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board common create generic dma allocator (from fat_dma_alloc)

This commit is contained in:
Daniel Agar 2019-05-26 11:06:35 -04:00
parent bf12583d80
commit f85c15e247
16 changed files with 233 additions and 83 deletions
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1
boards/airmind/mindpx-v2/src/init.c
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@ -72,6 +72,7 @@
#include <drivers/drv_board_led.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions

1
boards/auav/x21/src/init.c
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@ -73,6 +73,7 @@
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions

1
boards/av/x-v1/src/init.c
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@ -71,6 +71,7 @@
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <px4_i2c.h>
#include <drivers/boards/common/board_dma_alloc.h>
static int configure_switch(void);

1
boards/nxp/fmuk66-v3/src/init.c
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@ -74,6 +74,7 @@
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions

1
boards/omnibus/f4sd/src/init.c
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@ -73,6 +73,7 @@
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
# if defined(FLASH_BASED_PARAMS)
# include <parameters/flashparams/flashfs.h>

1
boards/px4/fmu-v2/src/init.c
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@ -73,6 +73,7 @@
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions

1
boards/px4/fmu-v3/src/init.c
View File

@ -73,6 +73,7 @@
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions

1
boards/px4/fmu-v4/src/init.c
View File

@ -74,6 +74,7 @@
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions

1
boards/px4/fmu-v4pro/src/init.c
View File

@ -74,6 +74,7 @@
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions

1
boards/px4/fmu-v5/src/init.c
View File

@ -70,6 +70,7 @@
#include <drivers/drv_board_led.h>
#include <systemlib/px4_macros.h>
#include <px4_init.h>
#include <drivers/boards/common/board_dma_alloc.h>
/****************************************************************************
* Pre-Processor Definitions

1
src/drivers/boards/common/CMakeLists.txt
View File

@ -37,6 +37,7 @@ if ((${PX4_PLATFORM} MATCHES "nuttx") AND NOT ${PX4_BOARD} MATCHES "io")
add_library(drivers_boards_common
board_crashdump.c
board_dma_alloc.c
board_fat_dma_alloc.c
board_gpio_init.c
board_dcache_control.c
)

50
src/drivers/boards/common/board_common.h
View File

@ -502,56 +502,6 @@ __EXPORT bool board_supports_single_wire(uint32_t uxart_base);
int board_read_VBUS_state(void);
#endif
/************************************************************************************
* Name: board_dma_alloc_init
*
* Description:
* All boards may optionally provide this API to instantiate a pool of
* memory for uses with FAST FS DMA operations.
*
* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
*
* Input Parameters:
* None
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on failure
* EPERM - board does not support function
* ENOMEM - There is not enough memory to satisfy allocation.
*
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
__EXPORT int board_dma_alloc_init(void);
#else
#define board_dma_alloc_init() (-EPERM)
#endif
/************************************************************************************
* Name: board_get_dma_usage
*
* Description:
* All boards may optionally provide this API to supply instrumentation for a pool of
* memory used for DMA operations.
*
* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
*
* Input Parameters:
* dma_total - A pointer to receive the total allocation size of the memory
* allocated with board_dma_alloc_init. It should be equal to
* BOARD_DMA_ALLOC_POOL_SIZE.
* dma_used - A pointer to receive the current allocation in use.
* dma_peak_used - A pointer to receive the peak allocation used.
*
* Returned Value:
* Zero (OK) is returned on success;
*
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peak_used);
#else
#define board_get_dma_usage(dma_total,dma_used, dma_peak_used) (-ENOMEM)
#endif
/************************************************************************************
* Name: board_rc_input
*

47
src/drivers/boards/common/board_dma_alloc.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2016 PX4 Development Team. All rights reserved.
* Copyright (C) 2016-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -37,10 +37,6 @@
* Provide the board dma allocator interface.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include "board_config.h"
@ -50,18 +46,6 @@
#include <perf/perf_counter.h>
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: board_dma_alloc_init
*
@ -72,9 +56,7 @@
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
# error microSD DMA support requires CONFIG_GRAN and CONFIG_FAT_DMAMEMORY
# endif
#if defined(CONFIG_GRAN)
static GRAN_HANDLE dma_allocator;
@ -92,10 +74,12 @@ static uint8_t g_dma_heap[BOARD_DMA_ALLOC_POOL_SIZE] __attribute__((aligned(64))
static perf_counter_t g_dma_perf;
static uint16_t dma_heap_inuse;
static uint16_t dma_heap_peak_use;
/****************************************************************************
* Public Functions
****************************************************************************/
__EXPORT int board_dma_alloc_init(void)
__EXPORT int
board_dma_alloc_init(void)
{
dma_allocator = gran_initialize(g_dma_heap,
sizeof(g_dma_heap),
@ -114,7 +98,8 @@ __EXPORT int board_dma_alloc_init(void)
return OK;
}
__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peak_used)
__EXPORT int
board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peak_used)
{
*dma_total = sizeof(g_dma_heap);
*dma_used = dma_heap_inuse;
@ -122,15 +107,9 @@ __EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16
return OK;
}
/*
* 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)
__EXPORT void *
board_dma_alloc(size_t size)
{
void *rv = NULL;
perf_count(g_dma_perf);
@ -147,10 +126,12 @@ fat_dma_alloc(size_t size)
return rv;
}
void
fat_dma_free(FAR void *memory, size_t size)
__EXPORT void
board_dma_free(FAR void *memory, size_t size)
{
gran_free(dma_allocator, memory, size);
dma_heap_inuse -= size;
}
#endif /* defined(BOARD_DMA_ALLOC_POOL_SIZE) */
#endif /* CONFIG_GRAN */
#endif /* BOARD_DMA_ALLOC_POOL_SIZE */

133
src/drivers/boards/common/board_dma_alloc.h Normal file
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@ -0,0 +1,133 @@
/****************************************************************************
*
* Copyright (C) 2016-2019 PX4 Development Team. All rights reserved.
* Author: David Sidrane <david_s5@nscdg.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_dma_alloc.h
*
* Provide DMA capable memory allocation interface
*/
#pragma once
#include <errno.h>
#include <stdint.h>
#include <stdbool.h>
/************************************************************************************
* Name: board_dma_alloc_init
*
* Description:
* All boards may optionally provide this API to instantiate a pool of
* memory for uses with FAST FS DMA operations.
*
* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
*
* Input Parameters:
* None
*
* Returned Value:
* Zero (OK) is returned on success; a negated errno value is returned on failure
* EPERM - board does not support function
* ENOMEM - There is not enough memory to satisfy allocation.
*
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
__EXPORT int board_dma_alloc_init(void);
#else
#define board_dma_alloc_init() (-EPERM)
#endif
/************************************************************************************
* Name: board_get_dma_usage
*
* Description:
* All boards may optionally provide this API to supply instrumentation for a pool of
* memory used for DMA operations.
*
* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
*
* Input Parameters:
* dma_total - A pointer to receive the total allocation size of the memory
* allocated with board_dma_alloc_init. It should be equal to
* BOARD_DMA_ALLOC_POOL_SIZE.
* dma_used - A pointer to receive the current allocation in use.
* dma_peak_used - A pointer to receive the peak allocation used.
*
* Returned Value:
* Zero (OK) is returned on success;
*
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peak_used);
#else
#define board_get_dma_usage(dma_total,dma_used, dma_peak_used) (-ENOMEM)
#endif
/************************************************************************************
* Name: dma_alloc
*
* Description:
* All boards may optionally provide this API to supply DMA capable memory
*
* Input Parameters:
* size - A pointer to receive the total allocation size of the memory
* allocated with board_dma_alloc_init. It should be equal to
* BOARD_DMA_ALLOC_POOL_SIZE.
*
* Returned Value:
* Zero (OK) is returned on success;
*
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
__EXPORT void *board_dma_alloc(size_t size);
#else
#define board_dma_alloc(size) (NULL)
#endif
/************************************************************************************
* Name: dma_free
*
* Description:
* All boards may optionally provide this API to supply DMA capable memory
*
* Input Parameters:
* memory - A pointer to previously allocated DMA memory
* size - Size of the previously allocated DMA memory
*
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
__EXPORT void board_dma_free(FAR void *memory, size_t size);
#else
#define board_dma_free(memory, size) ()
#endif

71
src/drivers/boards/common/board_fat_dma_alloc.c Normal file
View File

@ -0,0 +1,71 @@
/****************************************************************************
*
* Copyright (C) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file board_dma_alloc.c
*
* Provide the board dma allocator interface.
*/
#include <px4_config.h>
#include "board_config.h"
#include "board_dma_alloc.h"
#include <perf/perf_counter.h>
#if defined(CONFIG_FAT_DMAMEMORY)
# if !defined(CONFIG_GRAN)
# error microSD DMA support requires CONFIG_GRAN and CONFIG_FAT_DMAMEMORY
# endif
/*
* 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)
{
return board_dma_alloc(size);
}
void
fat_dma_free(FAR void *memory, size_t size)
{
return board_dma_free(memory, size);
}
#endif /* CONFIG_FAT_DMAMEMORY && CONFIG_GRAN */

4
src/lib/systemlib/print_load_nuttx.c
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@ -46,6 +46,10 @@
#include <systemlib/printload.h>
#include <drivers/drv_hrt.h>
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
#include <drivers/boards/common/board_dma_alloc.h>
#endif /* BOARD_DMA_ALLOC_POOL_SIZE */
#if defined(CONFIG_SCHED_INSTRUMENTATION)
#if !defined(CONFIG_TASK_NAME_SIZE)