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AP_HAL_Linux: more rpi initialization checks

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Check more mmap() call sites for failure and exit.
Also exit when starting on an unknown board.
This commit is contained in:
Richard Allen 2023-02-06 16:47:41 +00:00 committed by Lucas De Marchi
parent 7a6f398668
commit 693068e68a
1 changed files with 16 additions and 0 deletions
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16
libraries/AP_HAL_Linux/RCInput_RPI.cpp
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@ -183,6 +183,10 @@ Memory_table::Memory_table(uint32_t page_count, int version)
// Get list of available cache coherent physical addresses
for (i = 0; i < _page_count; i++) {
_virt_pages[i] = mmap(0, PAGE_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS | MAP_NORESERVE | MAP_LOCKED, -1, 0);
if (_virt_pages[i] == MAP_FAILED) {
fprintf(stderr, "Failed to map cache coherent physical page (%m)\n");
exit(-1);
}
if (::read(file, &pageInfo, 8) < 8) {
fprintf(stderr, "Failed to read pagemap\n");
exit(-1);
@ -193,7 +197,15 @@ Memory_table::Memory_table(uint32_t page_count, int version)
// Map physical addresses to virtual memory
for (i = 0; i < _page_count; i++) {
munmap(_virt_pages[i], PAGE_SIZE);
void * prev_virt = _virt_pages[i];
_virt_pages[i] = mmap(_virt_pages[i], PAGE_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED | MAP_FIXED | MAP_NORESERVE | MAP_LOCKED, fdMem, ((uintptr_t)_phys_pages[i] & (version == 1 ? 0xFFFFFFFFFFFFFFFF : ~bus)));
if (_virt_pages[i] == MAP_FAILED) {
fprintf(stderr, "Failed phys2virt prev_virt=%p phys_page=%p %m\n", prev_virt, _phys_pages[i]);
printf("Make sure that CONFIG_STRICT_DEVMEM is disabled\n");
exit(-1);
}
memset(_virt_pages[i], 0xee, PAGE_SIZE);
}
close(file);
@ -276,6 +288,9 @@ void RCInput_RPI::set_physical_addresses()
dma_base = RCIN_RPI_RPI4_DMA_BASE;
clk_base = RCIN_RPI_RPI4_CLK_BASE;
pcm_base = RCIN_RPI_RPI4_PCM_BASE;
} else {
fprintf(stderr,"unknown RPI _version=%i\n", _version);
exit(-1);
}
}
@ -293,6 +308,7 @@ void *RCInput_RPI::map_peripheral(uint32_t base, uint32_t len)
vaddr = mmap(nullptr, len, PROT_READ | PROT_WRITE, MAP_SHARED, fd, base);
if (vaddr == MAP_FAILED) {
printf("rpio-pwm: Failed to map peripheral at 0x%08x: %m\n", base);
exit(-1);
}
close(fd);