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64bit Cleanup
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This adds compatibility to 64Bit Linux, derived from work by @Kaiede in
PR #76.

Added a comment in the PWM section for what could be a source of issues
when configuring the DMA on 64bit systems. Need to check the official
docs for more info on this.
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@uraimo
uraimo committed Sep 10, 2018
1 parent f1c9b44 commit 0ea60fd
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Showing 2 changed files with 73 additions and 73 deletions.
122 changes: 61 additions & 61 deletions Sources/PWM.swift
View file
Original file line number Diff line number Diff line change
Expand Up @@ -91,12 +91,12 @@ public class RaspberryPWM: PWMOutput {
let BCM2708_PHY_BASE: Int = 0x7e000000
let PWM_PHY_BASE: Int

var gpioBasePointer: UnsafeMutablePointer<UInt>!
var pwmBasePointer: UnsafeMutablePointer<UInt>!
var clockBasePointer: UnsafeMutablePointer<UInt>!
var dmaBasePointer: UnsafeMutablePointer<UInt>!
var gpioBasePointer: UnsafeMutablePointer<UInt32>!
var pwmBasePointer: UnsafeMutablePointer<UInt32>!
var clockBasePointer: UnsafeMutablePointer<UInt32>!
var dmaBasePointer: UnsafeMutablePointer<UInt32>!
var dmaCallbackPointer: UnsafeMutablePointer<DMACallback>! = nil
var pwmRawPointer: UnsafeMutablePointer<UInt>! = nil
var pwmRawPointer: UnsafeMutablePointer<UInt32>! = nil
var mailbox: MailBox! = nil

var zeroPattern: Int = 0
Expand Down Expand Up @@ -148,7 +148,7 @@ public class RaspberryPWM: PWMOutput {
dma_addr -= pageOffset

let dma_map = UnsafeMutableRawPointer(memmap(from: mem_fd, at: dma_addr))
dmaBasePointer = (dma_map + pageOffset).assumingMemoryBound(to: UInt.self)
dmaBasePointer = (dma_map + pageOffset).assumingMemoryBound(to: UInt32.self)

close(mem_fd)

Expand All @@ -165,10 +165,10 @@ public class RaspberryPWM: PWMOutput {
usleep(10)

// If the required frequency is too high, this value reduces the number of samples (scale does the opposite)
let highFreqSampleReduction: UInt = (ns < 750) ? 10 : 1
let highFreqSampleReduction: UInt32 = (ns < 750) ? 10 : 1

let freq: UInt = (1_000_000_000/UInt(ns)) * 100 / highFreqSampleReduction
let (idiv, scale) = calculateDIVI(base: .PLLD, desired: freq) //Using the faster (with known freq) available clock to reduce jitter
let freq = UInt32( (1_000_000_000/UInt(ns)) * 100 / UInt(highFreqSampleReduction) )
let (idiv, scale) = calculateDIVI(base: .PLLD, desired: UInt32(freq)) //Using the faster (with known freq) available clock to reduce jitter

// Configure the clock and divisor that will be used to generate the signal
clockBasePointer.advanced(by: 41).pointee = CLKM_PASSWD | (idiv << CLKM_DIV_DIVI) //CM CTL DIV register: Set DIVI value
Expand All @@ -179,7 +179,7 @@ public class RaspberryPWM: PWMOutput {
let RNG = (channel == 0) ? 4 : 8
let DAT = (channel == 0) ? 5 : 9
pwmBasePointer.advanced(by: RNG).pointee = 100 * scale / highFreqSampleReduction //RNG1 register
pwmBasePointer.advanced(by: DAT).pointee = UInt((percent / Float(highFreqSampleReduction)) * Float(scale)) //DAT1 register
pwmBasePointer.advanced(by: DAT).pointee = UInt32((percent / Float(highFreqSampleReduction)) * Float(scale)) //DAT1 register
let PWMCTL_MSEN = (channel == 0) ? PWMCTL_MSEN1 : PWMCTL_MSEN2
let PWMCTL_PWEN = (channel == 0) ? PWMCTL_PWEN1 : PWMCTL_PWEN2
pwmBasePointer.pointee = PWMCTL_MSEN | PWMCTL_PWEN //PWM CTL register, channel enabled, M/S mode
Expand All @@ -190,7 +190,7 @@ public class RaspberryPWM: PWMOutput {
}

/// Maps a block of memory and returns the pointer
internal func memmap(from mem_fd: Int32, at offset: Int) -> UnsafeMutablePointer<UInt> {
internal func memmap(from mem_fd: Int32, at offset: Int) -> UnsafeMutablePointer<UInt32> {
let m = mmap(
nil, //Any adddress in our space will do
PAGE_SIZE, //Map length
Expand All @@ -204,17 +204,17 @@ public class RaspberryPWM: PWMOutput {
perror("mmap error")
abort()
}
let pointer = m.assumingMemoryBound(to: UInt.self)
let pointer = m.assumingMemoryBound(to: UInt32.self)

return pointer
}

/// Set the alternative function for this GPIO
internal func setAlt() {
let altid = (self.alt<=3) ? self.alt+4 : self.alt==4 ? 3 : 2
let altid = (self.alt<=3) ? UInt32(self.alt+4) : self.alt==4 ? UInt32(3) : UInt32(2)
let ptr = gpioBasePointer.advanced(by: Int(gpioId/10)) // GPFSELn 0..5
ptr.pointee &= ~(7<<((gpioId%10)*3))
ptr.pointee |= (altid<<((gpioId%10)*3))
ptr.pointee &= ~(7<<((UInt32(gpioId)%10)*3))
ptr.pointee |= (altid<<((UInt32(gpioId)%10)*3))
}

/// Calculate the DIVI value that will divide the selected base clock frequency to obtain the desired frequency.
Expand All @@ -230,9 +230,9 @@ public class RaspberryPWM: PWMOutput {
///
/// - Returns: divi divisor value, and scale value as a multiple of ten
///
internal func calculateDIVI(base: ClockSource, desired: UInt) -> (divi: UInt, scale: UInt) {
var divi: UInt = base.rawValue/desired
var scale: UInt = 1
internal func calculateDIVI(base: ClockSource, desired: UInt32) -> (divi: UInt32, scale: UInt32) {
var divi: UInt32 = base.rawValue/desired
var scale: UInt32 = 1

while divi > 0x800 {
// Divisor too high (greater then half the limit), would not be generated properly
Expand All @@ -255,8 +255,8 @@ public class RaspberryPWM: PWMOutput {
///
/// - Returns: divi divisor value
///
internal func calculateUnscaledDIVI(base: ClockSource, desired: UInt) -> UInt {
var divi: UInt = base.rawValue/desired
internal func calculateUnscaledDIVI(base: ClockSource, desired: UInt32) -> UInt32 {
var divi: UInt32 = base.rawValue/desired

if divi > 0x1000 {
// Divisor too high (greater then half the limit), would not be generated properly
Expand All @@ -278,7 +278,7 @@ extension RaspberryPWM {
dmaBasePointer.pointee = DMACS_RESET
usleep(10)
dmaBasePointer.pointee = DMACS_INT | DMACS_END
dmaBasePointer.advanced(by: 1).pointee = address //CONBLK_AD
dmaBasePointer.advanced(by: 1).pointee = UInt32(address) //CONBLK_AD //Verify this on 64bit
dmaBasePointer.advanced(by: 8).pointee = 7 //DEBUG: clear debug error flags
dmaBasePointer.pointee = DMACS_WAIT_OUTSTANDING_WRITES | (15 << DMACS_PANIC_PRIORITY) | (15 << DMACS_PRIORITY) | DMACS_ACTIVE
}
Expand Down Expand Up @@ -340,7 +340,7 @@ extension RaspberryPWM {
guard let mailbox = mailbox else {fatalError("Could allocate mailbox.")}

dmaCallbackPointer = mailbox.baseVirtualAddress.assumingMemoryBound(to: DMACallback.self)
pwmRawPointer = (mailbox.baseVirtualAddress + MemoryLayout<DMACallback>.stride).assumingMemoryBound(to: UInt.self)
pwmRawPointer = (mailbox.baseVirtualAddress + MemoryLayout<DMACallback>.stride).assumingMemoryBound(to: UInt32.self)

// Fill PWM buffer with zeros
let rows = dataSize / MemoryLayout<UInt>.stride
Expand All @@ -358,7 +358,7 @@ extension RaspberryPWM {
//while (clockBasePointer.advanced(by: 40).pointee & (1 << 7)) != 0 {}

// Configure clock
let idiv = calculateUnscaledDIVI(base: .PLLD, desired: UInt(symbolBits * patternFrequency))
let idiv = calculateUnscaledDIVI(base: .PLLD, desired: UInt32(symbolBits * patternFrequency))
clockBasePointer.advanced(by: 41).pointee = CLKM_PASSWD | (idiv << CLKM_DIV_DIVI) //Set DIVI value
clockBasePointer.advanced(by: 40).pointee = CLKM_PASSWD | CLKM_CTL_ENAB | CLKM_CTL_SRC_PLLD //Enable clock, MASH 0, source PLLD
usleep(10)
Expand Down Expand Up @@ -551,34 +551,34 @@ extension RaspberryPWM {
// MARK: - PWM Contants

// Constants for the Clock Manager General Purpose Control Register
let CLKM_PASSWD: UInt = 0x5A000000
let CLKM_CTL_KILL: UInt = (1 << 5)
let CLKM_CTL_ENAB: UInt = (1 << 4)
let CLKM_CTL_SRC_OSC: UInt = 1 // 19.2 MHz oscillator
let CLKM_CTL_SRC_PLLA: UInt = 4 // ~393.216 MHz PLLA (Audio)
let CLKM_CTL_SRC_PLLC: UInt = 5 // 1000 MHz PLLC (changes with overclock settings)
let CLKM_CTL_SRC_PLLD: UInt = 6 // 500 MHz PLLD
let CLKM_CTL_SRC_HDMI: UInt = 7 // 216 MHz HDMI auxiliary
let CLKM_PASSWD: UInt32 = 0x5A000000
let CLKM_CTL_KILL: UInt32 = (1 << 5)
let CLKM_CTL_ENAB: UInt32 = (1 << 4)
let CLKM_CTL_SRC_OSC: UInt32 = 1 // 19.2 MHz oscillator
let CLKM_CTL_SRC_PLLA: UInt32 = 4 // ~393.216 MHz PLLA (Audio)
let CLKM_CTL_SRC_PLLC: UInt32 = 5 // 1000 MHz PLLC (changes with overclock settings)
let CLKM_CTL_SRC_PLLD: UInt32 = 6 // 500 MHz PLLD
let CLKM_CTL_SRC_HDMI: UInt32 = 7 // 216 MHz HDMI auxiliary
// Constants for the Clock Manager General Purpose Divisors Register
let CLKM_DIV_DIVI: UInt = 12
let CLKM_DIV_DIVF: UInt = 0
let CLKM_DIV_DIVI: UInt32 = 12
let CLKM_DIV_DIVF: UInt32 = 0
// Constants for the PWM Control Register
let PWMCTL_MSEN2: UInt = (1 << 15)
let PWMCTL_MSEN2: UInt32 = (1 << 15)
// No PWMCTL_CLRF2, the FIFO is shared
let PWMCTL_USEF2: UInt = (1 << 13)
let PWMCTL_POLA2: UInt = (1 << 12)
let PWMCTL_SBIT2: UInt = (1 << 11)
let PWMCTL_RPTL2: UInt = (1 << 10)
let PWMCTL_MODE2: UInt = (1 << 9)
let PWMCTL_PWEN2: UInt = (1 << 8)
let PWMCTL_MSEN1: UInt = (1 << 7)
let PWMCTL_CLRF1: UInt = (1 << 6)
let PWMCTL_USEF1: UInt = (1 << 5)
let PWMCTL_POLA1: UInt = (1 << 4)
let PWMCTL_SBIT1: UInt = (1 << 3)
let PWMCTL_RPTL1: UInt = (1 << 2)
let PWMCTL_MODE1: UInt = (1 << 1)
let PWMCTL_PWEN1: UInt = (1 << 0)
let PWMCTL_USEF2: UInt32 = (1 << 13)
let PWMCTL_POLA2: UInt32 = (1 << 12)
let PWMCTL_SBIT2: UInt32 = (1 << 11)
let PWMCTL_RPTL2: UInt32 = (1 << 10)
let PWMCTL_MODE2: UInt32 = (1 << 9)
let PWMCTL_PWEN2: UInt32 = (1 << 8)
let PWMCTL_MSEN1: UInt32 = (1 << 7)
let PWMCTL_CLRF1: UInt32 = (1 << 6)
let PWMCTL_USEF1: UInt32 = (1 << 5)
let PWMCTL_POLA1: UInt32 = (1 << 4)
let PWMCTL_SBIT1: UInt32 = (1 << 3)
let PWMCTL_RPTL1: UInt32 = (1 << 2)
let PWMCTL_MODE1: UInt32 = (1 << 1)
let PWMCTL_PWEN1: UInt32 = (1 << 0)

// Clock sources
// 0 0 Hz Ground
Expand All @@ -590,7 +590,7 @@ let PWMCTL_PWEN1: UInt = (1 << 0)
// 6 500 MHz PLLD
// 7 216 MHz HDMI auxiliary
// 8-15 0 Hz Ground
enum ClockSource: UInt {
enum ClockSource: UInt32 {
case Oscillator = 19200000
case PLLA = 393216000
case PLLC = 1000000000
Expand All @@ -599,15 +599,15 @@ enum ClockSource: UInt {
}

// DMA Register
let DMACS_RESET: UInt = (1 << 31)
let DMACS_ABORT: UInt = (1 << 30)
let DMACS_WAIT_OUTSTANDING_WRITES: UInt = (1 << 28)
let DMACS_PANIC_PRIORITY: UInt = 20 // <<
let DMACS_PRIORITY: UInt = 16 // <<
let DMACS_ERROR: UInt = (1 << 8)
let DMACS_INT: UInt = (1 << 2)
let DMACS_END: UInt = (1 << 1)
let DMACS_ACTIVE: UInt = (1 << 0)
let DMACS_RESET: UInt32 = (1 << 31)
let DMACS_ABORT: UInt32 = (1 << 30)
let DMACS_WAIT_OUTSTANDING_WRITES: UInt32 = (1 << 28)
let DMACS_PANIC_PRIORITY: UInt32 = 20 // <<
let DMACS_PRIORITY: UInt32 = 16 // <<
let DMACS_ERROR: UInt32 = (1 << 8)
let DMACS_INT: UInt32 = (1 << 2)
let DMACS_END: UInt32 = (1 << 1)
let DMACS_ACTIVE: UInt32 = (1 << 0)

/*
* DMA Control Block in Main Memory
Expand All @@ -627,9 +627,9 @@ struct DMACallback {
}

// PWM DMAC Register
let PWMDMAC_ENAB: UInt = (1 << 31)
let PWMDMAC_PANIC: UInt = 8
let PWMDMAC_DREQ: UInt = 0
let PWMDMAC_ENAB: UInt32 = (1 << 31)
let PWMDMAC_PANIC: UInt32 = 8
let PWMDMAC_DREQ: UInt32 = 0

// DMA Register
let DMATI_NO_WIDE_BURSTS: UInt32 = (1 << 26)
Expand Down
24 changes: 12 additions & 12 deletions Sources/SwiftyGPIO.swift
View file
Original file line number Diff line number Diff line change
Expand Up @@ -280,20 +280,20 @@ extension GPIO: CustomStringConvertible {

public final class RaspberryGPIO: GPIO {

var setGetId: UInt = 0
var setGetId: UInt32 = 0
var baseAddr: Int = 0
var inited = false

let BCM2708_PERI_BASE: Int
let GPIO_BASE: Int

var gpioBasePointer: UnsafeMutablePointer<UInt>!
var gpioGetPointer: UnsafeMutablePointer<UInt>!
var gpioSetPointer: UnsafeMutablePointer<UInt>!
var gpioClearPointer: UnsafeMutablePointer<UInt>!
var gpioBasePointer: UnsafeMutablePointer<UInt32>!
var gpioGetPointer: UnsafeMutablePointer<UInt32>!
var gpioSetPointer: UnsafeMutablePointer<UInt32>!
var gpioClearPointer: UnsafeMutablePointer<UInt32>!

public init(name: String, id: Int, baseAddr: Int) {
self.setGetId = UInt(1<<id)
self.setGetId = UInt32(1<<id)
self.BCM2708_PERI_BASE = baseAddr
self.GPIO_BASE = BCM2708_PERI_BASE + 0x200000 /* GPIO controller */
super.init(name:name, id:id)
Expand Down Expand Up @@ -368,7 +368,7 @@ public final class RaspberryGPIO: GPIO {
perror("mmap error")
abort()
}
gpioBasePointer = gpio_map.assumingMemoryBound(to: UInt.self)
gpioBasePointer = gpio_map.assumingMemoryBound(to: UInt32.self)

gpioGetPointer = gpioBasePointer.advanced(by: 13) // GPLEV0
gpioSetPointer = gpioBasePointer.advanced(by: 7) // GPSET0
Expand All @@ -379,18 +379,18 @@ public final class RaspberryGPIO: GPIO {

private func gpioAsInput() {
let ptr = gpioBasePointer.advanced(by: id/10) // GPFSELn 0..5
ptr.pointee &= ~(7<<((UInt(id)%10)*3)) // SEL=000 input
ptr.pointee &= ~(7<<((UInt32(id)%10)*3)) // SEL=000 input
}

private func gpioAsOutput() {
let ptr = gpioBasePointer.advanced(by: id/10) // GPFSELn 0..5
ptr.pointee &= ~(7<<((UInt(id)%10)*3))
ptr.pointee |= (1<<((UInt(id)%10)*3)) // SEL=001 output
ptr.pointee &= ~(7<<((UInt32(id)%10)*3))
ptr.pointee |= (1<<((UInt32(id)%10)*3)) // SEL=001 output
}

private func gpioGetDirection() -> GPIODirection {
let ptr = gpioBasePointer.advanced(by: id/10) // GPFSELn 0..5
let d = (ptr.pointee & (7<<((UInt(id)%10)*3)))
let d = (ptr.pointee & (7<<((UInt32(id)%10)*3)))
return (d == 0) ? .IN : .OUT
}

Expand Down Expand Up @@ -521,7 +521,7 @@ public enum GPIOEdge: String {
case BOTH="both"
}

public enum GPIOPull: UInt {
public enum GPIOPull: UInt32 {
case neither = 0
case down = 1
case up = 2
Expand Down

2 comments on commit 0ea60fd

@Kaiede
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@Kaiede Kaiede commented on 0ea60fd Sep 10, 2018 •
edited
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Regarding the DMA issue, section 4.2.1.1 covers this. If you try to write a 64-bit address into a channel's CONBLK_AD where you placed the comment, you wind up writing to the TI register for the channel as well with the high 32-bit "word" (ARM is little endian, yes?). Writing 64-bit addresses in the CB will overflow into the channel's DEBUG register in the same way.

DMA on these devices only supports 32-bit physical addresses, despite supporting 64-bit. I think because the chip doesn't expect more than 4GB of physical RAM + IO memory.

@uraimo
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@uraimo uraimo commented on 0ea60fd Sep 10, 2018

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Ok, this settles it then.

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