Add a unified HM2 SPI driver supporting RPI3, RPi4, RPi5 and spidev.

src/hal/drivers/mesa-hostmot2/dtcboards.h

@@ -0,0 +1,82 @@
+/*
+ * This is a component for RaspberryPi and other boards for linuxcnc.
+ * Copyright (c) 2024 B.Stultiens <[email protected]>
+ *
+ * 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 2 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 <https://www.gnu.org/licenses/>.
+ */
+#ifndef HAL_DTCBOARDS_H
+#define HAL_DTCBOARDS_H
+
+/*
+ * Info about the hardware platform, see:
+ *  https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#best-practices-for-revision-code-usage
+ *  https://www.raspberrypi.com/documentation/computers/raspberry-pi.html#check-raspberry-pi-model-and-cpu-across-distributions
+ *
+ * Reading /proc/device-tree/compatible should contain the relevant
+ * information. We should get a buffer containing a string-list like:
+ *   "raspberrypi,5-model-b\0brcm,bcm2712\0"
+ * And yes, it has embedded NULs.
+ *
+ * The idea is to match one of the strings to assign the correct driver for the
+ * specific board.
+ */
+#define DTC_BOARD_MAKE_RPI		"raspberrypi"
+
+#define DTC_BOARD_MODEL_5CM		"5-compute-module"
+#define DTC_BOARD_MODEL_5B		"5-model-b"
+#define DTC_BOARD_MODEL_4CM		"4-compute-module"
+#define DTC_BOARD_MODEL_4B		"4-model-b"
+#define DTC_BOARD_MODEL_3CM		"3-compute-module"
+#define DTC_BOARD_MODEL_3BP		"3-model-b-plus"
+#define DTC_BOARD_MODEL_3AP		"3-model-a-plus"
+#define DTC_BOARD_MODEL_3B		"3-model-b"
+#define DTC_BOARD_MODEL_2B		"2-model-b"
+#define DTC_BOARD_MODEL_CM		"compute-module"
+#define DTC_BOARD_MODEL_BP		"model-b-plus"
+#define DTC_BOARD_MODEL_AP		"model-a-plus"
+#define DTC_BOARD_MODEL_BR2		"model-b-rev2"
+#define DTC_BOARD_MODEL_B		"model-b"
+#define DTC_BOARD_MODEL_A		"model-a"
+#define DTC_BOARD_MODEL_ZERO_2W	"model-zero-2-w"
+#define DTC_BOARD_MODEL_ZERO_W	"model-zero-w"
+#define DTC_BOARD_MODEL_ZERO	"model-zero"
+
+#define DTC_SOC_MAKE_BRCM		"brcm"
+
+#define DTC_SOC_MODEL_BCM2712	"bcm2712"
+#define DTC_SOC_MODEL_BCM2711	"bcm2711"
+#define DTC_SOC_MODEL_BCM2837	"bcm2837"
+#define DTC_SOC_MODEL_BCM2836	"bcm2836"
+#define DTC_SOC_MODEL_BCM2835	"bcm2835"
+
+/* The device-tree compatible strings for the boards */
+#define DTC_RPI_SOC_BCM2712		DTC_SOC_MAKE_RPI "," DTC_SOC_MODEL_BCM2712
+#define DTC_RPI_MODEL_5CM		DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_5CM
+#define DTC_RPI_MODEL_5B		DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_5B
+
+#define DTC_RPI_SOC_BCM2711		DTC_SOC_MAKE_RPI "," DTC_SOC_MODEL_BCM2711
+#define DTC_RPI_MODEL_4CM		DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_4CM
+#define DTC_RPI_MODEL_4B		DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_4B
+
+#define DTC_RPI_SOC_BCM2837		DTC_SOC_MAKE_BRCM "," DTC_SOC_MODEL_BCM2837
+#define DTC_RPI_MODEL_3CM		DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_3CM
+#define DTC_RPI_MODEL_3BP		DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_3BP
+#define DTC_RPI_MODEL_3AP		DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_3AP
+#define DTC_RPI_MODEL_3B		DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_3B
+#define DTC_RPI_MODEL_ZERO_2W	DTC_BOARD_MAKE_RPI "," DTC_BOARD_MODEL_ZERO_2W
+
+/* Older than a RPi3 (bcm2836 and bcm2835) is probably not a good idea to use. */
+
+#endif
+// vim: ts=4

src/hal/drivers/mesa-hostmot2/eshellf.c

@@ -0,0 +1,62 @@
+/*
+ * This is a component for hostmot2 board drivers
+ * Copyright (c) 2013,2014,2020,2024 Michael Geszkiewicz <[email protected]>,
+ *    Jeff Epler <[email protected]>
+ *    B.Stultiens <[email protected]>
+ *
+ * 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 2 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 <https://www.gnu.org/licenses/>.
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <errno.h>
+#include <sys/wait.h>
+
+#include <rtapi.h>
+
+int shell(char *command)
+{
+	char *const argv[] = {"sh", "-c", command, NULL};
+	pid_t pid;
+	int res = rtapi_spawn_as_root(&pid, "/bin/sh", NULL, NULL, argv, environ);
+	if(res < 0)
+		perror("rtapi_spawn_as_root");
+	int status;
+	waitpid(pid, &status, 0);
+	if(WIFEXITED(status))
+		return WEXITSTATUS(status);
+	else if(WIFSTOPPED(status))
+		return WTERMSIG(status)+128;
+	return status;
+}
+
+int eshellf(const char *errpfx, const char *fmt, ...)
+{
+	char commandbuf[1024];
+	va_list ap;
+	va_start(ap, fmt);
+	vsnprintf(commandbuf, sizeof(commandbuf), fmt, ap);
+	va_end(ap);
+
+	int res = shell(commandbuf);
+	if(res == EXIT_SUCCESS)
+		return 0;
+
+	rtapi_print_msg(RTAPI_MSG_ERR, "%s: ERROR: Failed to execute '%s'\n", errpfx ? errpfx : "eshellf()", commandbuf);
+	return -EINVAL;
+}
+
+/* vim: ts=4
+ */

src/hal/drivers/mesa-hostmot2/eshellf.h

@@ -0,0 +1,28 @@
+/*
+ * This is a component for hostmot2 board drivers
+ * Copyright (c) 2013,2014,2020,2024 Michael Geszkiewicz <[email protected]>,
+ *    Jeff Epler <[email protected]>
+ *    B.Stultiens <[email protected]>
+ *
+ * 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 2 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 <https://www.gnu.org/licenses/>.
+ */
+#ifndef HAL_HM2_ESHELLF_H
+#define HAL_HM2_ESHELLF_H
+
+int shell(char *command);
+int eshellf(const char *errpfx, const char *fmt, ...);
+
+#endif
+/* vim: ts=4
+ */

src/hal/drivers/mesa-hostmot2/hm2_rpspi.c

@@ -343,28 +343,6 @@ RTAPI_MP_INT(spi_probe, "Bit-field to select which SPI/CE combinations to probe
 static int spi_debug = -1;
 RTAPI_MP_INT(spi_debug, "Set message level for debugging purpose [0...5] where 0=none and 5=all (default: -1; upstream defined)")
 
-/*********************************************************************/
-/*
- * Synchronized read and write to peripheral memory.
- * Ensures coherency between cores, cache and peripherals
- */
-#define rmb()	__sync_synchronize()	// Read sync (finish all reads before continuing)
-#define wmb()	__sync_synchronize()	// Write sync (finish all write before continuing)
-
-RPSPI_ALWAYS_INLINE static inline uint32_t reg_rd(const volatile void *addr)
-{
-	uint32_t val;
-	val = *(volatile uint32_t *)addr;
-	rmb();
-	return val;
-}
-
-RPSPI_ALWAYS_INLINE static inline void reg_wr(const volatile void *addr, uint32_t val)
-{
-	wmb();
-	*(volatile uint32_t *)addr = val;
-}
-
 /*********************************************************************/
 #if defined(RPSPI_DEBUG_PIN)
 /*