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AP_HAL_Linux: Fix RCInput_RPI Segmentation Fault

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mhefny 2020-07-17 23:08:00 +02:00 committed by Lucas De Marchi
parent 67ad05609f
commit e137698a4a
1 changed files with 13 additions and 3 deletions
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16
libraries/AP_HAL_Linux/RCInput_RPI.cpp
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@ -181,7 +181,7 @@ void *Memory_table::get_page(void **const pages, uint32_t addr) const
if (addr >= PAGE_SIZE * _page_count) { if (addr >= PAGE_SIZE * _page_count) {
return nullptr; return nullptr;
} }
return (uint8_t *)pages[(uint32_t)addr / 4096] + addr % 4096; return (uint8_t *)pages[(uint32_t)addr / PAGE_SIZE] + addr % PAGE_SIZE;
} }
//Get virtual address from the corresponding physical address from memory_table. //Get virtual address from the corresponding physical address from memory_table.
@ -314,7 +314,7 @@ void RCInput_RPI::init_ctrl_data()
if (i % 7 == 0) { if (i % 7 == 0) {
cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp); cbp_curr = (dma_cb_t*)con_blocks->get_page(con_blocks->_virt_pages, cbp);
init_dma_cb(&cbp_curr, RCIN_RPI_DMA_NO_WIDE_BURSTS | RCIN_RPI_DMA_WAIT_RESP | RCIN_RPI_DMA_DEST_INC | RCIN_RPI_DMA_SRC_INC, RCIN_RPI_TIMER_BASE, init_dma_cb(&cbp_curr, RCIN_RPI_DMA_NO_WIDE_BURSTS | RCIN_RPI_DMA_WAIT_RESP , RCIN_RPI_TIMER_BASE,
(uintptr_t)circle_buffer->get_page(circle_buffer->_phys_pages, dest), (uintptr_t)circle_buffer->get_page(circle_buffer->_phys_pages, dest),
8, 8,
0, 0,
@ -524,8 +524,18 @@ void RCInput_RPI::_timer_tick()
return; return;
} }
const uint32_t offset = con_blocks->get_offset(con_blocks->_virt_pages,(uintptr_t)ad);
for (int j = 1; j >= -1; j--) { for (int j = 1; j >= -1; j--) {
void *x = circle_buffer->get_virt_addr((ad + j)->dst);
// Get address of next or previous (dma_cb_t)
ad = (dma_cb_t *)con_blocks->get_page(con_blocks->_virt_pages,offset + (uint32_t)(sizeof(dma_cb_t) * j));
if (!ad)
{
continue ;
}
void *x = circle_buffer->get_virt_addr((ad)->dst);
if (x != nullptr) { if (x != nullptr) {
counter = circle_buffer->bytes_available(curr_pointer, counter = circle_buffer->bytes_available(curr_pointer,
circle_buffer->get_offset(circle_buffer->_virt_pages, (uintptr_t)x)); circle_buffer->get_offset(circle_buffer->_virt_pages, (uintptr_t)x));