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HAL_ChibiOS: ensure 32 byte alignment for DMA on H7

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This commit is contained in:
Andrew Tridgell 2019-02-10 08:51:33 +11:00
parent 33699d4f4a
commit ff21508ce8
1 changed files with 14 additions and 3 deletions
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17
libraries/AP_HAL_ChibiOS/hwdef/common/malloc.c
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@ -35,6 +35,12 @@
#define MIN_ALIGNMENT 8 #define MIN_ALIGNMENT 8
#if defined(STM32H7)
#define DMA_ALIGNMENT 32
#else
#define DMA_ALIGNMENT 8
#endif
#ifdef HAL_NO_CCM #ifdef HAL_NO_CCM
#undef CCM_RAM_SIZE_KB #undef CCM_RAM_SIZE_KB
#endif #endif
@ -102,7 +108,7 @@ static void *malloc_dtcm(size_t size)
{ {
void *p = NULL; void *p = NULL;
#if defined(DTCM_RAM_SIZE_KB) #if defined(DTCM_RAM_SIZE_KB)
p = chHeapAllocAligned(&dtcm_heap, size, CH_HEAP_ALIGNMENT); p = chHeapAllocAligned(&dtcm_heap, size, DMA_ALIGNMENT);
#else #else
(void)size; (void)size;
#endif #endif
@ -153,21 +159,26 @@ void *malloc(size_t size)
*/ */
void *malloc_dma(size_t size) void *malloc_dma(size_t size)
{ {
#if defined(STM32H7)
size = (size + (DMA_ALIGNMENT-1)) & ~(DMA_ALIGNMENT-1);
#endif
void *p; void *p;
#if defined(DTCM_RAM_SIZE_KB) #if defined(DTCM_RAM_SIZE_KB)
p = malloc_dtcm(size); p = malloc_dtcm(size);
#else #else
// if we don't have DTCM memory then assume that main heap is DMA-safe // if we don't have DTCM memory then assume that main heap is DMA-safe
p = chHeapAllocAligned(NULL, size, MIN_ALIGNMENT); p = chHeapAllocAligned(NULL, size, DMA_ALIGNMENT);
#endif #endif
#if DMA_RESERVE_SIZE != 0 #if DMA_RESERVE_SIZE != 0
if (p == NULL) { if (p == NULL) {
p = chHeapAllocAligned(&dma_reserve_heap, size, MIN_ALIGNMENT); p = chHeapAllocAligned(&dma_reserve_heap, size, DMA_ALIGNMENT);
} }
#endif #endif
if (p) { if (p) {
memset(p, 0, size); memset(p, 0, size);
} }
osalDbgAssert((((uint32_t)p) & (DMA_ALIGNMENT-1)) == 0, "DMA alignment");
return p; return p;
} }