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HAL_ChibiOS: make sure the UART bounce buffers are DMA safe

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This commit is contained in:
Andrew Tridgell 2018-06-01 11:18:37 +10:00
parent eec4a12cc2
commit 0fade4eb9e
2 changed files with 10 additions and 3 deletions
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9
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
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@ -54,7 +54,6 @@ uint32_t UARTDriver::last_thread_run_us;
#define EVT_DATA EVENT_MASK(0) #define EVT_DATA EVENT_MASK(0)
UARTDriver::UARTDriver(uint8_t _serial_num) : UARTDriver::UARTDriver(uint8_t _serial_num) :
tx_bounce_buf_ready(true),
serial_num(_serial_num), serial_num(_serial_num),
sdef(_serial_tab[_serial_num]), sdef(_serial_tab[_serial_num]),
_baudrate(57600), _baudrate(57600),
@ -165,6 +164,14 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
_baudrate = b; _baudrate = b;
} }
if (rx_bounce_buf == nullptr) {
rx_bounce_buf = (uint8_t *)hal.util->malloc_type(RX_BOUNCE_BUFSIZE, AP_HAL::Util::MEM_DMA_SAFE);
}
if (tx_bounce_buf == nullptr) {
tx_bounce_buf = (uint8_t *)hal.util->malloc_type(TX_BOUNCE_BUFSIZE, AP_HAL::Util::MEM_DMA_SAFE);
tx_bounce_buf_ready = true;
}
/* /*
allocate the write buffer allocate the write buffer
*/ */

4
libraries/AP_HAL_ChibiOS/UARTDriver.h
View File

@ -131,8 +131,8 @@ private:
// we use in-task ring buffers to reduce the system call cost // we use in-task ring buffers to reduce the system call cost
// of ::read() and ::write() in the main loop // of ::read() and ::write() in the main loop
uint8_t rx_bounce_buf[RX_BOUNCE_BUFSIZE]; uint8_t *rx_bounce_buf;
uint8_t tx_bounce_buf[TX_BOUNCE_BUFSIZE]; uint8_t *tx_bounce_buf;
ByteBuffer _readbuf{0}; ByteBuffer _readbuf{0};
ByteBuffer _writebuf{0}; ByteBuffer _writebuf{0};
Semaphore _write_mutex; Semaphore _write_mutex;