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HAL_ChibiOS: separate out DMA allocation for sdcard IO

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this fixes an issue with DMA to SPI6 on STM32H7. On the H7 SRAM4 can
be used for DMA and BDMA to all devices except for SDMMC which uses
IDMA.

by separating out DMA of sdcard data from other data we can arrange
for DMA to all devices to work
This commit is contained in:
Andrew Tridgell 2019-03-07 11:21:51 +11:00
parent a7c91d1cb4
commit 26d1371d25
7 changed files with 39 additions and 16 deletions
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4
libraries/AP_HAL_ChibiOS/Device.cpp
View File

@ -32,8 +32,8 @@ static const AP_HAL::HAL &hal = AP_HAL::get_HAL();
DeviceBus::DeviceBus(uint8_t _thread_priority) :
thread_priority(_thread_priority)
{
bouncebuffer_init(&bounce_buffer_tx, 10);
bouncebuffer_init(&bounce_buffer_rx, 10);
bouncebuffer_init(&bounce_buffer_tx, 10, false);
bouncebuffer_init(&bounce_buffer_rx, 10, false);
}
/*

9
libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.c
View File

@ -36,12 +36,13 @@
/*
initialise a bouncebuffer
*/
void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_bytes)
void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_bytes, bool sdcard)
{
(*bouncebuffer) = calloc(1, sizeof(struct bouncebuffer_t));
osalDbgAssert(((*bouncebuffer) != NULL), "bouncebuffer init");
(*bouncebuffer)->is_sdcard = sdcard;
if (prealloc_bytes) {
(*bouncebuffer)->dma_buf = malloc_dma(prealloc_bytes);
(*bouncebuffer)->dma_buf = sdcard?malloc_sdcard_dma(prealloc_bytes):malloc_dma(prealloc_bytes);
osalDbgAssert(((*bouncebuffer)->dma_buf != NULL), "bouncebuffer preallocate");
(*bouncebuffer)->size = prealloc_bytes;
}
@ -64,7 +65,7 @@ void bouncebuffer_setup_read(struct bouncebuffer_t *bouncebuffer, uint8_t **buf,
if (bouncebuffer->size > 0) {
free(bouncebuffer->dma_buf);
}
bouncebuffer->dma_buf = malloc_dma(size);
bouncebuffer->dma_buf = bouncebuffer->is_sdcard?malloc_sdcard_dma(size):malloc_dma(size);
osalDbgAssert((bouncebuffer->dma_buf != NULL), "bouncebuffer read allocate");
bouncebuffer->size = size;
}
@ -105,7 +106,7 @@ void bouncebuffer_setup_write(struct bouncebuffer_t *bouncebuffer, const uint8_t
if (bouncebuffer->size > 0) {
free(bouncebuffer->dma_buf);
}
bouncebuffer->dma_buf = malloc_dma(size);
bouncebuffer->dma_buf = bouncebuffer->is_sdcard?malloc_sdcard_dma(size):malloc_dma(size);
osalDbgAssert((bouncebuffer->dma_buf != NULL), "bouncebuffer write allocate");
bouncebuffer->size = size;
}

3
libraries/AP_HAL_ChibiOS/hwdef/common/bouncebuffer.h
View File

@ -16,12 +16,13 @@ struct bouncebuffer_t {
uint8_t *orig_buf;
uint32_t size;
bool busy;
bool is_sdcard;
};
/*
initialise a bouncebuffer
*/
void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_bytes);
void bouncebuffer_init(struct bouncebuffer_t **bouncebuffer, uint32_t prealloc_bytes, bool sdcard);
/*
setup for reading from a device into memory, allocating a bouncebuffer if needed

25
libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
View File

@ -33,6 +33,7 @@
#define MEM_REGION_FLAG_DMA_OK 1
#define MEM_REGION_FLAG_FAST 2
#define MEM_REGION_FLAG_SDCARD 4
static const struct memory_region {
void *address;
@ -91,11 +92,12 @@ static void *malloc_flags(size_t size, uint32_t flags)
if (size == 0) {
return NULL;
}
const uint8_t alignment = (flags&MEM_REGION_FLAG_DMA_OK?DMA_ALIGNMENT:MIN_ALIGNMENT);
const uint8_t dma_flags = (MEM_REGION_FLAG_DMA_OK | MEM_REGION_FLAG_SDCARD);
const uint8_t alignment = (flags&dma_flags?DMA_ALIGNMENT:MIN_ALIGNMENT);
void *p = NULL;
uint8_t i;
if (flags & MEM_REGION_FLAG_DMA_OK) {
if (flags & dma_flags) {
// allocate multiple of DMA alignment
size = (size + (DMA_ALIGNMENT-1)) & ~(DMA_ALIGNMENT-1);
}
@ -116,6 +118,10 @@ static void *malloc_flags(size_t size, uint32_t flags)
!(memory_regions[i].flags & MEM_REGION_FLAG_DMA_OK)) {
continue;
}
if ((flags & MEM_REGION_FLAG_SDCARD) &&
!(memory_regions[i].flags & MEM_REGION_FLAG_SDCARD)) {
continue;
}
if ((flags & MEM_REGION_FLAG_FAST) &&
!(memory_regions[i].flags & MEM_REGION_FLAG_FAST)) {
continue;
@ -127,7 +133,7 @@ static void *malloc_flags(size_t size, uint32_t flags)
}
// if this is a not a DMA request then we can fall back to any heap
if (!(flags & MEM_REGION_FLAG_DMA_OK)) {
if (!(flags & dma_flags)) {
for (i=1; i<NUM_MEMORY_REGIONS; i++) {
p = chHeapAllocAligned(&heaps[i], size, alignment);
if (p) {
@ -173,6 +179,19 @@ void *malloc_dma(size_t size)
return malloc_flags(size, MEM_REGION_FLAG_DMA_OK);
}
/*
allocate DMA-safe memory for microSD transfers. This is only
different on H7 where SDMMC IDMA can't use SRAM4
*/
void *malloc_sdcard_dma(size_t size)
{
#if defined(STM32H7)
return malloc_flags(size, MEM_REGION_FLAG_SDCARD);
#else
return malloc_flags(size, MEM_REGION_FLAG_DMA_OK);
#endif
}
/*
allocate fast memory
*/

1
libraries/AP_HAL_ChibiOS/hwdef/common/stm32_util.h
View File

@ -31,6 +31,7 @@ void show_stack_usage(void);
// allocation functions in malloc.c
size_t mem_available(void);
void *malloc_dma(size_t size);
void *malloc_sdcard_dma(size_t size);
void *malloc_fastmem(size_t size);
thread_t *thread_create_alloc(size_t size, const char *name, tprio_t prio, tfunc_t pf, void *arg);

11
libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H743xx.py
View File

@ -15,14 +15,15 @@ mcu = {
'UDID_START' : 0x1FF1E800,
# ram map, as list of (address, size-kb, flags)
# flags of 1 means DMA-capable
# flags of 1 means DMA-capable (DMA and BDMA)
# flags of 2 means faster memory for CPU intensive work
# flags of 4 means memory can be used for SDMMC DMA
'RAM_MAP' : [
(0x24000000, 512, 1), # AXI SRAM
(0x30000000, 288, 1), # SRAM1, SRAM2, SRAM3
(0x38000000, 64, 1), # SRAM4
(0x20000000, 128, 2), # DTCM, tightly coupled, no DMA, fast
(0x30000000, 288, 0), # SRAM1, SRAM2, SRAM3
(0x38000000, 64, 1), # SRAM4. This supports both DMA and BDMA ops
(0x24000000, 512, 4), # AXI SRAM. Use this for SDMMC IDMA ops
(0x00000400, 63, 2), # ITCM (first 1k removed, to keep address 0 unused)
(0x20000000, 128, 2), # DTCM, tightly coupled, no DMA
]
}

2
libraries/AP_HAL_ChibiOS/sdcard.cpp
View File

@ -56,7 +56,7 @@ bool sdcard_init()
#if HAL_USE_SDC
if (SDCD1.bouncebuffer == nullptr) {
bouncebuffer_init(&SDCD1.bouncebuffer, 512);
bouncebuffer_init(&SDCD1.bouncebuffer, 512, true);
}
if (sdcard_running) {