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HAL_ChibiOS: fixed a cache corruption issue on H7

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This fixes a bug introduced in this PR:

https://github.com/ArduPilot/ardupilot/pull/25900

the bug is that when we don't go via the bouncebuffer on H7 we were
also skipping the cache invalidate/flush ops. This caused data
corruption for filesystem operations, particularly noticible as lua
scripts failing to load with parse errors or log corruption
This commit is contained in:
Andrew Tridgell 2024-03-16 20:07:40 +11:00 committed by Randy Mackay
parent b3c6508998
commit 9a19cf81e3
2 changed files with 14 additions and 3 deletions
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15
libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
View File

@ -48,7 +48,13 @@ void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_b
bool bouncebuffer_setup_read(struct bouncebuffer_t *bouncebuffer, uint8_t **buf, uint32_t size) bool bouncebuffer_setup_read(struct bouncebuffer_t *bouncebuffer, uint8_t **buf, uint32_t size)
{ {
if (!bouncebuffer || mem_is_dma_safe(*buf, size, bouncebuffer->on_axi_sram)) { if (!bouncebuffer || mem_is_dma_safe(*buf, size, bouncebuffer->on_axi_sram)) {
// nothing needs to be done #if defined(STM32H7)
/*
on H7 the cache needs invalidating before a read to ensure
there is no stale data in the buffer
*/
stm32_cacheBufferInvalidate(*buf, (size+31)&~31);
#endif
return true; return true;
} }
osalDbgAssert((bouncebuffer->busy == false), "bouncebuffer read"); osalDbgAssert((bouncebuffer->busy == false), "bouncebuffer read");
@ -97,7 +103,12 @@ void bouncebuffer_finish_read(struct bouncebuffer_t *bouncebuffer, const uint8_t
bool bouncebuffer_setup_write(struct bouncebuffer_t *bouncebuffer, const uint8_t **buf, uint32_t size) bool bouncebuffer_setup_write(struct bouncebuffer_t *bouncebuffer, const uint8_t **buf, uint32_t size)
{ {
if (!bouncebuffer || mem_is_dma_safe(*buf, size, bouncebuffer->on_axi_sram)) { if (!bouncebuffer || mem_is_dma_safe(*buf, size, bouncebuffer->on_axi_sram)) {
// nothing needs to be done #if defined(STM32H7)
/*
on H7 we need to flush any pending writes to memory before the DMA operation
*/
stm32_cacheBufferFlush(*buf, (size+31)&~31);
#endif
return true; return true;
} }
osalDbgAssert((bouncebuffer->busy == false), "bouncebuffer write"); osalDbgAssert((bouncebuffer->busy == false), "bouncebuffer write");

2
libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
View File

@ -635,7 +635,7 @@ bool mem_is_dma_safe(const void *addr, uint32_t size, bool filesystem_op)
// use bouncebuffer for all non FS ops on H7 // use bouncebuffer for all non FS ops on H7
return false; return false;
} }
if (((uint32_t)addr) & 0x1F) { if ((((uint32_t)addr) & 0x1F) != 0 || (size & 0x1F) != 0) {
return false; return false;
} }
if (filesystem_op) { if (filesystem_op) {