2023-08-05 03:46:13 -03:00
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#include "AP_Networking_Config.h"
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2023-11-12 18:09:58 -04:00
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#if AP_NETWORKING_BACKEND_CHIBIOS
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2023-08-05 03:46:13 -03:00
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#include "AP_Networking_ChibiOS.h"
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#include <GCS_MAVLink/GCS.h>
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#include <lwipthread.h>
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#include <lwip/udp.h>
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#include <lwip/ip_addr.h>
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extern const AP_HAL::HAL& hal;
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#ifndef STM32_ETH_BUFFERS_EXTERN
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#error "Must use external ethernet buffers"
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#endif
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/*
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these are referenced as globals inside lwip
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*/
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stm32_eth_rx_descriptor_t *__eth_rd;
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stm32_eth_tx_descriptor_t *__eth_td;
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uint32_t *__eth_rb[STM32_MAC_RECEIVE_BUFFERS];
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uint32_t *__eth_tb[STM32_MAC_TRANSMIT_BUFFERS];
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/*
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allocate buffers for LWIP
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*/
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bool AP_Networking_ChibiOS::allocate_buffers()
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{
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#define AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE ((((STM32_MAC_BUFFERS_SIZE - 1) | 3) + 1) / 4) // typically == 381
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// check total size of buffers
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const uint32_t total_size = sizeof(stm32_eth_rx_descriptor_t)*STM32_MAC_RECEIVE_BUFFERS +
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sizeof(stm32_eth_tx_descriptor_t)*STM32_MAC_TRANSMIT_BUFFERS +
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sizeof(uint32_t)*STM32_MAC_RECEIVE_BUFFERS*AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE +
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sizeof(uint32_t)*STM32_MAC_TRANSMIT_BUFFERS*AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE; // typically == 9240
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// ensure that we allocate 32-bit aligned memory, and mark it non-cacheable
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uint32_t size = 2;
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uint8_t rasr = 0;
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// find size closest to power of 2
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while (size < total_size) {
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size = size << 1;
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rasr++;
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}
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void *mem = malloc_eth_safe(size);
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if (mem == nullptr) {
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return false;
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}
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// ensure our memory is aligned
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// ref. Cortex-M7 peripherals PM0253, section 4.6.4 MPU region base address register
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if (((uint32_t)mem) % size) {
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AP_HAL::panic("Bad alignment of ETH memory");
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}
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// for total_size == 9240, size should be 16384 and (rasr-1) should be 13 (MPU_RASR_SIZE_16K)
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const uint32_t rasr_size = MPU_RASR_SIZE(rasr-1);
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// set up MPU region for buffers
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mpuConfigureRegion(STM32_NOCACHE_MPU_REGION_ETH,
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(uint32_t)mem,
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MPU_RASR_ATTR_AP_RW_RW |
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MPU_RASR_ATTR_NON_CACHEABLE |
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MPU_RASR_ATTR_S |
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rasr_size |
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MPU_RASR_ENABLE);
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mpuEnable(MPU_CTRL_PRIVDEFENA);
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SCB_CleanInvalidateDCache();
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// assign buffers
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__eth_rd = (stm32_eth_rx_descriptor_t *)mem;
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__eth_td = (stm32_eth_tx_descriptor_t *)&__eth_rd[STM32_MAC_RECEIVE_BUFFERS];
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__eth_rb[0] = (uint32_t*)&__eth_td[STM32_MAC_TRANSMIT_BUFFERS];
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for (uint16_t i = 1; i < STM32_MAC_RECEIVE_BUFFERS; i++) {
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__eth_rb[i] = &(__eth_rb[i-1][AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE]);
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}
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__eth_tb[0] = &(__eth_rb[STM32_MAC_RECEIVE_BUFFERS-1][AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE]);
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for (uint16_t i = 1; i < STM32_MAC_TRANSMIT_BUFFERS; i++) {
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__eth_tb[i] = &(__eth_tb[i-1][AP_NETWORKING_EXTERN_MAC_BUFFER_SIZE]);
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}
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return true;
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}
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/*
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initialise ChibiOS network backend using LWIP
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*/
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bool AP_Networking_ChibiOS::init()
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{
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#ifdef HAL_GPIO_ETH_ENABLE
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hal.gpio->pinMode(HAL_GPIO_ETH_ENABLE, HAL_GPIO_OUTPUT);
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2023-08-07 13:23:39 -03:00
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hal.gpio->write(HAL_GPIO_ETH_ENABLE, frontend.param.enabled ? 1 : 0);
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2023-08-05 03:46:13 -03:00
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#endif
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if (!allocate_buffers()) {
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "NET: Failed to allocate buffers");
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return false;
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}
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if (!macInit()) {
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GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "NET: macInit failed");
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return false;
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}
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#if !AP_NETWORKING_DHCP_AVAILABLE
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frontend.set_dhcp_enable(false);
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#endif
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lwip_options = new lwipthread_opts;
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if (frontend.get_dhcp_enabled()) {
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lwip_options->addrMode = NET_ADDRESS_DHCP;
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} else {
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lwip_options->addrMode = NET_ADDRESS_STATIC;
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2023-08-05 04:08:52 -03:00
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lwip_options->address = htonl(frontend.get_ip_param());
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lwip_options->netmask = htonl(frontend.get_netmask_param());
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lwip_options->gateway = htonl(frontend.get_gateway_param());
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2023-08-05 03:46:13 -03:00
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}
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frontend.param.macaddr.get_address(macaddr);
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lwip_options->macaddress = macaddr;
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lwipInit(lwip_options);
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return true;
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}
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/*
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update called at 10Hz
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*/
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void AP_Networking_ChibiOS::update()
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{
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2023-08-05 04:08:52 -03:00
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const uint32_t ip = ntohl(lwipGetIp());
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const uint32_t nm = ntohl(lwipGetNetmask());
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const uint32_t gw = ntohl(lwipGetGateway());
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2023-08-05 03:46:13 -03:00
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if (ip != activeSettings.ip ||
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nm != activeSettings.nm ||
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gw != activeSettings.gw) {
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activeSettings.ip = ip;
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activeSettings.gw = gw;
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activeSettings.nm = nm;
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activeSettings.last_change_ms = AP_HAL::millis();
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}
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}
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2023-11-12 18:09:58 -04:00
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#endif // AP_NETWORKING_BACKEND_CHIBIOS
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2023-08-05 03:46:13 -03:00
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