eec4a12cc2
this uses SRAM1 and SRAM2 for main memory, which enables the use of the data cache for faster operation, and using DTCM for all DMA operations.
80 lines
2.5 KiB
C++
80 lines
2.5 KiB
C++
/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Code by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#include "AP_HAL_ChibiOS_Namespace.h"
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#include "Semaphores.h"
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#include "ToneAlarm.h"
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#if defined(STM32F7) && STM32_DMA_CACHE_HANDLING == TRUE
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// on F7 we check we are in the DTCM region, and 16 bit aligned
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#define IS_DMA_SAFE(addr) ((uint32_t(addr) & 0xFFFE0001) == 0x20000000)
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#else
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// this checks an address is in main memory and 16 bit aligned
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#define IS_DMA_SAFE(addr) ((uint32_t(addr) & 0xF0000001) == 0x20000000)
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#endif
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class ChibiOS::Util : public AP_HAL::Util {
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public:
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static Util *from(AP_HAL::Util *util) {
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return static_cast<Util*>(util);
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}
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bool run_debug_shell(AP_HAL::BetterStream *stream) { return false; }
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AP_HAL::Semaphore *new_semaphore(void) override { return new ChibiOS::Semaphore; }
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uint32_t available_memory() override;
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// Special Allocation Routines
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void *malloc_type(size_t size, AP_HAL::Util::Memory_Type mem_type);
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void free_type(void *ptr, size_t size, AP_HAL::Util::Memory_Type mem_type);
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/*
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return state of safety switch, if applicable
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*/
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enum safety_state safety_switch_state(void) override;
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// IMU temperature control
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void set_imu_temp(float current);
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void set_imu_target_temp(int8_t *target);
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#ifdef HAL_PWM_ALARM
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bool toneAlarm_init();
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void toneAlarm_set_tune(uint8_t tone);
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void _toneAlarm_timer_tick();
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static ToneAlarm& get_ToneAlarm() { return _toneAlarm; }
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#endif
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private:
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#ifdef HAL_PWM_ALARM
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static ToneAlarm _toneAlarm;
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#endif
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void* try_alloc_from_ccm_ram(size_t size);
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uint32_t available_memory_in_ccm_ram(void);
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#if HAL_WITH_IO_MCU && HAL_HAVE_IMU_HEATER
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struct {
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int8_t *target;
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float integrator;
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uint16_t count;
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float sum;
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uint32_t last_update_ms;
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} heater;
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#endif
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};
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