From 6aa8b93975fec623981bc6fa8892f15dcfc2fbc8 Mon Sep 17 00:00:00 2001
From: Uwe Seimet <Uwe.Seimet@seimet.de>
Date: Thu, 16 Nov 2023 16:47:07 +0100
Subject: [PATCH] Merge with develop

---
 cpp/hal/bus.h                 |  2 +-
 cpp/hal/gpiobus.cpp           |  9 ++++++---
 cpp/hal/gpiobus_raspberry.cpp | 27 ++++++++-------------------
 cpp/hal/sbc_version.cpp       |  2 +-
 4 files changed, 16 insertions(+), 24 deletions(-)

diff --git a/cpp/hal/bus.h b/cpp/hal/bus.h
index 17a1a805..506cebf3 100644
--- a/cpp/hal/bus.h
+++ b/cpp/hal/bus.h
@@ -54,7 +54,7 @@ const static int SCSI_DELAY_FAST_NEGATION_PERIOD_NS      = 30;
 // The DaynaPort SCSI Link do a short delay in the middle of transfering
 // a packet. This is the number of uS that will be delayed between the
 // header and the actual data.
-const static int SCSI_DELAY_SEND_DATA_DAYNAPORT_US = 100;
+const static int SCSI_DELAY_SEND_DATA_DAYNAPORT_NS = 100'000;
 
 
 class bus_exception : public runtime_error
diff --git a/cpp/hal/gpiobus.cpp b/cpp/hal/gpiobus.cpp
index 397ed9cf..f0dc9cf5 100644
--- a/cpp/hal/gpiobus.cpp
+++ b/cpp/hal/gpiobus.cpp
@@ -15,7 +15,7 @@
 #include <spdlog/spdlog.h>
 #include <sys/ioctl.h>
 #include <sys/mman.h>
-#include <sys/time.h>
+#include <time.h>
 #ifdef __linux__
 #include <sys/epoll.h>
 #endif
@@ -278,9 +278,12 @@ int GPIOBUS::SendHandShake(uint8_t *buf, int count, int delay_after_bytes)
     if (actmode == mode_e::TARGET) {
         for (i = 0; i < count; i++) {
             if (i == delay_after_bytes) {
-                spdlog::trace("DELAYING for " + to_string(SCSI_DELAY_SEND_DATA_DAYNAPORT_US) + " us after " +
+                spdlog::trace("DELAYING for " + to_string(SCSI_DELAY_SEND_DATA_DAYNAPORT_NS) + " ns after " +
                 		to_string(delay_after_bytes) + " bytes");
-                SysTimer::SleepUsec(SCSI_DELAY_SEND_DATA_DAYNAPORT_US);
+                EnableIRQ();
+                const timespec ts = { .tv_sec = 0, .tv_nsec = SCSI_DELAY_SEND_DATA_DAYNAPORT_NS};
+                nanosleep(&ts, nullptr);
+                DisableIRQ();
             }
 
             // Set the DATA signals
diff --git a/cpp/hal/gpiobus_raspberry.cpp b/cpp/hal/gpiobus_raspberry.cpp
index 030413fd..03bb9640 100644
--- a/cpp/hal/gpiobus_raspberry.cpp
+++ b/cpp/hal/gpiobus_raspberry.cpp
@@ -606,42 +606,31 @@ uint8_t GPIOBUS_Raspberry::GetDAT()
     return (uint8_t)data;
 }
 
-//---------------------------------------------------------------------------
-//
-//	Set data signals
-//
-//---------------------------------------------------------------------------
 void GPIOBUS_Raspberry::SetDAT(uint8_t dat)
 {
-    // Write to port
+    // Write to ports
 #if SIGNAL_CONTROL_MODE == 0
     uint32_t fsel = gpfsel[0];
     fsel &= tblDatMsk[0][dat];
     fsel |= tblDatSet[0][dat];
-    if (fsel != gpfsel[0]) {
-        gpfsel[0]         = fsel;
-        gpio[GPIO_FSEL_0] = fsel;
-    }
+    gpfsel[0] = fsel;
+    gpio[GPIO_FSEL_0] = fsel;
 
     fsel = gpfsel[1];
     fsel &= tblDatMsk[1][dat];
     fsel |= tblDatSet[1][dat];
-    if (fsel != gpfsel[1]) {
-        gpfsel[1]         = fsel;
-        gpio[GPIO_FSEL_1] = fsel;
-    }
+    gpfsel[1] = fsel;
+    gpio[GPIO_FSEL_1] = fsel;
 
     fsel = gpfsel[2];
     fsel &= tblDatMsk[2][dat];
     fsel |= tblDatSet[2][dat];
-    if (fsel != gpfsel[2]) {
-        gpfsel[2]         = fsel;
-        gpio[GPIO_FSEL_2] = fsel;
-    }
+    gpfsel[2] = fsel;
+    gpio[GPIO_FSEL_2] = fsel;
 #else
     gpio[GPIO_CLR_0] = tblDatMsk[dat];
     gpio[GPIO_SET_0] = tblDatSet[dat];
-#endif // SIGNAL_CONTROL_MODE
+#endif
 }
 
 //---------------------------------------------------------------------------
diff --git a/cpp/hal/sbc_version.cpp b/cpp/hal/sbc_version.cpp
index caebbedf..cd334ad3 100644
--- a/cpp/hal/sbc_version.cpp
+++ b/cpp/hal/sbc_version.cpp
@@ -144,7 +144,7 @@ uint32_t SBC_Version::GetPeripheralAddress(void)
 
     return address;
 }
-#elif defined __NetBSD__
+#elif defined __NetBSD__ && (!defined(__x86_64__) || defined(__X86__))
 uint32_t SBC_Version::GetPeripheralAddress(void)
 {
     char buf[1024];