Add device tree.

Move /dev/mem code to single file

.gitignore

@@ -14,6 +14,8 @@
 *.dot
 *.pdf
 *.svg
+*.dtb
+*.dtbo
 .libs
 bin
 include

build.mk

@@ -82,3 +82,10 @@ endef
 	@echo "  DOT  $<"
 	@dot $< -o $@ -Tpdf
 
+%.dtb: %.dts
+	@echo "  DTC  $<"
+	@dtc -I dts $< -O dtb -o $@
+
+%.dtbo: %.dts
+	@echo "  DTCo $<"
+	@dtc -I dts $< -O dtb -o $@

controller/am335x/BB-controller-00A0.dts

+/*
+	Copyright Jeroen Vreeken (jeroen@vreeken.net), 2014
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	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, see <http://www.gnu.org/licenses/>.
+
+ */
+
+/dts-v1/;
+/*/plugin/;*/
+
+/{
+	compatible = "ti,beaglebone-black";
+	
+	/* identification */
+	part-number = "BB-controller";
+	version = "00A0";
+	
+	/* resources we use */
+	exclusive-use =
+	   "P9.39", "P9.40", "P9.37", "P9.38", "P9.33", "P9.36", "P9.35",
+	   "tscadc",
+	   "ehrpwm0a",
+	   "ehrpwm0b",
+	   "ehrpwm1a",
+	   "ehrpwm1b",
+	   "ehrpwm2a",
+	   "ehrpwm2b";
+
+	fragment@0 {
+		target = <0xdeadbeef>;
+
+		__overlay__ {
+			#address-cells = <0x1>;
+			#size-cells = <0x1>;
+
+			tscadc {
+				compatible = "ti,ti-tscadc";
+				reg = <0x44e0d000 0x1000>;
+				ti,hwmods = "adc_tsc";
+				status = "okay";
+
+				adc {
+					ti,adc-channels = <0x0 0x1 0x2 0x3 0x4 0x5 0x6 0x7>;
+				};
+			};
+
+		};
+	};
+
+	__fixups__ {
+		ocp = "/fragment@0:target:0";
+	};
+};

controller/am335x/am335x.c

+/*
+	Copyright Jeroen Vreeken (jeroen@vreeken.net), 2014
+
+	This program is free software: you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation, either version 3 of the License, or
+	(at your option) any later version.
+
+	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, see <http://www.gnu.org/licenses/>.
+
+ */
+
+#include "am335x.h"
+
+#include <log/log.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <stdlib.h>
+
+struct map {
+	size_t base;
+	size_t size;
+	void *map;
+	
+	struct map *next;
+};
+
+static struct map *mapped_list = NULL;
+
+#define AM335X_MIN_SIZE 4096
+
+void *am335x_mem(size_t base, size_t size)
+{
+	int fd;
+	void *map;
+	struct map *entry;
+	
+	size = (size + (AM335X_MIN_SIZE - 1)) & ~(AM335X_MIN_SIZE - 1);
+	
+	for (entry = mapped_list; entry; entry = entry->next) {
+		if (base >= entry->base && 
+		    (base + size) <= (entry->base + entry->size)) {
+			char *tmp = entry->map;
+			tmp += base - entry->base;
+			
+			return tmp;
+		}
+	}
+	
+	entry = calloc(1,sizeof(struct map));
+	if (!entry) {
+		log_send(LOG_T_ERROR, "am335x: calloc() failed");
+		goto err_calloc;
+	}
+	
+	if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) < 0 ) {
+		log_send(LOG_T_ERROR, "am335x: Error opening /dev/mem");
+		goto err_open;
+	}
+
+	map = mmap(NULL, size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, base);
+	close(fd);
+	if (!map) {
+		log_send(LOG_T_ERROR, "am335x: mmap 0x%zx bytes @ 0x%08zx failed",
+		    size, base);
+		goto err_mmap;
+	}
+	
+	log_send(LOG_T_DEBUG, "am335x: 0x%zx bytes mapped @ 0x%08zx",
+	    size, base);
+	
+	entry->next = mapped_list;
+	mapped_list = entry;
+	
+	return map;
+err_mmap:
+err_open:
+	free(entry);
+err_calloc:
+	return NULL;
+}

controller/am335x/am335x.h

@@ -293,4 +293,8 @@ static inline void am335x_write16(void *base, size_t reg_offset, uint16_t value)
 	*reg = value;
 }
 
+
+void *am335x_mem(size_t base, size_t size);
+
+
 #endif /* _INCLUDE_AM335X_ */

controller/am335x/block_am335x_adc.c

@@ -20,10 +20,6 @@
 
 #include <controller/controller_block.h>
 #include <log/log.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
 
 
 struct controller_block_private {
@@ -153,22 +149,12 @@ static void param_set(struct controller_block *adc, int param, va_list val)
 struct controller_block * block_am335x_adc_create(char *name)
 {
 	struct controller_block *adc;
-	int fd;
 	void *base;
 	uint32_t reg;
 	
-	if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) < 0 ) {
-		log_send(LOG_T_ERROR, "Error opening /dev/mem");
-		close(fd);
-		return NULL;
-	}
-
-	base = mmap(NULL, AM335X_ADC_SIZE, PROT_READ | PROT_WRITE, 
-	    MAP_SHARED,
-	    fd, AM335X_ADC_BASE);
-	close(fd);
+	base = am335x_mem(AM335X_ADC_BASE, AM335X_ADC_SIZE);
 	if (!base) {
-		log_send(LOG_T_ERROR, "Mapping ADC failed");
+		log_send(LOG_T_ERROR, "%s: Mapping ADC failed", name);
 		return NULL;
 	}
 	log_send(LOG_T_DEBUG, "%s: ADC mapped @ %p", name, base);
@@ -296,6 +282,5 @@ err_outterm:
 	controller_block_free(adc);
 err_alloc:
 err_rev:
-	munmap(base, AM335X_ADC_SIZE);
 	return NULL;
 }

controller/am335x/block_am335x_gpi.c

@@ -20,13 +20,6 @@
 
 #include <controller/controller_block.h>
 #include <log/log.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <inttypes.h>
-#include <unistd.h>
-#include <math.h>
 
 
 struct controller_block_private {
@@ -60,7 +53,6 @@ static struct controller_block_outterm_list outterms[] = {
 struct controller_block * block_am335x_gpi_create(char *name, va_list ap)
 {
 	struct controller_block *gpi;
-	int fd;
 	void *base;
 	uint32_t reg;
 	uint32_t notpin;
@@ -96,17 +88,9 @@ struct controller_block * block_am335x_gpi_create(char *name, va_list ap)
 		return NULL;
 	}
 	
-	if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) < 0 ) {
-		log_send(LOG_T_ERROR, "%s: Error opening /dev/mem", name);
-		close(fd);
-		return NULL;
-	}
-
-	base = mmap(NULL, AM335X_GPIO_SIZE, PROT_READ | PROT_WRITE, 
-	    MAP_SHARED, fd, offset);
-	close(fd);
+	base = am335x_mem(offset, AM335X_GPIO_SIZE);
 	if (!base) {
-		log_send(LOG_T_ERROR, "Mapping GPIO failed");
+		log_send(LOG_T_ERROR, "%s: Mapping GPIO failed", name);
 		return NULL;
 	}
 	log_send(LOG_T_DEBUG, "%s: GPIO%d (0x%"PRIx32") mapped @ %p", name, 
@@ -157,6 +141,5 @@ err_outterm:
 	controller_block_free(gpi);
 err_alloc:
 err_rev:
-	munmap(base, AM335X_GPIO_SIZE);
 	return NULL;
 }

controller/am335x/block_am335x_gpo.c

@@ -20,13 +20,6 @@
 
 #include <controller/controller_block.h>
 #include <log/log.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <inttypes.h>
-#include <unistd.h>
-#include <math.h>
 
 
 struct controller_block_private {
@@ -62,7 +55,6 @@ static struct controller_block_interm_list interms[] = {
 struct controller_block * block_am335x_gpo_create(char *name, va_list ap)
 {
 	struct controller_block *gpo;
-	int fd;
 	void *base;
 	uint32_t reg;
 	uint32_t notpin;
@@ -98,17 +90,9 @@ struct controller_block * block_am335x_gpo_create(char *name, va_list ap)
 		return NULL;
 	}
 	
-	if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) < 0 ) {
-		log_send(LOG_T_ERROR, "%s: Error opening /dev/mem", name);
-		close(fd);
-		return NULL;
-	}
-
-	base = mmap(NULL, AM335X_GPIO_SIZE, PROT_READ | PROT_WRITE, 
-	    MAP_SHARED, fd, offset);
-	close(fd);
+	base = am335x_mem(offset, AM335X_GPIO_SIZE);
 	if (!base) {
-		log_send(LOG_T_ERROR, "Mapping GPIO failed");
+		log_send(LOG_T_ERROR, "%s: Mapping GPIO failed", name);
 		return NULL;
 	}
 	log_send(LOG_T_DEBUG, "%s: GPIO%d (0x%"PRIx32") mapped @ %p", name, 
@@ -162,6 +146,5 @@ err_interm:
 	controller_block_free(gpo);
 err_alloc:
 err_rev:
-	munmap(base, AM335X_GPIO_SIZE);
 	return NULL;
 }

controller/am335x/block_am335x_pwm.c

@@ -20,19 +20,13 @@
 
 #include <controller/controller_block.h>
 #include <log/log.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <inttypes.h>
-#include <unistd.h>
 #include <math.h>
 
 
 struct controller_block_private {
 	float *in;
 
-	uint16_t tbprd;	// period
+	float tbprd;	// period
 	double freq;
 	bool sym;
 	
@@ -156,7 +150,6 @@ static struct controller_block_interm_list interms[] = {
 struct controller_block * block_am335x_pwm_create(char *name, va_list ap)
 {
 	struct controller_block *pwm;
-	int fd;
 	void *base;
 	uint32_t reg;
 	int pwm_nr;
@@ -179,18 +172,10 @@ struct controller_block * block_am335x_pwm_create(char *name, va_list ap)
 			offset = AM335X_PWMSS2_BASE;
 			break;
 	}
-	
-	if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) < 0 ) {
-		log_send(LOG_T_ERROR, "%s: Error opening /dev/mem", name);
-		close(fd);
-		return NULL;
-	}
 
-	base = mmap(NULL, AM335X_PWMSS_SIZE, PROT_READ | PROT_WRITE, 
-	    MAP_SHARED, fd, offset);
-	close(fd);
+	base = am335x_mem(offset, AM335X_PWMSS_SIZE);
 	if (!base) {
-		log_send(LOG_T_ERROR, "Mapping PWM failed");
+		log_send(LOG_T_ERROR, "%s: Mapping PWM failed", name);
 		return NULL;
 	}
 	log_send(LOG_T_DEBUG, "%s: PWM mapped @ %p", name, base);
@@ -249,6 +234,5 @@ err_interm:
 	controller_block_free(pwm);
 err_alloc:
 err_rev:
-	munmap(base, AM335X_PWMSS_SIZE);
 	return NULL;
 }

controller/am335x/block_am335x_qed.c

@@ -20,13 +20,6 @@
 
 #include <controller/controller_block.h>
 #include <log/log.h>
-#include <sys/mman.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#include <inttypes.h>
-#include <unistd.h>
-#include <math.h>
 
 
 struct controller_block_private {
@@ -64,7 +57,6 @@ static struct controller_block_outterm_list outterms[] = {
 struct controller_block * block_am335x_qed_create(char *name, va_list ap)
 {
 	struct controller_block *qed;
-	int fd;
 	void *base;
 	uint32_t reg;
 	int qed_nr;
@@ -88,17 +80,9 @@ struct controller_block * block_am335x_qed_create(char *name, va_list ap)
 			break;
 	}
 	
-	if ((fd = open("/dev/mem", O_RDWR | O_SYNC)) < 0 ) {
-		log_send(LOG_T_ERROR, "%s: Error opening /dev/mem", name);
-		close(fd);
-		return NULL;
-	}
-
-	base = mmap(NULL, AM335X_PWMSS_SIZE, PROT_READ | PROT_WRITE, 
-	    MAP_SHARED, fd, offset);
-	close(fd);
+	base = am335x_mem(offset, AM335X_PWMSS_SIZE);
 	if (!base) {
-		log_send(LOG_T_ERROR, "Mapping QED failed");
+		log_send(LOG_T_ERROR, "%s: Mapping QED failed", name);
 		return NULL;
 	}
 	log_send(LOG_T_DEBUG, "%s: QED mapped @ %p", name, base);
@@ -152,6 +136,5 @@ err_outterm:
 	controller_block_free(qed);
 err_alloc:
 err_rev:
-	munmap(base, AM335X_PWMSS_SIZE);
 	return NULL;
 }

controller/am335x/build.mk

 
-AM335X_TARGETS := $(LIBDIR)/libam335x.la
+AM335X_TARGETS := $(LIBDIR)/libam335x.la $(DIR)/BB-controller-00A0.dtbo
 
 AM335X_BLOCKS := \
 	am335x_adc \
@@ -9,7 +9,8 @@ AM335X_BLOCKS := \
 	am335x_gpo
 
 
-AM335X_SRCS += $(addsuffix .c,$(addprefix $(DIR)/block_,$(AM335X_BLOCKS)))
+AM335X_SRCS += $(DIR)/am335x.c \
+	$(addsuffix .c,$(addprefix $(DIR)/block_,$(AM335X_BLOCKS)))
 
 CTRL_BLOCKS += $(AM335X_BLOCKS)
 CTRL_BLOCK_LIBS += libam335x.la