mirror of
https://github.com/compute-blade-community/compute-blade-agent.git
synced 2026-04-16 15:35:42 +02:00
chore: refactor
Signed-off-by: Matthias Riegler <matthias.riegler@ankorstore.com>
This commit is contained in:
16
main.go
16
main.go
@@ -1,17 +1,19 @@
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package main
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import "github.com/xvzf/computeblade-agent/pkg/hal"
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import (
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"github.com/xvzf/computeblade-agent/pkg/hal"
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"github.com/xvzf/computeblade-agent/pkg/hal/bcm2711"
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)
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func main() {
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hal, err := hal.NewComputeBladeHAL(hal.ComputeBladeHalOpts{
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ComputeModuleType: hal.COMPUTE_MODULE_TYPE_CM4,
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blade, err := bcm2711.New(hal.ComputeBladeHalOpts{
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FanUnit: hal.FAN_UNIT_STANDARD,
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DefaultFanSpeed: 50,
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DefaultStealthModeEnabled: true,
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DefaultFanSpeed: 40,
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DefaultStealthModeEnabled: false,
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})
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if err != nil {
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panic(err)
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}
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defer hal.Close()
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hal.Init()
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defer blade.Close()
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blade.Init()
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}
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251
pkg/hal/bcm2711/hal_bcm2711.go
Normal file
251
pkg/hal/bcm2711/hal_bcm2711.go
Normal file
@@ -0,0 +1,251 @@
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package bcm2711
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import (
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"errors"
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"os"
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"sync"
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"syscall"
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"time"
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"github.com/xvzf/computeblade-agent/pkg/hal"
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)
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const (
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bcm2711PeripheryBaseAddr = 0xFE000000
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bcm2711PwmAddr = bcm2711PeripheryBaseAddr + 0x20C000
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bcm2711GpioAddr = bcm2711PeripheryBaseAddr + 0x200000
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bcm2711ClkAddr = bcm2711PeripheryBaseAddr + 0x101000
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bcm2711ClkManagerPwd = (0x5A << 24) //(31 - 24) on CM_GP0CTL/CM_GP1CTL/CM_GP2CTL regs
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bcm2711PageSize = 4096 // theoretical page size
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bcm2711FrontButtonPin = 20
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bcm2711StealthPin = 21
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bcm2711PwmFanPin = 12
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bcm2711PwmTachPin = 13
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GPFSEL0 = 0x00
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GPFSEL1 = 0x01
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GPFSEL2 = 0x02
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PWM_CTL = 0x00
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PWM_RNG1 = 0x04
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PWM_DAT1 = 0x05
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PWMCLK_CNTL = 40
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PWMCLK_DIV = 41
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)
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type bcm2711bcm struct {
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// Config options
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opts hal.ComputeBladeHalOpts
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wrMutex sync.Mutex
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// Keep track of the currently set fanspeed so it can later be restored after setting the ws281x LEDs
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currFanSpeed uint8
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devmem *os.File
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mbox *os.File
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gpioMem8 []uint8
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gpioMem []uint32
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pwmMem8 []uint8
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pwmMem []uint32
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clkMem8 []uint8
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clkMem []uint32
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}
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func New(opts hal.ComputeBladeHalOpts) (*bcm2711bcm, error) {
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// /dev/gpiomem doesn't allow complex operations for PWM fan control or WS281x
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devmem, err := os.OpenFile("/dev/mem", os.O_RDWR|os.O_SYNC, os.ModePerm)
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if err != nil {
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return nil, err
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}
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// /dev/vcio for ioctl with VC mailbox
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mbox, err := os.OpenFile("/dev/vcio", os.O_RDWR|os.O_SYNC, os.ModePerm)
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if err != nil {
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return nil, err
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}
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// Setup memory mappings
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gpioMem, gpioMem8, err := mmap(devmem, bcm2711GpioAddr, bcm2711PageSize)
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if err != nil {
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return nil, err
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}
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pwmMem, pwmMem8, err := mmap(devmem, bcm2711PwmAddr, bcm2711PageSize)
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if err != nil {
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return nil, err
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}
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clkMem, clkMem8, err := mmap(devmem, bcm2711ClkAddr, bcm2711PageSize)
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if err != nil {
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return nil, err
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}
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return &bcm2711bcm{
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devmem: devmem,
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mbox: mbox,
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gpioMem: gpioMem,
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gpioMem8: gpioMem8,
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pwmMem: pwmMem,
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pwmMem8: pwmMem8,
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clkMem: clkMem,
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clkMem8: clkMem8,
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opts: opts,
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}, nil
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}
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// Close cleans all memory mappings
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func (bcm *bcm2711bcm) Close() error {
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return errors.Join(
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syscall.Munmap(bcm.gpioMem8),
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syscall.Munmap(bcm.pwmMem8),
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syscall.Munmap(bcm.clkMem8),
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bcm.devmem.Close(),
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bcm.mbox.Close(),
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)
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}
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// Init initialises GPIOs and sets sane defaults
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func (bcm *bcm2711bcm) Init() {
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bcm.InitGPIO()
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bcm.SetFanSpeed(bcm.opts.DefaultFanSpeed)
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bcm.SetStealthMode(bcm.opts.DefaultStealthModeEnabled)
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}
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// InitGPIO initalises GPIO configuration
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func (bcm *bcm2711bcm) InitGPIO() {
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// based on https://datasheets.raspberrypi.com/bcm2711/bcm2711-peripherals.pdf
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bcm.wrMutex.Lock()
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defer bcm.wrMutex.Unlock()
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// Blade Butten (GPIO 20)
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// -> GPFSEL2 2:0, input
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bcm.gpioMem[GPFSEL2] = (bcm.gpioMem[GPFSEL2] &^ (0b111 << 0)) | (0b000 << 0)
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// Stealth Mode Output (GPIO 21)
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// -> GPFSEL2 5:3, output
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bcm.gpioMem[GPFSEL2] = (bcm.gpioMem[GPFSEL2] &^ (0b111 << 3)) | (0b001 << 3)
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// WS281x Output (GPIO 18)
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// -> GPFSEL1 24:26, regular output; it's configured as alt5 whenever pixel data is sent.
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// This is not performant but required as the pwm0 peripheral is shared between fan and data line for the LEDs.
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bcm.gpioMem[GPFSEL1] = (bcm.gpioMem[GPFSEL1] &^ (0b111 << 24)) | (0b000 << 24)
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// FAN PWM output for standard fan unit (GPIO 12)
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if bcm.opts.FanUnit == hal.FAN_UNIT_STANDARD {
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// -> GPFSEL1 8:6, alt0
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bcm.gpioMem[GPFSEL1] = (bcm.gpioMem[GPFSEL1] &^ (0b111 << 6)) | (0b100 << 6)
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bcm.setupFanPwm0()
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}
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// FAN TACH input for standard fan unit (GPIO 13)
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if bcm.opts.FanUnit == hal.FAN_UNIT_STANDARD {
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// -> GPFSEL1 11:9, input
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bcm.gpioMem[GPFSEL1] = (bcm.gpioMem[GPFSEL1] &^ (0b111 << 9)) | (0b000 << 9)
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}
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// FIXME add pullup
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// FIXME add WS2812 GPIO 18
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}
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func (bcm *bcm2711bcm) setupFanPwm0() {
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// Stop pwm for both channels; this is required to set the new configuration
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bcm.pwmMem[PWM_CTL] &^= 1<<8 | 1
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// Stop clock w/o any changes, they cannot be made in the same step
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bcm.clkMem[PWMCLK_CNTL] = bcm2711ClkManagerPwd | (bcm.clkMem[PWMCLK_CNTL] &^ (1 << 4))
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// Wait for the clock to not be busy so we can perform the changes
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for bcm.clkMem[PWMCLK_CNTL]&(1<<7) != 0 {
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time.Sleep(time.Microsecond * 20)
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}
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// passwd, mash, disabled, source (oscillator)
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bcm.clkMem[PWMCLK_CNTL] = bcm2711ClkManagerPwd | (0 << 9) | (0 << 4) | (1 << 0)
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// set PWM freq; the BCM2711 has an oscillator freq of 52 Mhz
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// Noctua fans are expecting a 25khz signal, where duty cycle controls fan on/speed/off
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// -> we'll need to get ~2.5Mhz of signal resultion in order to incorporate a 0-100 range
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// The following settings setup ~2.571Mhz resultion, resulting in a ~25,71khz signal
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// lying within the specifications of Noctua fans.
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bcm.clkMem[PWMCLK_DIV] = bcm2711ClkManagerPwd | (20 << 12) | (3276 << 0)
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// wait for changes to take effect before enabling it.
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// Note: 10us seems sufficient on idle systems, but doesn't always work when
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time.Sleep(time.Microsecond * 50)
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// Start clock (passwd, mash, enable, source)
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bcm.clkMem[PWMCLK_CNTL] = bcm2711ClkManagerPwd | (0 << 9) | (1 << 4) | (1 << 0)
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// Start pwm for both channels again
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bcm.pwmMem[PWM_CTL] &= 1<<8 | 1
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}
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// SetFanSpeed sets the fanspeed of a blade in percent (standard fan unit)
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func (bcm *bcm2711bcm) SetFanSpeed(speed uint8) {
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bcm.setFanSpeedPWM(speed)
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}
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func (bcm *bcm2711bcm) setFanSpeedPWM(speed uint8) {
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bcm.wrMutex.Lock()
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defer bcm.wrMutex.Unlock()
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// set MSEN=0
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bcm.pwmMem[PWM_CTL] = bcm.pwmMem[PWM_CTL]&^(0xff) | (0 << 7) | (1 << 0)
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bcm.pwmMem[PWM_DAT1] = uint32(speed)
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bcm.pwmMem[PWM_RNG1] = 100
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time.Sleep(3 * time.Microsecond)
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// Store fan speed for later use
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bcm.currFanSpeed = speed
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}
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type LedColor struct {
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Red uint8
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Green uint8
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Blue uint8
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}
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// SetLEDs sets the color of the WS281x LEDs
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func (bcm *bcm2711bcm) SetLEDs(top LedColor, edge LedColor) {
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bcm.wrMutex.Lock()
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defer bcm.wrMutex.Unlock()
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// Restore fan PWM after setting the LEDs & set the GPIO18 as a regular output
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defer func() {
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bcm.setupFanPwm0()
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bcm.setFanSpeedPWM(bcm.currFanSpeed)
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}()
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// Datarate for WS281x LEDs is 800kHz
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// Every bit transmitted takes 3 bits on of buffer (-../--.) thus we need (3*3*8) = 72 bits per LED and therefore 144 bits in total
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// ws2812 reset expects 55us of low signal, which is 132bits in the buffer (44 logocal bits) -> will take 55us to transmit -> reset signal
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// -> we need 144 + 132 = 276 bits in total, which when rounded up to the next multiple of 8 is 280 bits or 35 bytes
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const bufferSize = 35
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// Get DMA buffer
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// Stop pwm for both channels; this is required to set the new configuration
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bcm.pwmMem[PWM_CTL] &^= 1<<8 | 1
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// Set GPIO18 to alt5 (PWM0_0)
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bcm.gpioMem[GPFSEL1] = (bcm.gpioMem[GPFSEL1] &^ (0b111 << 24)) | (0b010 << 24)
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// Start pwm for both channels again
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bcm.pwmMem[PWM_CTL] &= 1<<8 | 1
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}
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func (bcm *bcm2711bcm) SetStealthMode(enable bool) {
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bcm.wrMutex.Lock()
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defer bcm.wrMutex.Unlock()
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if enable {
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// set high (bcm2711StealthPin == 21)
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bcm.gpioMem[7] = 1 << (bcm2711StealthPin)
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} else {
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// clear high state (bcm2711StealthPin == 21)
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bcm.gpioMem[10] = 1 << (bcm2711StealthPin)
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}
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}
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@@ -1,4 +1,4 @@
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package hal
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package bcm2711
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import (
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"os"
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@@ -1,7 +1,5 @@
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package hal
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import "fmt"
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type FanUnit uint8
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type ComputeModule uint8
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@@ -10,12 +8,7 @@ const (
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FAN_UNIT_ADVANCED
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)
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const (
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COMPUTE_MODULE_TYPE_CM4 ComputeModule = iota
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)
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type ComputeBladeHalOpts struct {
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ComputeModuleType ComputeModule
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FanUnit FanUnit
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DefaultFanSpeed uint8
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DefaultStealthModeEnabled bool
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@@ -28,13 +21,3 @@ type ComputeBladeHal interface {
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SetFanSpeed(speed uint8)
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SetStealthMode(enabled bool)
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}
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// NewComputeBladeHAL returns a new HAL for the Compute Blade and a given configuration
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func NewComputeBladeHAL(opts ComputeBladeHalOpts) (ComputeBladeHal, error) {
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switch opts.ComputeModuleType {
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case COMPUTE_MODULE_TYPE_CM4:
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return NewBcm2711Hal(opts)
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default:
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return nil, fmt.Errorf("unsupported compute module type: %d", opts.ComputeModuleType)
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}
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}
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@@ -1,179 +0,0 @@
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package hal
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import (
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"errors"
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"os"
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"sync"
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"syscall"
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"time"
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)
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const (
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bcm2711PeripheryBaseAddr = 0xFE000000
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bcm2711PwmAddr = bcm2711PeripheryBaseAddr + 0x20C000
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bcm2711GpioAddr = bcm2711PeripheryBaseAddr + 0x200000
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bcm2711ClkAddr = bcm2711PeripheryBaseAddr + 0x101000
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bcm2711ClkManagerPwd = (0x5A << 24) //(31 - 24) on CM_GP0CTL/CM_GP1CTL/CM_GP2CTL regs
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bcm2711FrontButtonPin = 20
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bcm2711StealthPin = 21
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bcm2711PwmFanPin = 12
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bcm2711PwmTachPin = 13
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)
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type bcm2711hal struct {
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// Config options
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opts ComputeBladeHalOpts
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wrMutex sync.Mutex
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devmem *os.File
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gpioMem8 []uint8
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gpioMem []uint32
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pwmMem8 []uint8
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pwmMem []uint32
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clkMem8 []uint8
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clkMem []uint32
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}
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func NewBcm2711Hal(opts ComputeBladeHalOpts) (*bcm2711hal, error) {
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// /dev/gpiomem doesn't allow complex operations for PWM fan control or WS281x
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devmem, err := os.OpenFile("/dev/mem", os.O_RDWR|os.O_SYNC, os.ModePerm)
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if err != nil {
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return nil, err
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}
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// Setup memory mappings
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gpioMem, gpioMem8, err := mmap(devmem, bcm2711GpioAddr, 4096)
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if err != nil {
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return nil, err
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}
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pwmMem, pwmMem8, err := mmap(devmem, bcm2711PwmAddr, 4096)
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if err != nil {
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return nil, err
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}
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clkMem, clkMem8, err := mmap(devmem, bcm2711ClkAddr, 4096)
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if err != nil {
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return nil, err
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}
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return &bcm2711hal{
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devmem: devmem,
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gpioMem: gpioMem,
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gpioMem8: gpioMem8,
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pwmMem: pwmMem,
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pwmMem8: pwmMem8,
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clkMem: clkMem,
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clkMem8: clkMem8,
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opts: opts,
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}, nil
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}
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// Close cleans all memory mappings
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func (hal *bcm2711hal) Close() error {
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return errors.Join(
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syscall.Munmap(hal.gpioMem8),
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syscall.Munmap(hal.pwmMem8),
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syscall.Munmap(hal.clkMem8),
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hal.devmem.Close(),
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)
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}
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// Init initialises GPIOs and sets sane defaults
|
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func (hal *bcm2711hal) Init() {
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hal.InitGPIO()
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hal.SetFanSpeed(hal.opts.DefaultFanSpeed)
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hal.SetStealthMode(hal.opts.DefaultStealthModeEnabled)
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}
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// InitGPIO initalises GPIO configuration
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func (hal *bcm2711hal) InitGPIO() {
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// based on https://datasheets.raspberrypi.com/bcm2711/bcm2711-peripherals.pdf
|
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hal.wrMutex.Lock()
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defer hal.wrMutex.Unlock()
|
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|
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// Blade Butten (GPIO 20)
|
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// -> GPFSEL2 2:0, input
|
||||
hal.gpioMem[2] = (hal.gpioMem[2] &^ (0b111 << 0)) | (0b000 << 0)
|
||||
|
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// Stealth Mode Output (GPIO 21)
|
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// -> GPFSEL2 5:3, output
|
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hal.gpioMem[2] = (hal.gpioMem[2] &^ (0b111 << 3)) | (0b001 << 3)
|
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|
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// FAN PWM output for standard fan unit (GPIO 12)
|
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if hal.opts.FanUnit == FAN_UNIT_STANDARD {
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// -> GPFSEL1 8:6, alt0
|
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hal.gpioMem[1] = (hal.gpioMem[1] &^ (0b111 << 6)) | (0b100 << 6)
|
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|
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// Stop pwm for both channels; this is required to set the new configuration
|
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hal.pwmMem[0] &^= 1<<8 | 1
|
||||
|
||||
// Stop clock w/o any changes, they cannot be made in the same step
|
||||
hal.clkMem[40] = bcm2711ClkManagerPwd | (hal.clkMem[40] &^ (1 << 4))
|
||||
|
||||
// Wait for the clock to not be busy so we can perform the changes
|
||||
for hal.clkMem[40]&(1<<7) != 0 {
|
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time.Sleep(time.Microsecond * 20)
|
||||
}
|
||||
|
||||
// passwd, mash, disabled, source (oscillator)
|
||||
hal.clkMem[40] = bcm2711ClkManagerPwd | (0 << 9) | (0 << 4) | (1 << 0)
|
||||
|
||||
// set PWM freq; the BCM2711 has an oscillator freq of 52 Mhz
|
||||
// Noctua fans are expecting a 25khz signal, where duty cycle controls fan on/speed/off
|
||||
// -> we'll need to get ~2.5Mhz of signal resultion in order to incorporate a 0-100 range
|
||||
// The following settings setup ~2.571Mhz resultion, resulting in a ~25,71khz signal
|
||||
// lying within the specifications of Noctua fans.
|
||||
hal.clkMem[41] = bcm2711ClkManagerPwd | (20 << 12) | (3276 << 0)
|
||||
|
||||
// wait for changes to take effect before enabling it.
|
||||
// Note: 10us seems sufficient on idle systems, but doesn't always work when
|
||||
time.Sleep(time.Microsecond * 50)
|
||||
|
||||
// Start clock (passwd, mash, enable, source)
|
||||
hal.clkMem[40] = bcm2711ClkManagerPwd | (0 << 9) | (1 << 4) | (1 << 0)
|
||||
|
||||
// Start pwm for both channels again
|
||||
hal.pwmMem[0] &= 1<<8 | 1
|
||||
}
|
||||
|
||||
// FAN TACH input for standard fan unit (GPIO 13)
|
||||
if hal.opts.FanUnit == FAN_UNIT_STANDARD {
|
||||
// -> GPFSEL1 11:9, input
|
||||
hal.gpioMem[1] = (hal.gpioMem[1] &^ (0b111 << 9)) | (0b000 << 9)
|
||||
}
|
||||
|
||||
// FIXME add pullup
|
||||
|
||||
// FIXME add WS2812 GPIO 18
|
||||
}
|
||||
|
||||
// SetFanSpeed sets the fanspeed of a blade in percent (standard fan unit)
|
||||
func (hal *bcm2711hal) SetFanSpeed(speed uint8) {
|
||||
hal.setFanSpeedPWM(speed)
|
||||
}
|
||||
|
||||
func (hal *bcm2711hal) setFanSpeedPWM(speed uint8) {
|
||||
hal.wrMutex.Lock()
|
||||
defer hal.wrMutex.Unlock()
|
||||
|
||||
// set MSEN=0
|
||||
hal.pwmMem[0] = hal.pwmMem[0]&^(0xff) | (0 << 7) | (1 << 0)
|
||||
|
||||
hal.pwmMem[5] = uint32(speed)
|
||||
hal.pwmMem[4] = 100
|
||||
time.Sleep(3 * time.Microsecond)
|
||||
}
|
||||
|
||||
func (hal *bcm2711hal) SetStealthMode(enable bool) {
|
||||
hal.wrMutex.Lock()
|
||||
defer hal.wrMutex.Unlock()
|
||||
|
||||
if enable {
|
||||
// set high (bcm2711StealthPin == 21)
|
||||
hal.gpioMem[7] = 1 << (bcm2711StealthPin)
|
||||
} else {
|
||||
// clear high state (bcm2711StealthPin == 21)
|
||||
hal.gpioMem[10] = 1 << (bcm2711StealthPin)
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user