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linux: Adapt servo0 channels for beagleboard kernel 4.14.108-ti (#2746)

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The beagleboard TI kernel 4.14 and 4.19 contain a commit which change
the device names ("pwm: Create device class for pwm channels") from
pwmN to pwm-${chip}:N. This commit was never merged into the upstream
kernel.

Decrease the number of pwm channels to a more reasonable 16. Increase
the number of pwm chips to 8 since the replicape servo pwm outputs are
on pwmchip4.

Update replicape code to detect appropriate channel.

Signed-off-by: Janne Grunau <janne-gh@jannau.net>
This commit is contained in:
Janne Grunau 2020-05-03 17:24:42 +02:00 • committed by GitHub
parent db732e58db
commit 0aa78ec76e
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
2 changed files with 46 additions and 15 deletions
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41
src/linux/hard_pwm.c
View file

@ -10,6 +10,7 @@
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h> // errno, ENOENT
#include "gpio.h" // struct gpio_pwm
#include "internal.h" // NSECS_PER_TICK
@ -20,16 +21,21 @@
DECL_CONSTANT("PWM_MAX", MAX_PWM);
#define HARD_PWM_START (1<<16)
#define HARD_PWM(chip, pin) (((chip)<<8) + (pin) + HARD_PWM_START)
#define HARD_PWM_TO_CHIP(hard_pwm) (((hard_pwm) - HARD_PWM_START) >> 8)
#define HARD_PWM_TO_PIN(hard_pwm) (((hard_pwm) - HARD_PWM_START) & 0xff)
#define HARD_PWM(chip, pin) (((chip)<<4) + (pin) + HARD_PWM_START)
#define HARD_PWM_TO_CHIP(hard_pwm) (((hard_pwm) - HARD_PWM_START) >> 4)
#define HARD_PWM_TO_PIN(hard_pwm) (((hard_pwm) - HARD_PWM_START) & 0xf)
DECL_ENUMERATION_RANGE("pin", "pwmchip0/pwm0", HARD_PWM(0, 0), 256);
DECL_ENUMERATION_RANGE("pin", "pwmchip1/pwm0", HARD_PWM(1, 0), 256);
DECL_ENUMERATION_RANGE("pin", "pwmchip2/pwm0", HARD_PWM(2, 0), 256);
DECL_ENUMERATION_RANGE("pin", "pwmchip3/pwm0", HARD_PWM(3, 0), 256);
DECL_ENUMERATION_RANGE("pin", "pwmchip0/pwm0", HARD_PWM(0, 0), 16);
DECL_ENUMERATION_RANGE("pin", "pwmchip1/pwm0", HARD_PWM(1, 0), 16);
DECL_ENUMERATION_RANGE("pin", "pwmchip2/pwm0", HARD_PWM(2, 0), 16);
DECL_ENUMERATION_RANGE("pin", "pwmchip3/pwm0", HARD_PWM(3, 0), 16);
DECL_ENUMERATION_RANGE("pin", "pwmchip4/pwm0", HARD_PWM(4, 0), 16);
DECL_ENUMERATION_RANGE("pin", "pwmchip5/pwm0", HARD_PWM(5, 0), 16);
DECL_ENUMERATION_RANGE("pin", "pwmchip6/pwm0", HARD_PWM(6, 0), 16);
DECL_ENUMERATION_RANGE("pin", "pwmchip7/pwm0", HARD_PWM(7, 0), 16);
#define PWM_PATH "/sys/class/pwm/pwmchip%u/pwm%u/%s"
#define PWM_PATH_BB "/sys/class/pwm/pwm-%u:%u/%s"
struct gpio_pwm gpio_pwm_setup(uint8_t pin, uint32_t cycle_time, uint16_t val)
{
@ -37,15 +43,26 @@ struct gpio_pwm gpio_pwm_setup(uint8_t pin, uint32_t cycle_time, uint16_t val)
char scratch[16];
uint8_t chip_id = HARD_PWM_TO_CHIP(pin);
uint8_t pwm_id = HARD_PWM_TO_PIN(pin);
const char * pwm_path = PWM_PATH;
struct gpio_pwm g = {};
g.period = cycle_time * NSECS_PER_TICK;
// configure period/cycle time. Always in nanoseconds
snprintf(filename, sizeof(filename), PWM_PATH, chip_id, pwm_id, "period");
snprintf(filename, sizeof(filename), pwm_path, chip_id, pwm_id, "period");
int fd = open(filename, O_WRONLY|O_CLOEXEC);
if (fd == -1) {
report_errno("pwm period", fd);
if (fd == -1 && errno == ENOENT) {
// upstream pwm control file does not exists try BeagleBoard scheme
pwm_path = PWM_PATH_BB;
snprintf(filename, sizeof(filename), pwm_path, chip_id, pwm_id,
"period");
fd = open(filename, O_WRONLY|O_CLOEXEC);
if (fd == -1) {
report_errno("pwm " PWM_PATH_BB "period for pin", pin);
goto fail;
}
} else if (fd == -1) {
report_errno("pwm " PWM_PATH "period for pin", pin);
goto fail;
}
snprintf(scratch, sizeof(scratch), "%u", cycle_time * NSECS_PER_TICK);
@ -53,7 +70,7 @@ struct gpio_pwm gpio_pwm_setup(uint8_t pin, uint32_t cycle_time, uint16_t val)
close(fd);
// write duty cycle
snprintf(filename, sizeof(filename), PWM_PATH, chip_id, pwm_id,
snprintf(filename, sizeof(filename), pwm_path, chip_id, pwm_id,
"duty_cycle");
fd = open(filename, O_WRONLY|O_CLOEXEC);
if (fd == -1) {
@ -65,7 +82,7 @@ struct gpio_pwm gpio_pwm_setup(uint8_t pin, uint32_t cycle_time, uint16_t val)
gpio_pwm_write(g, val);
// enable PWM
snprintf(filename, sizeof(filename), PWM_PATH, chip_id, pwm_id, "enable");
snprintf(filename, sizeof(filename), pwm_path, chip_id, pwm_id, "enable");
fd = open(filename, O_WRONLY|O_CLOEXEC);
if (fd == -1) {
close(g.fd);