diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
index 9cf7d630cf..c2bb26e5ee 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
@@ -50,22 +50,44 @@ def can_share(periph, noshare_list):
return False
+# list of peripherals on H7 that are on DMAMUX2 and BDMA
+have_DMAMUX = False
+DMAMUX2_peripherals = [ 'I2C4', 'SPI6', 'ADC3' ]
+
+def dmamux_channel(key):
+ '''return DMAMUX channel for H7'''
+ for p in DMAMUX2_peripherals:
+ if key.find(p) != -1:
+ return 'STM32_DMAMUX2_' + key
+ # default to DMAMUX1
+ return 'STM32_DMAMUX1_' + key
+
+def dma_name(key):
+ '''return 'DMA' or 'BDMA' based on peripheral name'''
+ if not have_DMAMUX:
+ return "DMA"
+ for p in DMAMUX2_peripherals:
+ if key.find(p) != -1:
+ return 'BDMA'
+ return 'DMA'
+
def chibios_dma_define_name(key):
'''return define name needed for board.h for ChibiOS'''
+ dma_key = key + '_' + dma_name(key)
if key.startswith('ADC'):
- return 'STM32_ADC_%s_DMA_' % key
+ return 'STM32_ADC_%s_' % dma_key
elif key.startswith('SPI'):
- return 'STM32_SPI_%s_DMA_' % key
+ return 'STM32_SPI_%s_' % dma_key
elif key.startswith('I2C'):
- return 'STM32_I2C_%s_DMA_' % key
+ return 'STM32_I2C_%s_' % dma_key
elif key.startswith('USART'):
- return 'STM32_UART_%s_DMA_' % key
+ return 'STM32_UART_%s_' % dma_key
elif key.startswith('UART'):
- return 'STM32_UART_%s_DMA_' % key
+ return 'STM32_UART_%s_' % dma_key
elif key.startswith('SDIO') or key.startswith('SDMMC'):
- return 'STM32_SDC_%s_DMA_' % key
+ return 'STM32_SDC_%s_' % dma_key
elif key.startswith('TIM'):
- return 'STM32_TIM_%s_DMA_' % key
+ return 'STM32_TIM_%s_' % dma_key
else:
print("Error: Unknown key type %s" % key)
sys.exit(1)
@@ -88,7 +110,7 @@ def get_sharing_priority(periph_list, priority_list):
highest = prio
return highest
-def generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude):
+def generate_DMAMUX_map_mask(peripheral_list, channel_mask, noshare_list, dma_exclude):
'''
generate a dma map suitable for a board with a DMAMUX
@@ -100,7 +122,7 @@ def generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude):
idsets = {}
# first unshareable peripherals
- available = 0xFFFF
+ available = channel_mask
for p in peripheral_list:
dma_map[p] = []
idsets[p] = set()
@@ -167,10 +189,30 @@ def generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude):
print('idsets: ', idsets)
return dma_map
+def generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude):
+ '''
+ generate a dma map suitable for a board with a DMAMUX1 and DMAMUX2
+ '''
+ # first split peripheral_list into those for DMAMUX1 and those for DMAMUX2
+ dmamux1_peripherals = []
+ dmamux2_peripherals = []
+ for p in peripheral_list:
+ if dma_name(p) == 'BDMA':
+ dmamux2_peripherals.append(p)
+ else:
+ dmamux1_peripherals.append(p)
+ map1 = generate_DMAMUX_map_mask(dmamux1_peripherals, 0xFFFF, noshare_list, dma_exclude)
+ map2 = generate_DMAMUX_map_mask(dmamux2_peripherals, 0xFF, noshare_list, dma_exclude)
+ both = map1
+ both.update(map2)
+ if debug:
+ print('dma_map_both: ', both)
+ return both
+
def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
dma_priority='', dma_noshare=''):
'''write out a DMA resolver header file'''
- global dma_map
+ global dma_map, have_DMAMUX
# form a list of DMA priorities
priority_list = dma_priority.split()
@@ -194,8 +236,6 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
if dma_map is None:
have_DMAMUX = True
dma_map = generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude)
- else:
- have_DMAMUX = False
print("Writing DMA map")
unassigned = []
@@ -274,7 +314,7 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
shared = ' // shared %s' % ','.join(stream_assign[stream])
if curr_dict[key] == "STM32_DMA_STREAM_ID_ANY":
f.write("#define %-30s STM32_DMA_STREAM_ID_ANY\n" % (chibios_dma_define_name(key)+'STREAM'))
- f.write("#define %-30s STM32_DMAMUX1_%s\n" % (chibios_dma_define_name(key)+'CHAN', key))
+ f.write("#define %-30s %s\n" % (chibios_dma_define_name(key)+'CHAN', dmamux_channel(key)))
continue
else:
f.write("#define %-30s STM32_DMA_STREAM_ID(%u, %u)%s\n" %
@@ -283,7 +323,7 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
for streamchan in dma_map[key]:
if stream == (streamchan[0], streamchan[1]):
if have_DMAMUX:
- chan = 'STM32_DMAMUX1_%s' % key
+ chan = dmamux_channel(key)
else:
chan = streamchan[2]
f.write("#define %-30s %s\n" %
@@ -306,24 +346,22 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
continue
if have_DMAMUX:
# use DMAMUX ID as channel number
- dma_rx_chn = "STM32_DMAMUX1_" + key + "_RX"
- dma_tx_chn = "STM32_DMAMUX1_" + key + "_TX"
+ dma_rx_chn = dmamux_channel(key + "_RX")
+ dma_tx_chn = dmamux_channel(key + "_TX")
else:
- dma_rx_chn = "STM32_UART_%s_RX_DMA_CHAN" % key
- dma_tx_chn = "STM32_UART_%s_TX_DMA_CHAN" % key
+ dma_rx_chn = "STM32_UART_%s_RX_%s_CHAN" % (key, dma_name(key))
+ dma_tx_chn = "STM32_UART_%s_TX_%s_CHAN" % (key, dma_name(key))
f.write("#define STM32_%s_RX_DMA_CONFIG " % key)
if key + "_RX" in curr_dict:
f.write(
- "true, STM32_UART_%s_RX_DMA_STREAM, %s\n" %
- (key, dma_rx_chn))
+ "true, STM32_UART_%s_RX_%s_STREAM, %s\n" % (key, dma_name(key), dma_rx_chn))
else:
f.write("false, 0, 0\n")
f.write("#define STM32_%s_TX_DMA_CONFIG " % key)
if key + "_TX" in curr_dict:
f.write(
- "true, STM32_UART_%s_TX_DMA_STREAM, %s\n" %
- (key, dma_tx_chn))
+ "true, STM32_UART_%s_TX_%s_STREAM, %s\n" % (key, dma_name(key), dma_tx_chn))
else:
f.write("false, 0, 0\n")