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HAL_ChibiOS: fixed shared DMA for H7

This commit is contained in:
Andrew Tridgell 2019-02-10 18:04:57 +11:00
parent 4c7fa7c6fb
commit c02a271c8a
1 changed files with 16 additions and 10 deletions
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26
libraries/AP_HAL_ChibiOS/shared_dma.cpp
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@ -48,12 +48,14 @@ Shared_DMA::Shared_DMA(uint8_t _stream_id1,
//remove any assigned deallocator or allocator
void Shared_DMA::unregister()
{
if (locks[stream_id1].obj == this) {
if (stream_id1 < SHARED_DMA_MAX_STREAM_ID &&
locks[stream_id1].obj == this) {
locks[stream_id1].deallocate(this);
locks[stream_id1].obj = nullptr;
}
if (locks[stream_id2].obj == this) {
if (stream_id2 < SHARED_DMA_MAX_STREAM_ID &&
locks[stream_id2].obj == this) {
locks[stream_id2].deallocate(this);
locks[stream_id2].obj = nullptr;
}
@ -62,7 +64,7 @@ void Shared_DMA::unregister()
// lock one stream
void Shared_DMA::lock_stream(uint8_t stream_id)
{
if (stream_id != STM32_DMA_STREAM_ID_ANY) {
if (stream_id < SHARED_DMA_MAX_STREAM_ID) {
chBSemWait(&locks[stream_id].semaphore);
}
}
@ -70,7 +72,7 @@ void Shared_DMA::lock_stream(uint8_t stream_id)
// unlock one stream
void Shared_DMA::unlock_stream(uint8_t stream_id)
{
if (stream_id != STM32_DMA_STREAM_ID_ANY) {
if (stream_id < SHARED_DMA_MAX_STREAM_ID) {
chBSemSignal(&locks[stream_id].semaphore);
}
}
@ -78,7 +80,7 @@ void Shared_DMA::unlock_stream(uint8_t stream_id)
// unlock one stream from an IRQ handler
void Shared_DMA::unlock_stream_from_IRQ(uint8_t stream_id)
{
if (stream_id != STM32_DMA_STREAM_ID_ANY) {
if (stream_id < SHARED_DMA_MAX_STREAM_ID) {
chBSemSignalI(&locks[stream_id].semaphore);
}
}
@ -86,7 +88,7 @@ void Shared_DMA::unlock_stream_from_IRQ(uint8_t stream_id)
// lock one stream, non-blocking
bool Shared_DMA::lock_stream_nonblocking(uint8_t stream_id)
{
if (stream_id != STM32_DMA_STREAM_ID_ANY) {
if (stream_id < SHARED_DMA_MAX_STREAM_ID) {
return chBSemWaitTimeout(&locks[stream_id].semaphore, 1) == MSG_OK;
}
return true;
@ -98,18 +100,18 @@ void Shared_DMA::lock_core(void)
{
// see if another driver has DMA allocated. If so, call their
// deallocation function
if (stream_id1 != SHARED_DMA_NONE &&
if (stream_id1 < SHARED_DMA_MAX_STREAM_ID &&
locks[stream_id1].obj && locks[stream_id1].obj != this) {
locks[stream_id1].deallocate(locks[stream_id1].obj);
locks[stream_id1].obj = nullptr;
}
if (stream_id2 != SHARED_DMA_NONE &&
if (stream_id2 < SHARED_DMA_MAX_STREAM_ID &&
locks[stream_id2].obj && locks[stream_id2].obj != this) {
locks[stream_id2].deallocate(locks[stream_id2].obj);
locks[stream_id2].obj = nullptr;
}
if ((stream_id1 != SHARED_DMA_NONE && locks[stream_id1].obj == nullptr) ||
(stream_id2 != SHARED_DMA_NONE && locks[stream_id2].obj == nullptr)) {
if ((stream_id1 < SHARED_DMA_MAX_STREAM_ID && locks[stream_id1].obj == nullptr) ||
(stream_id2 < SHARED_DMA_MAX_STREAM_ID && locks[stream_id2].obj == nullptr)) {
// allocate the DMA channels and put our deallocation function in place
allocate(this);
if (stream_id1 != SHARED_DMA_NONE) {
@ -120,6 +122,10 @@ void Shared_DMA::lock_core(void)
locks[stream_id2].deallocate = deallocate;
locks[stream_id2].obj = this;
}
} else if (stream_id1 == STM32_DMA_STREAM_ID_ANY ||
stream_id2 == STM32_DMA_STREAM_ID_ANY) {
// call allocator without needing locking
allocate(this);
}
have_lock = true;
}