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HAL_ChibiOS: ensure periph uses same RAM0 address as bootloader

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this fixes passing of addresses for boards that use an ALT_RAM_MAP
This commit is contained in:
Andrew Tridgell 2024-01-17 09:10:36 +11:00
parent 38d7af450f
commit 91cc0d7dba
1 changed files with 11 additions and 24 deletions
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35
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
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@ -689,11 +689,13 @@ class ChibiOSHWDef(object):
return lib.mcu[name]
def get_ram_reserve_start(self):
'''get amount of memory to reserve for bootloader comms'''
'''get amount of memory to reserve for bootloader comms and the address if non-zero'''
ram_reserve_start = self.get_config('RAM_RESERVE_START', default=0, type=int)
if ram_reserve_start == 0 and self.is_periph_fw():
ram_reserve_start = 256
return ram_reserve_start
ram_map_bootloader = self.get_ram_map(use_bootloader=True)
ram0_start_address = ram_map_bootloader[0][0]
return ram_reserve_start, ram0_start_address
def make_line(self, label):
'''return a line for a label'''
@ -757,19 +759,11 @@ class ChibiOSHWDef(object):
return True
return False
def get_ram_map(self):
def get_ram_map(self, use_bootloader=False):
'''get RAM_MAP. May be different for bootloader'''
if 'APP_RAM_START' not in self.env_vars:
self.env_vars['APP_RAM_START'] = None
if self.is_bootloader_fw():
if self.is_bootloader_fw() or use_bootloader:
ram_map = self.get_mcu_config('RAM_MAP_BOOTLOADER', False)
if ram_map is not None:
app_ram_map = self.get_mcu_config('RAM_MAP', False)
if app_ram_map is not None and app_ram_map[0][0] != ram_map[0][0]:
# we need to find the location of app_ram_map[0] in ram_map
for i in range(len(ram_map)):
if app_ram_map[0][0] == ram_map[i][0] and self.env_vars['APP_RAM_START'] is None:
self.env_vars['APP_RAM_START'] = i
return ram_map
elif self.env_vars['EXT_FLASH_SIZE_MB'] and not self.env_vars['INT_FLASH_PRIMARY']:
ram_map = self.get_mcu_config('RAM_MAP_EXTERNAL_FLASH', False)
@ -1107,18 +1101,13 @@ class ChibiOSHWDef(object):
f.write('#define APP_START_OFFSET_KB %u\n' % self.get_config('APP_START_OFFSET_KB', default=0, type=int))
f.write('\n')
ram_map = self.get_ram_map()
ram0_index = self.env_vars['APP_RAM_START']
if ram0_index is None:
ram0_index = 0
ram0_start_address = ram_map[ram0_index][0]
ram_reserve_start,ram0_start_address = self.get_ram_reserve_start()
f.write('#define HAL_RAM0_START 0x%08x\n' % ram0_start_address)
ram_reserve_start = self.get_ram_reserve_start()
if ram_reserve_start > 0:
f.write('#define HAL_RAM_RESERVE_START 0x%08x\n' % ram_reserve_start)
ram_map = self.get_ram_map()
f.write('// memory regions\n')
regions = []
cc_regions = []
@ -1391,10 +1380,8 @@ class ChibiOSHWDef(object):
if ext_flash_size > 32:
self.error("We only support 24bit addressing over external flash")
if self.env_vars['APP_RAM_START'] is None:
# default to start of ram for shared ram
# possibly reserve some memory for app/bootloader comms
ram_reserve_start = self.get_ram_reserve_start()
ram_reserve_start,ram0_start_address = self.get_ram_reserve_start()
if ram_reserve_start > 0 and ram0_start_address == ram0_start:
ram0_start += ram_reserve_start
ram0_len -= ram_reserve_start
if ext_flash_length == 0 or self.is_bootloader_fw():