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HAL_ChibiOS: switched to fix allocation for BMDA streams on H7

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this avoids issues with BDMA stream assignments due to bugs found
while testing boards with both I2C4 and SPI6
This commit is contained in:
Andrew Tridgell 2021-08-24 15:18:31 +10:00
parent 4169656176
commit 4cebcede31
2 changed files with 39 additions and 11 deletions
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21
libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
View File

@ -582,3 +582,24 @@
#define STM32_WSPI_QUADSPI1_MDMA_PRIORITY 1
#define STM32_WSPI_QUADSPI1_PRESCALER_VALUE ((STM32_QSPICLK / HAL_QSPI1_CLK) - 1)
#endif
/*
we use a fixed allocation of BDMA streams. We previously dynamically
allocated these, but bugs in the chip make that unreliable. This is
a tested set of allocations that is known to work on boards that are
using all 3 of ADC3, I2C4 and SPI6. They are the only peripherals
that can use BDMA, so fixed allocation is possible as we have 8
streams and a maximum of 6 needed.
The layout is chosen to:
- avoid stream 0, as this doesn't work on ADC3 or SPI6_RX for no known reason
- leave a gap between the peripheral types, as we have previously found that we sometimes
lost SPI6 BDMA completion interrupts if SPI6 and I2c4 are neighbours
*/
#define STM32_I2C_I2C4_RX_BDMA_STREAM 1
#define STM32_I2C_I2C4_TX_BDMA_STREAM 2
#define STM32_SPI_SPI6_RX_BDMA_STREAM 4
#define STM32_SPI_SPI6_TX_BDMA_STREAM 5
#define STM32_ADC_ADC3_BDMA_STREAM 7

29
libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
View File

@ -231,11 +231,14 @@ def generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude, stream_ofs):
else:
dmamux1_peripherals.append(p)
map1 = generate_DMAMUX_map_mask(dmamux1_peripherals, 0xFFFF, noshare_list, dma_exclude, stream_ofs)
# there are 8 BDMA channels, but an issue has been found where if I2C4 and SPI6
# use neighboring channels then we sometimes lose a BDMA completion interrupt. To
# avoid this we set the BDMA available mask to 0x54, which forces the channels not to be
# adjacent. This issue was found on a CUAV-X7, with H743 RevV.
map2 = generate_DMAMUX_map_mask(dmamux2_peripherals, 0x54, noshare_list, dma_exclude, stream_ofs)
# there are 8 BDMA streams, but an issue has been found where if I2C4 and
# SPI6 use neighboring streams then we sometimes lose a BDMA completion
# interrupt. We also found that both ADC3 and SPI6_RX can't use the first
# stream. To avoid more complications we now statically allocate the BDMA
# streams for the 3 possible peripherals. To keep this code simpler we
# still have the mapping code here, but it ends not not being used and the
# static allocation is in stm32h7_mcuconf.h
map2 = generate_DMAMUX_map_mask(dmamux2_peripherals, 0xff, noshare_list, dma_exclude, stream_ofs)
# translate entries from map2 to "DMA controller 3", which is used for BDMA
for p in map2.keys():
streams = []
@ -447,10 +450,9 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
else:
dma_controller = curr_dict[key][0]
if dma_controller == 3:
# for BDMA we use 3 in the resolver
f.write("#define %-30s %u%s\n" %
(chibios_dma_define_name(key)+'STREAM',
curr_dict[key][1], shared))
# BDMA resources turn out to be very strange on H743. For now
# we will skip trying to allocate them automatically and
# instead rely on allocation in stm32h7_mcuconf.h.
continue
else:
f.write("#define %-30s STM32_DMA_STREAM_ID(%u, %u)%s\n" %
@ -526,8 +528,13 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
key = 'SPI%u' % u
else:
continue
f.write('#define STM32_SPI_%s_DMA_STREAMS STM32_SPI_%s_TX_%s_STREAM, STM32_SPI_%s_RX_%s_STREAM\n' % (
key, key, dma_name(key), key, dma_name(key)))
if dma_name(key) == 'BDMA':
# we use SHARED_DMA_NONE for SPI6 on H7 as we don't need to lock the stream
# as it is never shared
f.write('#define STM32_SPI_%s_DMA_STREAMS SHARED_DMA_NONE, SHARED_DMA_NONE\n' % key)
else:
f.write('#define STM32_SPI_%s_DMA_STREAMS STM32_SPI_%s_TX_%s_STREAM, STM32_SPI_%s_RX_%s_STREAM\n' % (
key, key, dma_name(key), key, dma_name(key)))
return unassigned, ordered_timers