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HAL_ChibiOS: support ChibiOS kernel major 6

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preparing for STM32H7 support
This commit is contained in:
Andrew Tridgell 2019-02-02 12:47:46 +11:00
parent e79b7fb6d5
commit bbd25350eb
6 changed files with 36 additions and 31 deletions
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6
libraries/AP_HAL_ChibiOS/AnalogIn.cpp
View File

@ -185,11 +185,9 @@ void AnalogSource::_add_value(float v, float vcc5V)
/*
callback from ADC driver when sample buffer is filled
*/
void AnalogIn::adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n)
void AnalogIn::adccallback(ADCDriver *adcp)
{
if (buffer != samples) {
return;
}
const adcsample_t *buffer = samples;
for (uint8_t i = 0; i < ADC_DMA_BUF_DEPTH; i++) {
for (uint8_t j = 0; j < ADC_GRP1_NUM_CHANNELS; j++) {
sample_sum[j] += *buffer++;

2
libraries/AP_HAL_ChibiOS/AnalogIn.h
View File

@ -63,7 +63,7 @@ public:
float board_voltage(void) override { return _board_voltage; }
float servorail_voltage(void) override { return _servorail_voltage; }
uint16_t power_status_flags(void) override { return _power_flags; }
static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n);
static void adccallback(ADCDriver *adcp);
private:
void read_adc(uint32_t *val);

16
libraries/AP_HAL_ChibiOS/CanIface.cpp
View File

@ -63,7 +63,7 @@
# endif
#endif
#if (CH_KERNEL_MAJOR == 3 || CH_KERNEL_MAJOR == 4 || CH_KERNEL_MAJOR == 5)
#if (CH_KERNEL_MAJOR == 3 || CH_KERNEL_MAJOR == 4 || CH_KERNEL_MAJOR == 5 || CH_KERNEL_MAJOR == 6)
#define CAN1_TX_IRQHandler STM32_CAN1_TX_HANDLER
#define CAN1_RX0_IRQHandler STM32_CAN1_RX0_HANDLER
#define CAN1_RX1_IRQHandler STM32_CAN1_RX1_HANDLER
@ -1213,10 +1213,16 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler)
# if UAVCAN_STM32_NUM_IFACES > 1
#if !defined(CAN2_TX_IRQHandler) ||\
!defined(CAN2_RX0_IRQHandler) ||\
!defined(CAN2_RX1_IRQHandler)
# error "Misconfigured build"
#if !defined(CAN2_TX_IRQHandler)
# error "Misconfigured build1"
#endif
#if !defined(CAN2_RX0_IRQHandler)
# error "Misconfigured build2"
#endif
#if !defined(CAN2_RX1_IRQHandler)
# error "Misconfigured build3"
#endif
UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler);

6
libraries/AP_HAL_ChibiOS/RCOutput.cpp
View File

@ -820,8 +820,9 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
pwm_group &group = pwm_group_list[i];
if (group.dma_handle == ctx) {
osalDbgAssert(group.dma == nullptr, "double DMA allocation");
chSysLock();
dmaStreamAllocate(group.dma, 10, dma_irq_callback, &group);
group.dma = dmaStreamAllocI(group.dma_up_stream_id, 10, dma_irq_callback, &group);
chSysUnlock();
}
}
@ -836,7 +837,8 @@ void RCOutput::dma_deallocate(Shared_DMA *ctx)
pwm_group &group = pwm_group_list[i];
if (group.dma_handle == ctx) {
chSysLock();
dmaStreamRelease(group.dma);
dmaStreamFreeI(group.dma);
group.dma = nullptr;
chSysUnlock();
}
}

6
libraries/AP_HAL_ChibiOS/SoftSigReader.cpp
View File

@ -36,13 +36,13 @@ bool SoftSigReader::attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan,
}
_icu_drv = icu_drv;
//Setup Burst transfer of period and width measurement
dma = STM32_DMA_STREAM(dma_stream);
osalDbgAssert(dma == nullptr, "double DMA allocation");
chSysLock();
bool dma_allocated = dmaStreamAllocate(dma,
dma = dmaStreamAllocI(dma_stream,
12, //IRQ Priority
(stm32_dmaisr_t)_irq_handler,
(void *)this);
osalDbgAssert(!dma_allocated, "stream already allocated");
osalDbgAssert(dma, "stream allocation failed");
chSysUnlock();
//setup address for full word transfer from Timer
dmaStreamSetPeripheral(dma, &icu_drv->tim->DMAR);

13
libraries/AP_HAL_ChibiOS/UARTDriver.cpp
View File

@ -226,13 +226,13 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
//setup Rx DMA
if(!_device_initialised) {
if(sdef.dma_rx) {
rxdma = STM32_DMA_STREAM(sdef.dma_rx_stream_id);
osalDbgAssert(rxdma == nullptr, "double DMA allocation");
chSysLock();
bool dma_allocated = dmaStreamAllocate(rxdma,
rxdma = dmaStreamAllocI(sdef.dma_rx_stream_id,
12, //IRQ Priority
(stm32_dmaisr_t)rxbuff_full_irq,
(void *)this);
osalDbgAssert(!dma_allocated, "stream already allocated");
osalDbgAssert(rxdma, "stream alloc failed");
chSysUnlock();
#if defined(STM32F7)
dmaStreamSetPeripheral(rxdma, &((SerialDriver*)sdef.serial)->usart->RDR);
@ -315,13 +315,12 @@ void UARTDriver::dma_tx_allocate(Shared_DMA *ctx)
{
#if HAL_USE_SERIAL == TRUE
osalDbgAssert(txdma == nullptr, "double DMA allocation");
txdma = STM32_DMA_STREAM(sdef.dma_tx_stream_id);
chSysLock();
bool dma_allocated = dmaStreamAllocate(txdma,
txdma = dmaStreamAllocI(sdef.dma_tx_stream_id,
12, //IRQ Priority
(stm32_dmaisr_t)tx_complete,
(void *)this);
osalDbgAssert(!dma_allocated, "stream already allocated");
osalDbgAssert(txdma, "stream alloc failed");
chSysUnlock();
#if defined(STM32F7)
dmaStreamSetPeripheral(txdma, &((SerialDriver*)sdef.serial)->usart->TDR);
@ -334,7 +333,7 @@ void UARTDriver::dma_tx_allocate(Shared_DMA *ctx)
void UARTDriver::dma_tx_deallocate(Shared_DMA *ctx)
{
chSysLock();
dmaStreamRelease(txdma);
dmaStreamFreeI(txdma);
txdma = nullptr;
chSysUnlock();
}