mirror of https://github.com/ArduPilot/ardupilot
AP_Networking: dynamically allocate memory for MAC Peripheral
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@ -170,6 +170,58 @@ AP_Networking::AP_Networking(void)
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AP_Param::setup_object_defaults(this, var_info);
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}
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#ifdef STM32_ETH_BUFFERS_EXTERN
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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;
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uint32_t **__eth_tb;
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#endif
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static bool allocate_buffers()
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{
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#ifdef STM32_ETH_BUFFERS_EXTERN
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#define BUFFER_SIZE ((((STM32_MAC_BUFFERS_SIZE - 1) | 3) + 1) / 4)
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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*BUFFER_SIZE +
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sizeof(uint32_t)*STM32_MAC_TRANSMIT_BUFFERS*BUFFER_SIZE;
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// ensure that we allocate 32-bit aligned memory, and mark it non-cacheable
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uint32_t size = 0;
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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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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,
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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 = (uint32_t **)&__eth_td[STM32_MAC_TRANSMIT_BUFFERS];
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__eth_tb = (uint32_t **)&__eth_rb[STM32_MAC_RECEIVE_BUFFERS][BUFFER_SIZE];
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return true;
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#else
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return true;
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#endif
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}
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void AP_Networking::init()
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{
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@ -193,6 +245,10 @@ void AP_Networking::init()
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}
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#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
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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;
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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;
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