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HAL_ChibiOS: avoid doing one-way SPI transfers

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these transfers use dummy bytes in the hal driver, which may not be in
DMA safe memory, so best to avoid them
This commit is contained in:
Andrew Tridgell 2019-02-18 10:21:28 +11:00
parent dad1774330
commit a3e69e715d
3 changed files with 12 additions and 12 deletions
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4
libraries/AP_HAL_ChibiOS/Device.cpp
View File

@ -161,10 +161,10 @@ bool DeviceBus::adjust_timer(AP_HAL::Device::PeriodicHandle h, uint32_t period_u
void DeviceBus::bouncebuffer_setup(const uint8_t *&buf_tx, uint16_t tx_len,
uint8_t *&buf_rx, uint16_t rx_len)
{
if (buf_rx) {
if (rx_len != 0) {
bouncebuffer_setup_read(bounce_buffer_rx, &buf_rx, rx_len);
}
if (buf_tx) {
if (tx_len != 0) {
bouncebuffer_setup_write(bounce_buffer_tx, &buf_tx, tx_len);
}
}

8
libraries/AP_HAL_ChibiOS/SPIDevice.cpp
View File

@ -176,13 +176,7 @@ void SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
bus.bouncebuffer_setup(send, len, recv, len);
if (send == nullptr) {
spiReceive(spi_devices[device_desc.bus].driver, len, recv);
} else if (recv == nullptr) {
spiSend(spi_devices[device_desc.bus].driver, len, send);
} else {
spiExchange(spi_devices[device_desc.bus].driver, len, send, recv);
}
spiExchange(spi_devices[device_desc.bus].driver, len, send, recv);
bus.bouncebuffer_finish(send, recv, len);

12
libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
View File

@ -48,6 +48,8 @@ void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_b
/*
setup for reading from a device into memory, allocating a bouncebuffer if needed
Note that *buf can be NULL, in which case we allocate DMA capable memory, but don't
copy to it in bouncebuffer_finish_read(). This avoids DMA failures in dummyrx in the SPI LLD
*/
void bouncebuffer_setup_read(struct bouncebuffer_t *bouncebuffer, uint8_t **buf, uint32_t size)
{
@ -79,8 +81,10 @@ void bouncebuffer_setup_read(struct bouncebuffer_t *bouncebuffer, uint8_t **buf,
void bouncebuffer_finish_read(struct bouncebuffer_t *bouncebuffer, const uint8_t *buf, uint32_t size)
{
if (bouncebuffer && buf == bouncebuffer->dma_buf) {
osalDbgAssert((bouncebuffer->busy == true), "bouncebuffer finish_read");
memcpy(bouncebuffer->orig_buf, buf, size);
osalDbgAssert((bouncebuffer->busy == true), "bouncebuffer finish_read");
if (bouncebuffer->orig_buf) {
memcpy(bouncebuffer->orig_buf, buf, size);
}
bouncebuffer->busy = false;
}
}
@ -104,7 +108,9 @@ void bouncebuffer_setup_write(struct bouncebuffer_t *bouncebuffer, const uint8_t
osalDbgAssert((bouncebuffer->dma_buf != NULL), "bouncebuffer write allocate");
bouncebuffer->size = size;
}
memcpy(bouncebuffer->dma_buf, *buf, size);
if (*buf) {
memcpy(bouncebuffer->dma_buf, *buf, size);
}
*buf = bouncebuffer->dma_buf;
#if defined(STM32H7)
osalDbgAssert((((uint32_t)*buf)&31) == 0, "bouncebuffer write align");