Commit Graph

18 Commits

Author SHA1 Message Date
Peter Barker 13b03f79db AP_HAL_ChibiOS: move from HAL_NO_SHARED_DMA to AP_HAL_SHARED_DMA_ENABLED
This allows hwdef files to manipulate this value
2022-07-19 18:02:26 +10:00
Andrew Tridgell 39f44147b8 HAL_ChibiOS: reduce the impact of UART DMA contention
this changes the heuristics for UART TX DMA allocation to greatly
reduce the chances of DMA contention causing long delays on other
devices

This fixes issues with FETTec driver output and gimbal status messages
as reported by Amilcar and OlliW. The problem is particularly bad when
no GPS is connected to GPS1 on fmuv3 and derived boards (such as
CubeBlack)

key changes:

 - remember the contention_counter across begin() calls, as the GPS
   calls begin with new baudrates regularly

 - added a is_shared() API to Shared_DMA, allowing the UART driver to
   avoid TX DMA on shared streams when at low baudrates.
2021-08-31 07:55:27 +10:00
Andrew Tridgell 243cf2199d HAL_ChibiOS: disable shared DMA on IOMCU
this saves about 600 bytes of ram
2021-02-24 18:21:08 +11:00
Andy Piper f9c5f9be00 AP_HAL_ChibiOS: make dshot DMA unlock event driven in order to allow unlocking from rcout thread
refactor rcout into separate thread and process all dshot requests there
move uart DMA completion to event model
process dshot locks in strick reverse order when unlocking
convert Shared_DMA to use mutexes
move UART transmit to a thread-per-uart
do blocking UART DMA transactions
do blocking dshot DMA transactions
trim stack sizes
cancel dma transactions on dshot when timeout occurs
support contention stats on blocking locking
move thread supression into chibios_hwdef.py
invalidate DMA bounce buffer correctly
separate UART initialisation into two halves
cleanup UART transaction timeouts
add @SYS/uarts.txt
move half-duplex handling to TX thread
correct thread statistics after use of ExpandingString
set unbuffered TX thread priority owner + 1
correctly unlock serial_led_send()
don't share IMU RX on KakuteF7Mini
observe dshot pulse time more accurately.
set TRBUFF bit for UART DMA transfers
deal with UART DMA timeouts correctly
don't deadlock on reverse ordered DMA locks
change PORT_INT_REQUIRED_STACK to 128
2021-02-20 14:37:11 +11:00
Andrew Tridgell 42bc9adfb7 HAL_ChibiOS: use ExpandingString for @SYS buffers 2021-01-05 10:52:00 +11:00
Andy Piper cf2602f91d AP_HAL_ChibiOS: add support for @SYS/dma.txt for DMA contention 2020-12-02 18:17:23 +11:00
Mirko Denecke b84dcd483d AP_HAL_ChibiOS: remove unnecessary tabs and whitespaces 2019-10-21 08:01:56 +11:00
Andrew Tridgell 16bdaaa1af HAL_ChibiOS: added support for STM31F10x for AP_Periph 2019-08-27 10:29:56 +10:00
Andrew Tridgell 33699d4f4a HAL_ChibiOS: fixed shared_dma for H7
stream ID any doesn't need to be locked
2019-02-26 16:18:26 +11:00
Siddharth Purohit 87a2dea9d4 HAL_ChibiOS: disable features that require advanced dma 2018-09-19 12:14:15 +10:00
Andrew Tridgell c12d14d7a4 HAL_ChibiOS: check for ChibiOS features 2018-06-22 08:00:31 +10:00
Andrew Tridgell bc32276966 HAL_ChibiOS: support DShot output
use DMAR burst DMA to minimise number of DMA channels needed

thanks to betaflight for the great reference implementation!
2018-04-07 09:10:29 +10:00
Andrew Tridgell a86e85c6b2 HAL_ChibiOS: enable checking for DMA contention 2018-04-07 09:10:29 +10:00
Andrew Tridgell 91c741ef07 HAL_ChibiOS: use a non-blocking lock for UART shared DMA
we can have multiple UARTs on the same thread sharing the same DMA TX
channel. That can lead to deadlock with blocking locks on DMA. This
makes UART requests for DMA locks non-blocking to fix the issue
2018-03-02 21:39:38 +11:00
Andrew Tridgell 875008f2a6 HAL_ChibiOS: lock all DMA channels on reboot
this fixes a problem with the ICM-20789 on I2C where a reboot while the bus is active
leaves the IMU in a dead state where it can't be recovered without a power cycle.
2018-02-08 17:36:33 +11:00
Andrew Tridgell 41758348e5 HAL_ChibiOS: added checking of lock state in shared_dma
and use lock around check for tx completion in UART handler
2018-02-07 20:33:45 +11:00
Andrew Tridgell f14a847b97 HAL_ChibiOS: rename classes to remove 'Chibi'
it is redundent as all classes are in ChibiOS namespace, and makes the
code harder to read
2018-01-15 11:46:02 +11:00
Andrew Tridgell 8b6bab7b17 HAL_Chibios: added ChibiOS HAL
this is based on initial work by Sid, reset here for easier merging
2018-01-15 11:46:02 +11:00