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AP_Networking: dynamically allocate memory for MAC Peripheral

This commit is contained in:
bugobliterator 2023-07-15 16:21:24 +10:00 committed by Andrew Tridgell
parent e6b51df7cd
commit 558f0272d6
1 changed files with 56 additions and 0 deletions
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56
libraries/AP_Networking/AP_Networking.cpp
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@ -170,6 +170,58 @@ AP_Networking::AP_Networking(void)
AP_Param::setup_object_defaults(this, var_info);
}
#ifdef STM32_ETH_BUFFERS_EXTERN
stm32_eth_rx_descriptor_t *__eth_rd;
stm32_eth_tx_descriptor_t *__eth_td;
uint32_t **__eth_rb;
uint32_t **__eth_tb;
#endif
static bool allocate_buffers()
{
#ifdef STM32_ETH_BUFFERS_EXTERN
#define BUFFER_SIZE ((((STM32_MAC_BUFFERS_SIZE - 1) | 3) + 1) / 4)
// check total size of buffers
const uint32_t total_size = sizeof(stm32_eth_rx_descriptor_t)*STM32_MAC_RECEIVE_BUFFERS +
sizeof(stm32_eth_tx_descriptor_t)*STM32_MAC_TRANSMIT_BUFFERS +
sizeof(uint32_t)*STM32_MAC_RECEIVE_BUFFERS*BUFFER_SIZE +
sizeof(uint32_t)*STM32_MAC_TRANSMIT_BUFFERS*BUFFER_SIZE;
// ensure that we allocate 32-bit aligned memory, and mark it non-cacheable
uint32_t size = 0;
uint8_t rasr = 0;
// find size closest to power of 2
while (size < total_size) {
size = size << 1;
rasr++;
}
void *mem = malloc_eth_safe(size);
if (mem == nullptr) {
return false;
}
uint32_t rasr_size = MPU_RASR_SIZE(rasr-1);
// set up MPU region for buffers
mpuConfigureRegion(STM32_NOCACHE_MPU_REGION,
(uint32_t)mem,
MPU_RASR_ATTR_AP_RW_RW |
MPU_RASR_ATTR_NON_CACHEABLE |
MPU_RASR_ATTR_S |
rasr_size |
MPU_RASR_ENABLE);
mpuEnable(MPU_CTRL_PRIVDEFENA);
SCB_CleanInvalidateDCache();
// assign buffers
__eth_rd = (stm32_eth_rx_descriptor_t *)mem;
__eth_td = (stm32_eth_tx_descriptor_t *)&__eth_rd[STM32_MAC_RECEIVE_BUFFERS];
__eth_rb = (uint32_t **)&__eth_td[STM32_MAC_TRANSMIT_BUFFERS];
__eth_tb = (uint32_t **)&__eth_rb[STM32_MAC_RECEIVE_BUFFERS][BUFFER_SIZE];
return true;
#else
return true;
#endif
}
void AP_Networking::init()
{
@ -193,6 +245,10 @@ void AP_Networking::init()
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
if (!allocate_buffers()) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "NET: Failed to allocate buffers");
return;
}
if (!macInit()) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "NET: macInit failed");
return;