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AP_HAL_ChibiOS: ensure UP and CH timer channels share DMA for H7

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This commit is contained in:
bugobliterator 2020-12-30 17:38:16 +05:30 committed by Andrew Tridgell
parent fc7a617b74
commit 4346264113
1 changed files with 35 additions and 39 deletions
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74
libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
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@ -163,36 +163,18 @@ def generate_DMAMUX_map_mask(peripheral_list, channel_mask, noshare_list, dma_ex
continue
# prevent attempts to share with other half of same peripheral
# also prevent sharing with Timer channels
others = []
if p.endswith('RX'):
others.append(p[:-2] + 'TX')
other = p[:-2] + 'TX'
elif p.endswith('TX'):
others.append(p[:-2] + 'RX')
other = p[:-2] + 'RX'
else:
other = None
for p2 in peripheral_list:
if "_CH" not in p2:
if other is not None and ii in idsets[other]:
if len(idsets[p]) >= len(idsets[other]) and len(idsets[other]) > 0:
continue
if "_UP" in p2 and "_CH" in p and p2[:4] == p[:4]:
continue
elif "_UP" in p and "_CH" in p2 and p[:4] == p2[:4]:
continue
elif "_CH" in p and "_CH" in p2 and p[:4] == p2[:4]:
continue
else:
others.append(p2)
if debug:
print ("Others for ", p, others)
skip_this_chan = False
for other in others:
if ii in idsets[other]:
if len(idsets[p]) >= len(idsets[other]) or len(idsets[other]) <= 1:
skip_this_chan = True
break
idsets[other].remove(ii)
dma_map[other].remove((dma,stream))
if skip_this_chan:
continue
idsets[other].remove(ii)
dma_map[other].remove((dma,stream))
found = ii
break
if found is None:
@ -242,7 +224,10 @@ def generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude):
def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
dma_priority='', dma_noshare=''):
'''write out a DMA resolver header file'''
global dma_map, have_DMAMUX
global dma_map, have_DMAMUX, has_bdshot
timer_ch_periph = []
has_bdshot = False
# form a list of DMA priorities
priority_list = dma_priority.split()
@ -265,6 +250,9 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
if dma_map is None:
have_DMAMUX = True
# ensure we don't assign dma for TIMx_CH as we share that with TIMx_UP
timer_ch_periph = [periph for periph in peripheral_list if "_CH" in periph]
dma_exclude += timer_ch_periph
dma_map = generate_DMAMUX_map(peripheral_list, noshare_list, dma_exclude)
print("Writing DMA map")
@ -272,6 +260,8 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
curr_dict = {}
for periph in peripheral_list:
if "_CH" in periph:
has_bdshot = True # the list contains a CH port
if periph in dma_exclude:
continue
assigned = False
@ -310,18 +300,6 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
stream = (streamchan[0], streamchan[1])
share_ok = True
for periph2 in stream_assign[stream]:
# can only share timer UP and CH streams on the same timer, everything else disallowed
if "_CH" in periph or "_CH" in periph2:
if "_UP" in periph and "_CH" in periph2 and periph[-4:1] == periph2[-5:1]:
share_ok = True
elif "_UP" in periph2 and "_CH" in periph and periph2[-4:1] == periph[-5:1]:
share_ok = True
elif "_CH" in periph2 and "_CH" in periph and periph2[-5:1] == periph[-5:1]:
share_ok = True
else:
share_ok = False
if debug:
print ("Can't share ", periph, periph2)
if not can_share(periph, noshare_list) or not can_share(periph2, noshare_list):
share_ok = False
if share_ok:
@ -366,6 +344,15 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
f.write("#define %-30s STM32_DMA_STREAM_ID(%u, %u)%s\n" %
(chibios_dma_define_name(key)+'STREAM', dma_controller,
curr_dict[key][1], shared))
if have_DMAMUX and "_UP" in key:
# share the dma with rest of the _CH ports
for ch in range(1,5):
chkey = key.replace('_UP', '_CH{}'.format(ch))
if chkey not in timer_ch_periph:
continue
f.write("#define %-30s STM32_DMA_STREAM_ID(%u, %u)%s\n" %
(chibios_dma_define_name(chkey)+'STREAM', dma_controller,
curr_dict[key][1], shared))
for streamchan in dma_map[key]:
if stream == (streamchan[0], streamchan[1]):
if have_DMAMUX:
@ -374,6 +361,15 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
chan = streamchan[2]
f.write("#define %-30s %s\n" %
(chibios_dma_define_name(key)+'CHAN', chan))
if have_DMAMUX and "_UP" in key:
# share the devid with rest of the _CH ports
for ch in range(1,5):
chkey = key.replace('_UP', '_CH{}'.format(ch))
if chkey not in timer_ch_periph:
continue
f.write("#define %-30s %s\n" %
(chibios_dma_define_name(chkey)+'CHAN',
chan.replace('_UP', '_CH{}'.format(ch))))
break
# now generate UARTDriver.cpp DMA config lines