycle_time_us = strtol(cycle_time_arg, &p, 10); - if (*cycle_time_arg < '0' || *cycle_time_arg > '9' || - (*p && strcmp(p, "us")) || - cycle_time_us < 1000 || cycle_time_us > 1000000) - fatal("Invalid cycle-time specified\n"); - } else { - cycle_time_us = DEFAULT_CYCLE_TIME_US; - } - - if (step_time_arg) { - step_time_us = strtol(step_time_arg, &p, 10); - if (*step_time_arg < '0' || *step_time_arg > '9' || - (*p && strcmp(p, "us")) || - step_time_us < 2 || step_time_us > 1000) { - fatal("Invalid step-size specified\n"); - } - } else { - step_time_us = DEFAULT_STEP_TIME_US; - } - - if (cycle_time_us % step_time_us) { - fatal("cycle-time is not a multiple of step-size\n"); - } - - if (cycle_time_us / step_time_us < 100) { - fatal("cycle-time must be at least 100 * step-size\n"); - } - - if (servo_min_arg) { - servo_min_ticks = parse_min_max_arg(servo_min_arg, "min"); - } else { - servo_min_ticks = DEFAULT_SERVO_MIN_US / step_time_us; - } - - if (servo_max_arg) { - servo_max_ticks = parse_min_max_arg(servo_max_arg, "max"); - } else { - servo_max_ticks = DEFAULT_SERVO_MAX_US / step_time_us; - } - - num_samples = cycle_time_us / step_time_us; - num_cbs = num_samples * 2 + MAX_SERVOS; - num_pages = (num_cbs * sizeof(dma_cb_t) + num_samples * 4 + - MAX_SERVOS * 4 + PAGE_SIZE - 1) >> PAGE_SHIFT; - - if (num_pages > MAX_MEMORY_USAGE / PAGE_SIZE) { - fatal("Using too much memory; reduce cycle-time or increase step-size\n"); - } - - if (servo_max_ticks > num_samples) { - fatal("max value is larger than cycle time\n"); - } - if (servo_min_ticks >= servo_max_ticks) { - fatal("min value is >= max value\n"); - } - - printf("\nBoard model: %7d\n", board_model); - printf("Board revision: %7d\n", board_revision); - printf("Using hardware: %s\n", delay_hw == DELAY_VIA_PWM ? "PWM" : "PCM"); - printf("Using DMA channel: %7d\n", dma_chan); - if (idle_timeout) - printf("Idle timeout: %7dms\n", idle_timeout); - else - printf("Idle timeout: Disabled\n"); - printf("Number of servos: %7d\n", num_servos); - printf("Servo cycle time: %7dus\n", cycle_time_us); - printf("Pulse increment step size: %7dus\n", step_time_us); - printf("Minimum width value: %7d (%dus)\n", servo_min_ticks, - servo_min_ticks * step_time_us); - printf("Maximum width value: %7d (%dus)\n", servo_max_ticks, - servo_max_ticks * step_time_us); - printf("Output levels: %s\n", invert ? "Inverted" : " Normal"); - printf("\nUsing P1 pins: %s\n", p1pins); - if (board_model > 1 || board_revision > 1) - printf("Using P5 pins: %s\n", p5pins); - printf("\nServo mapping:\n"); - for (i = 0; i < MAX_SERVOS; i++) { - if (servo2gpio[i] == DMY) - continue; - printf(" %2d on %-5s GPIO-%d\n", i, gpio2pinname(servo2gpio[i]), servo2gpio[i]); - } - printf("\n"); - - init_idle_timers(); - setup_sighandlers(); - - dma_reg = map_peripheral(DMA_VIRT_BASE, DMA_LEN); - dma_reg += dma_chan * DMA_CHAN_SIZE / sizeof(uint32_t); - pwm_reg = map_peripheral(PWM_VIRT_BASE, PWM_LEN); - pcm_reg = map_peripheral(PCM_VIRT_BASE, PCM_LEN); - clk_reg = map_peripheral(CLK_VIRT_BASE, CLK_LEN); - gpio_reg = map_peripheral(GPIO_VIRT_BASE, GPIO_LEN); - - /* Use the mailbox interface to the VC to ask for physical memory */ - unlink(MBFILE); - if (mknod(MBFILE, S_IFCHR|0600, makedev(249, 0)) < 0) - fatal("Failed to create mailbox device\n"); - mbox.handle = mbox_open(); - if (mbox.handle < 0) - fatal("Failed to open mailbox\n"); - mbox.mem_ref = mem_alloc(mbox.handle, num_pages * 4096, 4096, mem_flag); - /* TODO: How do we know that succeeded? */ - printf("mem_ref %u\n", mbox.mem_ref); - mbox.bus_addr = mem_lock(mbox.handle, mbox.mem_ref); - printf("bus_addr = %u\n", mbox.bus_addr); - mbox.virt_addr = mapmem(BUS_TO_PHYS(mbox.bus_addr), num_pages * 4096); - printf("virt_addr %p\n", mbox.virt_addr); - - turnoff_mask = (uint32_t *)mbox.virt_addr; - turnon_mask = (uint32_t *)(mbox.virt_addr + num_samples * sizeof(uint32_t)); - cb_base = (dma_cb_t *)(mbox.virt_addr + - ROUNDUP(num_samples + MAX_SERVOS, 8) * sizeof(uint32_t)); - - for (i = 0; i < MAX_SERVOS; i++) { - if (servo2gpio[i] == DMY) - continue; - gpiomode[i] = gpio_get_mode(servo2gpio[i]); - gpio_set(servo2gpio[i], invert ? 1 : 0); - gpio_set_mode(servo2gpio[i], GPIO_MODE_OUT); - } - restore_gpio_modes = 1; - - init_ctrl_data(); - init_hardware(); - - unlink(DEVFILE); - if (mkfifo(DEVFILE, 0666) < 0) - fatal("servod: Failed to create %s: %m\n", DEVFILE); - if (chmod(DEVFILE, 0666) < 0) - fatal("servod: Failed to set permissions on %s: %m\n", DEVFILE); - - if (daemonize && daemon(0,1) < 0) - fatal("servod: Failed to daemonize process: %m\n"); - - go_go_go(); - - return 0; -} - diff --git a/ServoBlaster/servodebug.c b/ServoBlaster/servodebug.c deleted file mode 100644 index 8db7005..0000000 --- a/ServoBlaster/servodebug.c +++ /dev/null @@ -1,220 +0,0 @@ -/* - * servodebug.c - a utility to help debug issues with ServoBlaster - * - * This code should be compiled with the command: - * - * gcc -Wall -O2 -o servodebug servodebug.c - * - * It should be run with the command: - * - * sudo chrt 1 ./servodebug - * - * Richard Hirst - Nov 25th 2012 - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#define BCM2708_DMA_NO_WIDE_BURSTS (1<<26) -#define BCM2708_DMA_WAIT_RESP (1<<3) -#define BCM2708_DMA_D_DREQ (1<<6) -#define BCM2708_DMA_PER_MAP(x) ((x)<<16) -#define BCM2708_DMA_END (1<<1) -#define BCM2708_DMA_RESET (1<<31) -#define BCM2708_DMA_INT (1<<2) - -#define DMA_CHAN_SIZE 0x100 -#define DMA_CHAN_MIN 0 -#define DMA_CHAN_MAX 14 -#define DMA_CHAN_DEFAULT 14 - -#define DMA_CS (0x00/4) -#define DMA_CONBLK_AD (0x04/4) -#define DMA_DEBUG (0x20/4) - -#define GPIO_BASE 0x3f200000 -#define GPIO_LEN 0xB4 -#define DMA_BASE 0x3f007000 -#define DMA_LEN DMA_CHAN_SIZE * (DMA_CHAN_MAX+1) -#define PWM_BASE 0x3f20C000 -#define PWM_LEN 0x28 -#define CLK_BASE 0x3f101000 -#define CLK_LEN 0xA8 -#define TICK_BASE 0x3f003000 -#define TICK_LEN 0x08 - -#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) -// I think this means it requests as soon as there is one free slot in the FIFO -// which is what we want as burst DMA would mess up our timing.. -#define PWMDMAC_THRSHLD ((15<<8)|(15<<0)) - -#define GPFSEL0 (0x00/4) -#define GPCLR0 (0x28/4) -#define GPLEV0 (0x34/4) - -typedef struct { - uint32_t info, src, dst, length, - stride, next, pad[2]; -} dma_cb_t; - -static volatile uint32_t *gpio_reg; -static volatile uint32_t *pwm_reg; -static volatile uint32_t *clk_reg; -static volatile uint32_t *dma_reg; -static volatile uint32_t *tick_reg; - -static uint32_t dma_chan = DMA_CHAN_DEFAULT; - -static uint8_t servo2gpio[] = { - 4, // P1-7 - 17, // P1-11 -#ifdef PWM0_ON_GPIO18 - 1, // P1-5 (GPIO-18, P1-12 is currently PWM0, for debug) -#else - 18, // P1-12 -#endif - 21, // P1-13 - 22, // P1-15 - 23, // P1-16 - 24, // P1-18 - 25, // P1-22 -}; -#define NUM_SERVOS (sizeof(servo2gpio)/sizeof(servo2gpio[0])) - -struct { - uint32_t stamp; - uint32_t levels; -} trans[20]; - -static void -fatal(char *fmt, ...) -{ - va_list ap; - - va_start(ap, fmt); - vfprintf(stderr, fmt, ap); - va_end(ap); - exit(1); -} - -static void -msleep(int ms) -{ - struct timespec ts = { 0, ms * 1000 * 1000 }; - - if (nanosleep(&ts, NULL)) { - fprintf(stderr, "nanosleep() failed: %s\n", strerror(errno)); - exit(1); - } -} - -static void * -map_peripheral(uint32_t base, uint32_t len) -{ - int fd = open("/dev/mem", O_RDWR); - void * vaddr; - - if (fd < 0) - fatal("Failed to open /dev/mem: %m\n"); - vaddr = mmap(NULL, len, PROT_READ|PROT_WRITE, MAP_SHARED, fd, base); - if (vaddr == MAP_FAILED) - fatal("Failed to map peripheral at 0x%08x: %m\n", base); - close(fd); - - return vaddr; -} - -int -main(int argc, char **argv) -{ - int tr, i; - uint32_t v1, v2, mask, t1; - struct timeval tv1, tv2; - - printf("This code should be compiled with the command:\n\n"); - printf(" gcc -Wall -O2 -o servodebug servodebug.c\n"); - printf("\nIt should be run with the command:\n\n"); - printf(" sudo chrt 1 ./servodebug\n\n"); - gpio_reg = map_peripheral(GPIO_BASE, GPIO_LEN); - dma_reg = map_peripheral(DMA_BASE, DMA_LEN); - dma_reg += dma_chan * DMA_CHAN_SIZE / sizeof(uint32_t); - pwm_reg = map_peripheral(PWM_BASE, PWM_LEN); - clk_reg = map_peripheral(CLK_BASE, CLK_LEN); - tick_reg = map_peripheral(TICK_BASE, TICK_LEN); - - v1 = dma_reg[DMA_CONBLK_AD]; - msleep(5); - v2 = dma_reg[DMA_CONBLK_AD]; - - if (v1 == v2) - fatal("DMA controller is not running - is the module loaded?\n"); - printf("\nGood, DMA controller is running\n"); - - printf("\nTiming 1M cycles of system tick, should take 1000000us\n"); - printf("but small variations are to be expected\n"); - gettimeofday(&tv1, NULL); - v1 = tick_reg[1]; - while (tick_reg[1] - v1 < 1000000) - ; - gettimeofday(&tv2, NULL); - i = (tv2.tv_sec - tv1.tv_sec) * 1000000 + tv2.tv_usec - tv1.tv_usec; - printf("\n1M increments of system tick measured at %dus\n", i); - - printf("\nMonitoring for the first 20 transitions on servo control lines\n"); - - for (i = 0, mask = 0; i < NUM_SERVOS; i++) - mask |= 1 << servo2gpio[i]; - - t1 = tick_reg[1]; - v1 = gpio_reg[GPLEV0] & mask; - for (tr = 0; tr < 20; tr++) { - do { - if (tick_reg[1] - t1 > 1000000) - fatal("No servo pulses generated - have you tried \"echo 0=100 > /dev/servoblaster\"?\n"); - v2 = gpio_reg[GPLEV0] & mask; - } while (v1 == v2); - trans[tr].stamp = tick_reg[1]; - trans[tr].levels = v2; - v1 = v2; - } - - for (tr = 1; tr < 20; tr++) - trans[tr].stamp -= trans[0].stamp; - trans[0].stamp = 0; - printf("\n time outputs\n (us) 76543210\n"); - for (tr = 0; tr < 20; tr++) { - printf(" %6d ", trans[tr].stamp); - for (i = NUM_SERVOS - 1; i >= 0; i--) - printf("%s", trans[tr].levels & (1 << servo2gpio[i]) ? "1" : "0"); - printf("\n"); - } - printf("\n"); - - return 0; -} - diff --git a/files/ServoBlaster.tar.gz b/files/ServoBlaster.tar.gz deleted file mode 100644 index f37c7debd28e19970cad3b613d4052c4fbc3fe8e..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 16732 zcmV(qK<~dFiwFoiAhT8g15;&kc5gy#VRLk4axQdXasX_*V~j3bu&vv+ZQHhO+qSLM zwr$(C&DHLH+qSvdIN#pMxyik`l~I4@OzKZnGM|ymB8-6o;vs6$00O=FBkzhkm5jB= z!@&VGQIGF&E%A0(c>qTq2qxtQT1XYNq6-5?etoo-yl>TtgS{ojIcWfFCFdDJ=veCc zuxdFG9uRE$=T*@u^v}~D#`ycGCS-wi$p+Sz>h79uTp)JErN6!*Fv4Kf&Hoeq|0RGE z&|?`NaKn$QC4BxSTR@~nlP39(r(_`K%W-up^ku8z;urZnaP0~ zk`PrO0FvO{9>0iRoT&mIUf zPU6o~vCYb?&QaHyK0>aeCCm?rU9~#fK{f9^_BiN=8^f{U)!63UHw=6%c!AMA1Bry zDRUq}4shGk*k5(jO@hteB<(uJ@!xqAjHBOqp7ZZt)#o4Y?}6&rU*%uON%7xbyo2IL z_s>Lrorc4Nfd1BJ!x1XK$Jm^>4ASY4O zZmClNg)j_bWDH}Ox1+LZYqfs8pWyGA0Ouc5)E20i#{ZWJxI>Q&>AsIpH1EEz$m=sd z#}Z_hNa%+Df8=*;v>_||`bqhQdag0S`ZL8{~J6X5Hi0vbhbBS z2~;o;lmJTzDWL!Mh5Lp#a+YylHFQS%_C@=4y#MqIbSF4?7BF}=Fmg69cqTY*EO*1BXVrH0V4!_MwqOisDXpVQ$Dpc4pM;I0~4Z3Och=vhbJGkq-lr$!e*K}N z=+QFL`@c+%hVkveG^aidZzthrgy%gc4km0*KKFj>G#blj$4^O3oqw;MLdU)v3fvby zekm`$T|Wnu*;T#=UabDRX$iHWm<)J7$+*_O^8So$OW4GJbNuD{CFgzUvt9EDrlf

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