mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
9f30d01561
add support to tell if shared DMA channel is actually shared avoid starting and stopping the timer peripheral with bdshot ensure that rcout DMA allocation and deallocation happens entirely within the lock increase rcout thread working area for bdshot fix mode mask that is sent to the iomcu ensure iomcu rcout thread gets timeouts for callbacks control bdshot input and output line levels on f103 use input capture channel pairs to read rising and falling edges of telemetry on f103 reset channel pairs together on iomcu generalize the bdshot input path to support suitable buffer sizes for iomcu generalize DMAR reading of CCR registers to read two at a time on iomcu enable bi-directional dshot channels on PWM1-4 on iomcu add methods to directly access erpm values from rcout update erpm mask and esc telemetry correctly for firmware supporting dshot add support for propagating bdmask to iomcu dshot commands to all channels need to be aware of iomcu ensure esc type is propagated to iomcu cope with iomcu channel numbering when using EDT ensure pwm driver is reset properly for dshot commands on iomcu correctly reset pwm for dshot commands correctly mask off bdshot bits going to iomcu don't reset GPIO modes on disabled lines don't reset pwm_started when sharing DMA channels set thread name on iomcu rcout and reduce stack size on iomcu ensure that bdshot pulses with no response are handled correctly correctly setup DMA for input capture on f103 deal with out of order captured bytes when decoding bdshot telemetry ensure DMA sharing on f103 does not pull lines low only disable the timer peripheral when switching DMA channels on iomcu add support for waiting for _UP to finish before proceeding with dshot re-order iomcu dshot channels to let TIM4_UP go first ensure that a cascading event will always come when expected on rcout allow timeouts when using cascading dshot always rotate telemetry channel after trying to capture input cater for both in order and out-of-order bdshot telemetry packets cope with reversed packets when decoding bdshot telemetry ensure UP DMA channel is fully free on iomcu before starting next dshot cycle refactor rcout for iofirmware into separate file
119 lines
3.6 KiB
C++
119 lines
3.6 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include "AP_HAL_ChibiOS.h"
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#define SHARED_DMA_MAX_STREAM_ID (8*2)
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// DMA stream ID for stream_id2 when only one is needed
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#define SHARED_DMA_NONE 255
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#if AP_HAL_SHARED_DMA_ENABLED
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class ChibiOS::Shared_DMA
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{
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public:
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FUNCTOR_TYPEDEF(dma_allocate_fn_t, void, Shared_DMA *);
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FUNCTOR_TYPEDEF(dma_deallocate_fn_t, void, Shared_DMA *);
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// the use of two stream IDs is for support of peripherals that
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// need both a RX and TX DMA channel
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Shared_DMA(uint8_t stream_id1, uint8_t stream_id2,
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dma_allocate_fn_t allocate,
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dma_allocate_fn_t deallocate);
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// initialise the stream locks
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static void init(void);
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// blocking lock call
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void lock(void);
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// non-blocking lock call
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bool lock_nonblock(void);
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// unlock call. The DMA channel will not be immediately
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// deallocated. Instead it will be deallocated if another driver
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// needs it
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void unlock(bool success = true);
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//should be called inside the destructor of Shared DMA participants
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void unregister(void);
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// return true if this DMA channel is being actively contended for
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// by multiple drivers
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bool has_contention(void) const { return contention; }
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// is this DMA channel locked?
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bool is_locked(void) const { return have_lock; }
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// lock all shared DMA channels. Used on reboot
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static void lock_all(void);
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// display dma contention statistics as text buffer for @SYS/dma.txt
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static void dma_info(ExpandingString &str);
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// return true if a stream ID is shared between two peripherals
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static bool is_shared(uint8_t stream_id);
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bool is_shared();
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private:
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dma_allocate_fn_t allocate;
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dma_allocate_fn_t deallocate;
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uint8_t stream_id1;
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uint8_t stream_id2;
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bool have_lock;
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// we set the contention flag if two drivers are fighting over a DMA channel.
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// the UART driver uses this to change its max transmit size to reduce latency
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bool contention;
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// core of lock call, after semaphores gained
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void lock_core(void);
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// lock one stream
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static bool lock_stream(uint8_t stream_id);
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// unlock one stream
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void unlock_stream(uint8_t stream_id, bool success);
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// lock one stream, non-blocking
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bool lock_stream_nonblocking(uint8_t stream_id);
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static struct dma_lock {
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// semaphore to ensure only one peripheral uses a DMA channel at a time
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#if CH_CFG_USE_MUTEXES == TRUE
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mutex_t mutex;
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#endif // CH_CFG_USE_MUTEXES
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// a de-allocation function that is called to release an existing user
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dma_deallocate_fn_t deallocate;
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// point to object that holds the allocation, if allocated
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Shared_DMA *obj;
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} locks[SHARED_DMA_MAX_STREAM_ID+1];
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// contention statistics
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static volatile struct dma_stats {
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uint32_t contended_locks;
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uint32_t uncontended_locks;
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uint32_t transactions;
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} *_contention_stats;
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};
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#endif // AP_HAL_SHARED_DMA_ENABLED
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