V68+: Changes for Pi4B (base address, default DMA channels, PUD)

pigpio.3

@@ -7029,8 +7029,20 @@ secondaryChannel: 0-14
 .br
 
 .br
-The default setting is to use channel 14 for the primary channel and
+The default setting depends on whether the Pi has a BCM2711 chip or
-channel 6 for the secondary channel.
+not (currently only the Pi4B has a BCM2711).
+
+.br
+
+.br
+The default setting for a non-BCM2711 is to use channel 14 for the
+primary channel and channel 6 for the secondary channel.
+
+.br
+
+.br
+The default setting for a BCM2711 is to use channel 7 for the
+primary channel and channel 6 for the secondary channel.
 
 .br
 
@@ -8022,12 +8034,12 @@ PI_MAX_WAVE_DATABITS 32
 
 .br
 
-.IP "\fBDMAchannel\fP: 0-14" 0
+.IP "\fBDMAchannel\fP: 0-15" 0
 
 .EX
 PI_MIN_DMA_CHANNEL 0
 .br
-PI_MAX_DMA_CHANNEL 14
+PI_MAX_DMA_CHANNEL 15
 .br
 
 .EE
@@ -8928,7 +8940,7 @@ The position of an item.
 
 .br
 
-.IP "\fBprimaryChannel\fP: 0-14" 0
+.IP "\fBprimaryChannel\fP: 0-15" 0
 The DMA channel used to time the sampling of GPIO and to time servo and
 PWM pulses.
 
@@ -10103,15 +10115,15 @@ A 16-bit word value.
 .br
 #define PI_BAD_IF_FLAGS     -26 // ifFlags > 4
 .br
-#define PI_BAD_CHANNEL      -27 // DMA channel not 0-14
+#define PI_BAD_CHANNEL      -27 // DMA channel not 0-15
 .br
-#define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-14
+#define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-15
 .br
 #define PI_BAD_SOCKET_PORT  -28 // socket port not 1024-32000
 .br
 #define PI_BAD_FIFO_COMMAND -29 // unrecognized fifo command
 .br
-#define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-6
+#define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-15
 .br
 #define PI_NOT_INITIALISED  -31 // function called before gpioInitialise
 .br
@@ -10380,6 +10392,12 @@ A 16-bit word value.
 .br
 #define PI_DEFAULT_DMA_SECONDARY_CHANNEL   6
 .br
+#define PI_DEFAULT_DMA_PRIMARY_CH_2711     7
+.br
+#define PI_DEFAULT_DMA_SECONDARY_CH_2711   6
+.br
+#define PI_DEFAULT_DMA_NOT_SET             15
+.br
 #define PI_DEFAULT_SOCKET_PORT             8888
 .br
 #define PI_DEFAULT_SOCKET_PORT_STR         "8888"
@@ -10400,6 +10418,8 @@ A 16-bit word value.
 .br
 #define PI_DEFAULT_UPDATE_MASK_PI3B        0x0000000FFFFFFCLL
 .br
+#define PI_DEFAULT_UPDATE_MASK_PI4B        0x0000000FFFFFFCLL
+.br
 #define PI_DEFAULT_UPDATE_MASK_COMPUTE     0x00FFFFFFFFFFFFLL
 .br
 #define PI_DEFAULT_MEM_ALLOC_MODE          PI_MEM_ALLOC_AUTO

pigpio.c

@@ -25,7 +25,7 @@ OTHER DEALINGS IN THE SOFTWARE.
 For more information, please refer to <http://unlicense.org/>
 */
 
-/* pigpio version 68 */
+/* pigpio version 69 */
 
 /* include ------------------------------------------------------- */
 
@@ -114,6 +114,11 @@ For more information, please refer to <http://unlicense.org/>
 39 GPPUDCLK1 GPIO Pin Pull-up/down Enable Clock 1
 40 -         Reserved
 41 -         Test
+42-56        Reserved
+57 GPPUPPDN1 Pin pull-up/down for pins 15:0
+58 GPPUPPDN1 Pin pull-up/down for pins 31:16
+59 GPPUPPDN2 Pin pull-up/down for pins 47:32
+60 GPPUPPDN3 Pin pull-up/down for pins 57:48
 */
 
 /*
@@ -317,7 +322,7 @@ bit 0 READ_LAST_NOT_SET_ERROR
 #define BSCS_LEN  0x40
 #define CLK_LEN   0xA8
 #define DMA_LEN   0x1000 /* allow access to all channels */
-#define GPIO_LEN  0xB4
+#define GPIO_LEN  0xF4   /* 2711 has more registers */
 #define PADS_LEN  0x38
 #define PCM_LEN   0x24
 #define PWM_LEN   0x28
@@ -357,6 +362,13 @@ bit 0 READ_LAST_NOT_SET_ERROR
 #define GPPUDCLK0 38
 #define GPPUDCLK1 39
 
+/* BCM2711 has different pulls */
+
+#define GPPUPPDN0 57
+#define GPPUPPDN1 58
+#define GPPUPPDN2 59
+#define GPPUPPDN3 60
+
 #define DMA_CS        0
 #define DMA_CONBLK_AD 1
 #define DMA_DEBUG     8
@@ -500,6 +512,7 @@ bit 0 READ_LAST_NOT_SET_ERROR
 
 #define CLK_OSC_FREQ        19200000
 #define CLK_PLLD_FREQ      500000000
+#define CLK_PLLD_FREQ_2711 750000000
 
 #define CLK_DIV_DIVI(x) ((x)<<12)
 #define CLK_DIV_DIVF(x) ((x)<< 0)
@@ -1200,10 +1213,12 @@ typedef struct
 /* initialise once then preserve */
 
 static volatile uint32_t piCores       = 0;
-static volatile uint32_t pi_ispi      = 0;
 static volatile uint32_t pi_peri_phys  = 0x20000000;
 static volatile uint32_t pi_dram_bus   = 0x40000000;
 static volatile uint32_t pi_mem_flag   = 0x0C;
+static volatile uint32_t pi_ispi       = 0;
+static volatile uint32_t pi_is_2711    = 0;
+static volatile uint32_t clk_plld_freq = CLK_PLLD_FREQ;
 
 static int libInitialised = 0;
 
@@ -1341,8 +1356,8 @@ static volatile gpioCfg_t gpioCfg =
    PI_DEFAULT_BUFFER_MILLIS,
    PI_DEFAULT_CLK_MICROS,
    PI_DEFAULT_CLK_PERIPHERAL,
-   PI_DEFAULT_DMA_PRIMARY_CHANNEL,
+   PI_DEFAULT_DMA_NOT_SET, /* primary DMA */
-   PI_DEFAULT_DMA_SECONDARY_CHANNEL,
+   PI_DEFAULT_DMA_NOT_SET, /* secondary DMA */
    PI_DEFAULT_SOCKET_PORT,
    PI_DEFAULT_IF_FLAGS,
    PI_DEFAULT_MEM_ALLOC_MODE,
@@ -4336,7 +4351,7 @@ static void spiGoA(
 
    cs = PI_SPI_FLAGS_GET_CSPOLS(flags) & (1<<channel);
 
-   spiDefaults = AUXSPI_CNTL0_SPEED(125000000/speed)   |
+   spiDefaults = AUXSPI_CNTL0_SPEED((125000000/speed)-1)|
                  AUXSPI_CNTL0_IN_RISING(bit_ir[mode])  |
                  AUXSPI_CNTL0_OUT_RISING(bit_or[mode]) |
                  AUXSPI_CNTL0_INVERT_CLK(bit_ic[mode]) |
@@ -7259,36 +7274,41 @@ static int initCheckPermitted(void)
 
 static int initPeripherals(void)
 {
-   uint32_t dmaBase;
-
    DBG(DBG_STARTUP, "");
 
    gpioReg = initMapMem(fdMem, GPIO_BASE, GPIO_LEN);
 
    if (gpioReg == MAP_FAILED)
-      SOFT_ERROR(PI_INIT_FAILED, "mmap gpio failed (%m) GPIO_BASE=%08X GPIO_LEN=%08X REV=%08X",GPIO_BASE,GPIO_LEN,gpioHardwareRevision());
+      SOFT_ERROR(PI_INIT_FAILED, "mmap gpio failed (%m)");
 
-   /* dma channels 0-14 share one page, 15 has another */
+   dmaReg = initMapMem(fdMem, DMA_BASE, DMA_LEN);
-
-   if (gpioCfg.DMAprimaryChannel < 15)
-   {
-      dmaBase = DMA_BASE;
-   }
-   else dmaBase = DMA15_BASE;
-
-   dmaReg = initMapMem(fdMem, dmaBase,  DMA_LEN);
 
    if (dmaReg == MAP_FAILED)
       SOFT_ERROR(PI_INIT_FAILED, "mmap dma failed (%m)");
 
-   if (gpioCfg.DMAprimaryChannel < 15)
+   /* we should know if we are running on a BCM2711 by now */
+
+   if (gpioCfg.DMAprimaryChannel == PI_DEFAULT_DMA_NOT_SET)
    {
-      dmaIn =  dmaReg + (gpioCfg.DMAprimaryChannel   * 0x40);
+      if (pi_is_2711)
-      dmaOut = dmaReg + (gpioCfg.DMAsecondaryChannel * 0x40);
+         gpioCfg.DMAprimaryChannel = PI_DEFAULT_DMA_PRIMARY_CH_2711;
+      else
+         gpioCfg.DMAprimaryChannel = PI_DEFAULT_DMA_PRIMARY_CHANNEL;
    }
       
-   DBG(DBG_STARTUP, "DMA #%d @ %08X @ %08"PRIXPTR,
+   if (gpioCfg.DMAsecondaryChannel == PI_DEFAULT_DMA_NOT_SET)
-      gpioCfg.DMAprimaryChannel, dmaBase, (uintptr_t)dmaIn);
+   {
+      if (pi_is_2711)
+         gpioCfg.DMAsecondaryChannel = PI_DEFAULT_DMA_SECONDARY_CH_2711;
+      else
+         gpioCfg.DMAsecondaryChannel = PI_DEFAULT_DMA_SECONDARY_CHANNEL;
+   }
+      
+   dmaIn =  dmaReg + (gpioCfg.DMAprimaryChannel   * 0x40);
+   dmaOut = dmaReg + (gpioCfg.DMAsecondaryChannel * 0x40);
+
+   DBG(DBG_STARTUP, "DMA #%d @ %08"PRIXPTR,
+      gpioCfg.DMAprimaryChannel, (uintptr_t)dmaIn);
 
    DBG(DBG_STARTUP, "debug reg is %08X", dmaIn[DMA_DEBUG]);
 
@@ -7780,7 +7800,7 @@ static void initClock(int mainClock)
    }
 
    clkSrc  = CLK_CTL_SRC_PLLD;
-   clkDivI = 50 * micros; /* 10      MHz - 1      MHz */
+   clkDivI = clk_plld_freq / (10000000 / micros); /* 10 MHz - 1 MHz */ 
    clkBits = BITS;        /* 10/BITS MHz - 1/BITS MHz */
    clkDivF = 0;
    clkMash = 0;
@@ -8732,6 +8752,10 @@ int gpioGetMode(unsigned gpio)
 
 int gpioSetPullUpDown(unsigned gpio, unsigned pud)
 {
+   int shift = (gpio & 0xf) << 1;
+   uint32_t bits;
+   uint32_t pull;
+
    DBG(DBG_USER, "gpio=%d pud=%d", gpio, pud);
 
    CHECK_INITED;
@@ -8742,6 +8766,22 @@ int gpioSetPullUpDown(unsigned gpio, unsigned pud)
    if (pud > PI_PUD_UP)
       SOFT_ERROR(PI_BAD_PUD, "gpio %d, bad pud (%d)", gpio, pud);
 
+   if (pi_is_2711)
+   {
+      switch (pud)
+      {
+         case PI_PUD_OFF:  pull = 0; break;
+         case PI_PUD_UP:   pull = 1; break;
+         case PI_PUD_DOWN: pull = 2; break;
+      }
+
+      bits = *(gpioReg + GPPUPPDN0 + (gpio>>4));
+      bits &= ~(3 << shift);
+      bits |= (pull << shift);
+      *(gpioReg + GPPUPPDN0 + (gpio>>4)) = bits;
+   }
+   else
+   {
       *(gpioReg + GPPUD) = pud;
 
       myGpioDelay(1);
@@ -8753,6 +8793,7 @@ int gpioSetPullUpDown(unsigned gpio, unsigned pud)
       *(gpioReg + GPPUD) = 0;
 
       *(gpioReg + GPPUDCLK0 + BANK) = 0;
+   }
 
    return 0;
 }
@@ -12611,7 +12652,7 @@ int gpioHardwareClock(unsigned gpio, unsigned frequency)
    int cctl[] = {CLK_GP0_CTL, CLK_GP1_CTL, CLK_GP2_CTL};
    int cdiv[] = {CLK_GP0_DIV, CLK_GP1_DIV, CLK_GP2_DIV};
    int csrc[CLK_SRCS] = {CLK_CTL_SRC_OSC, CLK_CTL_SRC_PLLD};
-   uint32_t cfreq[CLK_SRCS]={CLK_OSC_FREQ, CLK_PLLD_FREQ};
+   uint32_t cfreq[CLK_SRCS]={CLK_OSC_FREQ, clk_plld_freq};
    unsigned clock, mode, mash;
    int password = 0;
    double f;
@@ -12722,13 +12763,13 @@ int gpioHardwarePWM(
 
    if (frequency)
    {
-      real_range = ((double)CLK_PLLD_FREQ / (2.0 * frequency)) + 0.5;
+      real_range = ((double)clk_plld_freq / (2.0 * frequency)) + 0.5;
       real_dutycycle = ((uint64_t)dutycycle * real_range) / PI_HW_PWM_RANGE;
 
       /* record the set PWM frequency and dutycycle */
 
       hw_pwm_freq[pwm] =
-         ((double)CLK_PLLD_FREQ / ( 2.0 * real_range)) + 0.5;
+         ((double)clk_plld_freq / ( 2.0 * real_range)) + 0.5;
 
       hw_pwm_duty[pwm]  = dutycycle;
 
@@ -13391,9 +13432,15 @@ unsigned gpioHardwareRevision(void)
             }
          }
 
-         if (!strncasecmp("hardware\t: BCM", buf, 14)) {
+         if (!strncasecmp("hardware\t: BCM", buf, 14))
+         {
             int bcmno = atoi(buf+14);
-            if ((bcmno == 2708) || (bcmno == 2709) || (bcmno == 2710) || (bcmno == 2835) || (bcmno == 2836) || (bcmno == 2837))
+            if ((bcmno == 2708) ||
+                (bcmno == 2709) ||
+                (bcmno == 2710) ||
+                (bcmno == 2835) ||
+                (bcmno == 2836) ||
+                (bcmno == 2837))
             {
               pi_ispi = 1;
             }
@@ -13405,12 +13452,37 @@ unsigned gpioHardwareRevision(void)
             {
                if (term != '\n') rev = 0;
                else rev &= 0xFFFFFF; /* mask out warranty bit */
+               switch (rev&0xFFF0)  /* just interested in BCM model */
+               {
+                  case 0x3110: /* Pi4B */
+                     piCores = 4;
+                     pi_peri_phys = 0xFE000000;
+                     pi_dram_bus  = 0xC0000000;
+                     pi_mem_flag  = 0x04;
+                     pi_is_2711   = 1;
+                     pi_ispi      = 1;
+                     clk_plld_freq = CLK_PLLD_FREQ_2711;
+                     fclose(filp);
+                     if (!gpioMaskSet)
+                     {
+                        gpioMaskSet = 1;
+                        gpioMask = PI_DEFAULT_UPDATE_MASK_PI4B;
+                     }
+                     return rev;
+                     break;
+               }
             }
          }
       }
 
       fclose(filp);
-      //raspberry pi 3 running arm64 don't put all the information we need in /proc/cpuinfo, but we can get it elsewhere.
+
+      /*
+         Raspberry pi 3 running arm64 don't put all the
+         information we need in /proc/cpuinfo, but we can
+         get it elsewhere.
+      */
+
       if (!pi_ispi)
       {
          filp = fopen ("/proc/device-tree/model", "r");
@@ -13430,6 +13502,7 @@ unsigned gpioHardwareRevision(void)
          }
          fclose(filp);
       }
+
       if (rev == 0)
       {
          filp = fopen ("/proc/device-tree/system/linux,revision", "r");
@@ -13438,8 +13511,11 @@ unsigned gpioHardwareRevision(void)
             uint32_t tmp;
             if (fread(&tmp,1 , 4, filp) == 4)
             {
-               // for some reason the value returned by reading this 
+               /*
-               // /proc entry seems to be big endian, convert it.
+                  for some reason the value returned by reading
+                  this /proc entry seems to be big endian,
+                  convert it.
+               */
                rev = ntohl(tmp);
                rev &= 0xFFFFFF; /* mask out warranty bit */
             }
@@ -13523,7 +13599,8 @@ int gpioCfgDMAchannels(unsigned primaryChannel, unsigned secondaryChannel)
          primaryChannel);
 
    if ((secondaryChannel > PI_MAX_DMA_CHANNEL) ||
-       (secondaryChannel == primaryChannel))
+         ((secondaryChannel == primaryChannel) &&
+            (secondaryChannel != PI_DEFAULT_DMA_NOT_SET)))
       SOFT_ERROR(PI_BAD_SECO_CHANNEL, "bad secondary channel (%d)",
          secondaryChannel);
 

pigpio.h

@@ -31,7 +31,7 @@ For more information, please refer to <http://unlicense.org/>
 #include <stdint.h>
 #include <pthread.h>
 
-#define PIGPIO_VERSION 68
+#define PIGPIO_VERSION 6904
 
 /*TEXT
 
@@ -831,10 +831,10 @@ typedef void *(gpioThreadFunc_t) (void *);
 #define PI_CLOCK_PWM 0
 #define PI_CLOCK_PCM 1
 
-/* DMA channel: 0-14 */
+/* DMA channel: 0-15, 15 is unset */
 
 #define PI_MIN_DMA_CHANNEL 0
-#define PI_MAX_DMA_CHANNEL 14
+#define PI_MAX_DMA_CHANNEL 15
 
 /* port */
 
@@ -4745,8 +4745,7 @@ D*/
 
 
 /*F*/
-int gpioCfgDMAchannels(
+int gpioCfgDMAchannels(unsigned primaryChannel, unsigned secondaryChannel);
-   unsigned primaryChannel, unsigned secondaryChannel);
 /*D
 Configures pigpio to use the specified DMA channels.
 
@@ -4757,8 +4756,14 @@ This function is only effective if called before [*gpioInitialise*].
 secondaryChannel: 0-14
 . .
 
-The default setting is to use channel 14 for the primary channel and
+The default setting depends on whether the Pi has a BCM2711 chip or
-channel 6 for the secondary channel.
+not (currently only the Pi4B has a BCM2711).
+
+The default setting for a non-BCM2711 is to use channel 14 for the
+primary channel and channel 6 for the secondary channel.
+
+The default setting for a BCM2711 is to use channel 7 for the
+primary channel and channel 6 for the secondary channel.
 
 The secondary channel is only used for the transmission of waves.
 
@@ -5331,10 +5336,10 @@ PI_MIN_WAVE_DATABITS 1
 PI_MAX_WAVE_DATABITS 32
 . .
 
-DMAchannel::0-14
+DMAchannel::0-15
 . .
 PI_MIN_DMA_CHANNEL 0
-PI_MAX_DMA_CHANNEL 14
+PI_MAX_DMA_CHANNEL 15
 . .
 
 double::
@@ -5718,7 +5723,7 @@ The port used to bind to the pigpio socket.  Defaults to 8888.
 pos::
 The position of an item.
 
-primaryChannel:: 0-14
+primaryChannel:: 0-15
 The DMA channel used to time the sampling of GPIO and to time servo and
 PWM pulses.
 
@@ -6301,11 +6306,11 @@ after this command is issued.
 #define PI_NO_HANDLE        -24 // no handle available
 #define PI_BAD_HANDLE       -25 // unknown handle
 #define PI_BAD_IF_FLAGS     -26 // ifFlags > 4
-#define PI_BAD_CHANNEL      -27 // DMA channel not 0-14
+#define PI_BAD_CHANNEL      -27 // DMA channel not 0-15
-#define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-14
+#define PI_BAD_PRIM_CHANNEL -27 // DMA primary channel not 0-15
 #define PI_BAD_SOCKET_PORT  -28 // socket port not 1024-32000
 #define PI_BAD_FIFO_COMMAND -29 // unrecognized fifo command
-#define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-6
+#define PI_BAD_SECO_CHANNEL -30 // DMA secondary channel not 0-15
 #define PI_NOT_INITIALISED  -31 // function called before gpioInitialise
 #define PI_INITIALISED      -32 // function called after gpioInitialise
 #define PI_BAD_WAVE_MODE    -33 // waveform mode not 0-3
@@ -6440,6 +6445,9 @@ after this command is issued.
 #define PI_DEFAULT_DMA_CHANNEL             14
 #define PI_DEFAULT_DMA_PRIMARY_CHANNEL     14
 #define PI_DEFAULT_DMA_SECONDARY_CHANNEL   6
+#define PI_DEFAULT_DMA_PRIMARY_CH_2711     7
+#define PI_DEFAULT_DMA_SECONDARY_CH_2711   6
+#define PI_DEFAULT_DMA_NOT_SET             15
 #define PI_DEFAULT_SOCKET_PORT             8888
 #define PI_DEFAULT_SOCKET_PORT_STR         "8888"
 #define PI_DEFAULT_SOCKET_ADDR_STR         "127.0.0.1"
@@ -6450,6 +6458,7 @@ after this command is issued.
 #define PI_DEFAULT_UPDATE_MASK_ZERO        0x0080000FFFFFFCLL
 #define PI_DEFAULT_UPDATE_MASK_PI2B        0x0080480FFFFFFCLL
 #define PI_DEFAULT_UPDATE_MASK_PI3B        0x0000000FFFFFFCLL
+#define PI_DEFAULT_UPDATE_MASK_PI4B        0x0000000FFFFFFCLL
 #define PI_DEFAULT_UPDATE_MASK_COMPUTE     0x00FFFFFFFFFFFFLL
 #define PI_DEFAULT_MEM_ALLOC_MODE          PI_MEM_ALLOC_AUTO
 

pigpiod.c

@@ -26,7 +26,7 @@ For more information, please refer to <http://unlicense.org/>
 */
 
 /*
-This version is for pigpio version 65+
+This version is for pigpio version 69+
 */
 
 #include <sys/types.h>
@@ -56,8 +56,8 @@ static unsigned clockMicros            = PI_DEFAULT_CLK_MICROS;
 static unsigned clockPeripheral        = PI_DEFAULT_CLK_PERIPHERAL;
 static unsigned ifFlags                = PI_DEFAULT_IF_FLAGS;
 static int      foreground             = PI_DEFAULT_FOREGROUND;
-static unsigned DMAprimaryChannel      = PI_DEFAULT_DMA_PRIMARY_CHANNEL;
+static unsigned DMAprimaryChannel      = PI_DEFAULT_DMA_NOT_SET;
-static unsigned DMAsecondaryChannel    = PI_DEFAULT_DMA_SECONDARY_CHANNEL;
+static unsigned DMAsecondaryChannel    = PI_DEFAULT_DMA_NOT_SET;
 static unsigned socketPort             = PI_DEFAULT_SOCKET_PORT;
 static unsigned memAllocMode           = PI_DEFAULT_MEM_ALLOC_MODE;
 static uint64_t updateMask             = -1;