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Add DMA buffer allocation pool.

This commit is contained in:
px4dev 2013-09-01 13:25:57 -07:00
parent 3a326cb467
commit bbac1445b0
1 changed files with 60 additions and 1 deletions
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61
src/drivers/boards/px4fmu-v2/px4fmu2_init.c
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@ -58,6 +58,7 @@
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/gran.h>
#include <stm32.h>
#include "board_config.h"
@ -69,6 +70,7 @@
#include <drivers/drv_led.h>
#include <systemlib/cpuload.h>
#include <systemlib/perf_counter.h>
/****************************************************************************
* Pre-Processor Definitions
@ -76,6 +78,10 @@
/* Configuration ************************************************************/
#if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
# error microSD DMA support requires CONFIG_GRAN and CONFIG_FAT_DMAMEMORY
#endif
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
@ -96,10 +102,59 @@
* Protected Functions
****************************************************************************/
static GRAN_HANDLE dma_allocator;
/*
* The DMA heap size constrains the total number of things that can be
* ready to do DMA at a time.
*
* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
* one sector-sized buffer per file.
*
* We use a fundamental alignment / granule size of 64B; this is sufficient
* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
*/
static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
static perf_counter_t g_dma_perf;
static void
dma_alloc_init(void)
{
dma_allocator = gran_initialize(g_dma_heap,
sizeof(g_dma_heap),
7, /* 128B granule - must be > alignment (XXX bug?) */
6); /* 64B alignment */
if (dma_allocator == NULL) {
message("[boot] DMA allocator setup FAILED");
} else {
g_dma_perf = perf_alloc(PC_COUNT, "DMA allocations");
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
/*
* DMA-aware allocator stubs for the FAT filesystem.
*/
__EXPORT void *fat_dma_alloc(size_t size);
__EXPORT void fat_dma_free(FAR void *memory, size_t size);
void *
fat_dma_alloc(size_t size)
{
perf_count(g_dma_perf);
return gran_alloc(dma_allocator, size);
}
void
fat_dma_free(FAR void *memory, size_t size)
{
gran_free(dma_allocator, memory, size);
}
/************************************************************************************
* Name: stm32_boardinitialize
*
@ -110,7 +165,8 @@
*
************************************************************************************/
__EXPORT void stm32_boardinitialize(void)
__EXPORT void
stm32_boardinitialize(void)
{
/* configure SPI interfaces */
stm32_spiinitialize();
@ -170,6 +226,9 @@ __EXPORT int nsh_archinitialize(void)
/* configure the high-resolution time/callout interface */
hrt_init();
/* configure the DMA allocator */
dma_alloc_init();
/* configure CPU load estimation */
#ifdef CONFIG_SCHED_INSTRUMENTATION
cpuload_initialize_once();