Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: added cache management for H7 in bouncebuffer code

This commit is contained in:
Andrew Tridgell 2019-02-10 08:52:15 +11:00
parent 50b7b7beb5
commit 46cb506a22
1 changed files with 12 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
View File

@ -21,7 +21,10 @@
#include <stdio.h> #include <stdio.h>
#include "bouncebuffer.h" #include "bouncebuffer.h"
#if DTCM_RAM_SIZE_KB > 0 #if defined(STM32H7)
// always use a bouncebuffer on H7, to ensure alignment and padding
#define IS_DMA_SAFE(addr) false
#elif DTCM_RAM_SIZE_KB > 0
// on F7 and H7 we check we are in the DTCM region, and 16 bit aligned // on F7 and H7 we check we are in the DTCM region, and 16 bit aligned
#define IS_DMA_SAFE(addr) ((((uint32_t)(addr)) & ((0xFFFFFFFF & ~(DTCM_RAM_SIZE_KB*1024U-1)) | 1U)) == 0x20000000) #define IS_DMA_SAFE(addr) ((((uint32_t)(addr)) & ((0xFFFFFFFF & ~(DTCM_RAM_SIZE_KB*1024U-1)) | 1U)) == 0x20000000)
#else #else
@ -63,6 +66,10 @@ void bouncebuffer_setup_read(struct bouncebuffer_t *bouncebuffer, uint8_t **buf,
bouncebuffer->size = size; bouncebuffer->size = size;
} }
*buf = bouncebuffer->dma_buf; *buf = bouncebuffer->dma_buf;
#if defined(STM32H7)
osalDbgAssert((((uint32_t)*buf)&31) == 0, "bouncebuffer read align");
cacheBufferInvalidate(*buf, (size+31)&~31);
#endif
bouncebuffer->busy = true; bouncebuffer->busy = true;
} }
@ -99,6 +106,10 @@ void bouncebuffer_setup_write(struct bouncebuffer_t *bouncebuffer, const uint8_t
} }
memcpy(bouncebuffer->dma_buf, *buf, size); memcpy(bouncebuffer->dma_buf, *buf, size);
*buf = bouncebuffer->dma_buf; *buf = bouncebuffer->dma_buf;
#if defined(STM32H7)
osalDbgAssert((((uint32_t)*buf)&31) == 0, "bouncebuffer write align");
cacheBufferFlush(*buf, (size+31)&~31);
#endif
bouncebuffer->busy = true; bouncebuffer->busy = true;
} }