mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-06 12:48:54 +08:00
Move the DMA allocation to a common code and provide an instrumentation interface
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
28080f04b0
commit
b54ec99d22
@@ -235,6 +235,8 @@ extern void stm32_spiinitialize(void);
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int nsh_archinitialize(void);
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#endif
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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@@ -0,0 +1,101 @@
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/****************************************************************************
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*
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* Copyright (C) 2016 PX4 Development Team. All rights reserved.
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* Author: David Sidrane <david_s5@nscdg.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
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||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_common.h
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*
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* Provide the the common board interfaces
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*/
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#pragma once
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <errno.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: board_name
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*
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* Description:
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* All boards must provide this API to return the board name.
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*
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************************************************************************************/
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__EXPORT const char *board_name(void);
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/************************************************************************************
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* Name: board_dma_alloc_init
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*
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* Description:
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* All boards may optionally provide this API to instantiate a pool of
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* memory for uses with FAST FS DMA operations.
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*
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* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
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*
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*
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************************************************************************************/
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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__EXPORT int board_dma_alloc_init(void);
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#else
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#define board_dma_alloc_init() (-EPERM)
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#endif
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/************************************************************************************
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* Name: board_get_dma_usage
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*
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* Description:
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* All boards may optionally provide this API to supply instrumentation for a pool of
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* memory used for DMA operations.
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*
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* Provision is controlled by declaring BOARD_DMA_ALLOC_POOL_SIZE in board_config.h
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*
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*
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************************************************************************************/
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peek_used);
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#else
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#define board_get_dma_usage(dma_total,dma_used, dma_peek_used) (-ENOMEM)
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#endif
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@@ -0,0 +1,156 @@
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/****************************************************************************
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*
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* Copyright (C) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "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,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file board_dma_alloc.c
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*
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* Provide the board dma allocator interface.
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*/
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/************************************************************************************
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* Included Files
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************************************************************************************/
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#include <px4_config.h>
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#include "board_config.h"
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#include <stdint.h>
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#include <errno.h>
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#include <nuttx/gran.h>
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#include <systemlib/perf_counter.h>
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/************************************************************************************
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* Definitions
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************************************************************************************/
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/************************************************************************************
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* Private Functions
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************************************************************************************/
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/************************************************************************************
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* Public Functions
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************************************************************************************/
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/************************************************************************************
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* Name: board_dma_alloc_init
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*
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* Description:
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* All boards may optionally provide this API to instantiate a pool of
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* memory for uses with FAST FS DMA operations.
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*
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************************************************************************************/
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#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
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# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
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# error microSD DMA support requires CONFIG_GRAN
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# endif
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static GRAN_HANDLE dma_allocator;
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/*
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* The DMA heap size constrains the total number of things that can be
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* ready to do DMA at a time.
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*
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* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
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* one sector-sized buffer per file.
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*
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* We use a fundamental alignment / granule size of 64B; this is sufficient
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* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
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*/
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static uint8_t g_dma_heap[BOARD_DMA_ALLOC_POOL_SIZE] __attribute__((aligned(64)));
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static perf_counter_t g_dma_perf;
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static uint16_t dma_heap_inuse;
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static uint16_t dma_heap_peek_use;
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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__EXPORT int board_dma_alloc_init(void)
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{
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dma_allocator = gran_initialize(g_dma_heap,
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sizeof(g_dma_heap),
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7, /* 128B granule - must be > alignment (XXX bug?) */
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6); /* 64B alignment */
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if (dma_allocator == NULL) {
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return -ENOMEM;
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} else {
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dma_heap_inuse = 0;
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dma_heap_peek_use = 0;
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g_dma_perf = perf_alloc(PC_COUNT, "dma_alloc");
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}
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return OK;
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}
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__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peek_used)
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{
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*dma_total = sizeof(g_dma_heap);
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*dma_used = dma_heap_inuse;
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*dma_peek_used = dma_heap_peek_use;
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return OK;
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}
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/*
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* DMA-aware allocator stubs for the FAT filesystem.
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*/
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__EXPORT void *fat_dma_alloc(size_t size);
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__EXPORT void fat_dma_free(FAR void *memory, size_t size);
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void *
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fat_dma_alloc(size_t size)
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{
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void *rv = NULL;
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perf_count(g_dma_perf);
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rv = gran_alloc(dma_allocator, size);
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if (rv != NULL) {
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dma_heap_inuse += size;
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if (dma_heap_inuse > dma_heap_peek_use) {
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dma_heap_peek_use = dma_heap_inuse;
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}
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}
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return rv;
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}
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void
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fat_dma_free(FAR void *memory, size_t size)
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{
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gran_free(dma_allocator, memory, size);
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dma_heap_inuse -= size;
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}
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#endif /* defined(BOARD_DMA_ALLOC_POOL_SIZE) */
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@@ -35,6 +35,7 @@ px4_add_module(
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COMPILE_FLAGS
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-Os
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SRCS
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../common/board_dma_alloc.c
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../common/board_name.c
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mindpx_can.c
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mindpx2_init.c
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@@ -319,6 +319,9 @@ __BEGIN_DECLS
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{GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0}, \
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{GPIO_GPIO12_INPUT, GPIO_GPIO12_OUTPUT, 0}, }
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 8192
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/****************************************************************************************************
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* Public Types
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@@ -369,6 +372,8 @@ extern void stm32_usbinitialize(void);
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int nsh_archinitialize(void);
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#endif
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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@@ -110,73 +110,9 @@ __END_DECLS
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/****************************************************************************
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* Protected Functions
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****************************************************************************/
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#if defined(CONFIG_FAT_DMAMEMORY)
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# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
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# error microSD DMA support requires CONFIG_GRAN
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# endif
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static GRAN_HANDLE dma_allocator;
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/*
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* The DMA heap size constrains the total number of things that can be
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* ready to do DMA at a time.
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*
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* For example, FAT DMA depends on one sector-sized buffer per filesystem plus
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* one sector-sized buffer per file.
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*
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* We use a fundamental alignment / granule size of 64B; this is sufficient
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* to guarantee alignment for the largest STM32 DMA burst (16 beats x 32bits).
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*/
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static uint8_t g_dma_heap[8192] __attribute__((aligned(64)));
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static perf_counter_t g_dma_perf;
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static void
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dma_alloc_init(void)
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{
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dma_allocator = gran_initialize(g_dma_heap,
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sizeof(g_dma_heap),
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7, /* 128B granule - must be > alignment (XXX bug?) */
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6); /* 64B alignment */
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if (dma_allocator == NULL) {
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message("DMA alloc FAILED");
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} else {
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g_dma_perf = perf_alloc(PC_COUNT, "dma_alloc");
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}
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/*
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* DMA-aware allocator stubs for the FAT filesystem.
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*/
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__EXPORT void *fat_dma_alloc(size_t size);
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__EXPORT void fat_dma_free(FAR void *memory, size_t size);
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void *
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fat_dma_alloc(size_t size)
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{
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perf_count(g_dma_perf);
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return gran_alloc(dma_allocator, size);
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}
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void
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fat_dma_free(FAR void *memory, size_t size)
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{
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gran_free(dma_allocator, memory, size);
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}
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#else
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# define dma_alloc_init()
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#endif
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/************************************************************************************
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* Name: stm32_boardinitialize
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*
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@@ -252,7 +188,10 @@ __EXPORT int nsh_archinitialize(void)
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hrt_init();
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/* configure the DMA allocator */
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dma_alloc_init();
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if (board_dma_alloc_init() < 0) {
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message("DMA alloc FAILED");
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}
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/* configure CPU load estimation */
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#ifdef CONFIG_SCHED_INSTRUMENTATION
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@@ -134,6 +134,8 @@ extern void stm32_usbinitialize(void);
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int nsh_archinitialize(void);
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#endif
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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@@ -272,6 +272,8 @@ extern void stm32_usbinitialize(void);
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int nsh_archinitialize(void);
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#endif
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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__END_DECLS
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@@ -36,6 +36,7 @@ px4_add_module(
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-Os
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SRCS
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../common/board_name.c
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../common/board_dma_alloc.c
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px4fmu_can.c
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px4fmu2_init.c
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px4fmu_timer_config.c
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@@ -270,6 +270,9 @@ __BEGIN_DECLS
|
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{GPIO_VDD_5V_HIPOWER_OC, 0, 0}, \
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{GPIO_VDD_5V_PERIPH_OC, 0, 0}, }
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/* This board provides a DMA pool and APIs */
|
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#define BOARD_DMA_ALLOC_POOL_SIZE 8192
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/****************************************************************************************************
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* Public Types
|
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****************************************************************************************************/
|
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@@ -318,6 +321,8 @@ extern void board_peripheral_reset(int ms);
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int nsh_archinitialize(void);
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#endif
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#include "../common/board_common.h"
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#endif /* __ASSEMBLY__ */
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__END_DECLS
|
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@@ -58,7 +58,6 @@
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#include <nuttx/sdio.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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#include <nuttx/gran.h>
|
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|
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#include <stm32.h>
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#include "board_config.h"
|
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@@ -111,73 +110,9 @@ __END_DECLS
|
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/****************************************************************************
|
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* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
#if defined(CONFIG_FAT_DMAMEMORY)
|
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# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
|
||||
# error microSD DMA support requires CONFIG_GRAN
|
||||
# endif
|
||||
|
||||
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;
|
||||
|
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static void
|
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dma_alloc_init(void)
|
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{
|
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dma_allocator = gran_initialize(g_dma_heap,
|
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sizeof(g_dma_heap),
|
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7, /* 128B granule - must be > alignment (XXX bug?) */
|
||||
6); /* 64B alignment */
|
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|
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if (dma_allocator == NULL) {
|
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message("DMA alloc FAILED");
|
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|
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} else {
|
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g_dma_perf = perf_alloc(PC_COUNT, "dma_alloc");
|
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}
|
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}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* DMA-aware allocator stubs for the FAT filesystem.
|
||||
*/
|
||||
|
||||
__EXPORT void *fat_dma_alloc(size_t size);
|
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__EXPORT void fat_dma_free(FAR void *memory, size_t size);
|
||||
|
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void *
|
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fat_dma_alloc(size_t size)
|
||||
{
|
||||
perf_count(g_dma_perf);
|
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return gran_alloc(dma_allocator, size);
|
||||
}
|
||||
|
||||
void
|
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fat_dma_free(FAR void *memory, size_t size)
|
||||
{
|
||||
gran_free(dma_allocator, memory, size);
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
# define dma_alloc_init()
|
||||
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
@@ -269,7 +204,10 @@ __EXPORT int nsh_archinitialize(void)
|
||||
hrt_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
dma_alloc_init();
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
message("DMA alloc FAILED");
|
||||
}
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
|
||||
@@ -36,6 +36,7 @@ px4_add_module(
|
||||
-Os
|
||||
SRCS
|
||||
../common/board_name.c
|
||||
../common/board_dma_alloc.c
|
||||
px4fmu_can.c
|
||||
px4fmu_init.c
|
||||
px4fmu_timer_config.c
|
||||
|
||||
@@ -297,6 +297,9 @@ __BEGIN_DECLS
|
||||
{0, GPIO_VDD_3V3_SENSORS_EN, 0}, \
|
||||
{GPIO_VDD_BRICK_VALID, 0, 0}, }
|
||||
|
||||
/* This board provides a DMA pool and APIs */
|
||||
|
||||
#define BOARD_DMA_ALLOC_POOL_SIZE 8192
|
||||
|
||||
/****************************************************************************************************
|
||||
* Public Types
|
||||
@@ -347,6 +350,8 @@ extern void board_peripheral_reset(int ms);
|
||||
int nsh_archinitialize(void);
|
||||
#endif
|
||||
|
||||
#include "../common/board_common.h"
|
||||
|
||||
#endif /* __ASSEMBLY__ */
|
||||
|
||||
__END_DECLS
|
||||
|
||||
@@ -111,73 +111,9 @@ __END_DECLS
|
||||
/****************************************************************************
|
||||
* Protected Functions
|
||||
****************************************************************************/
|
||||
|
||||
#if defined(CONFIG_FAT_DMAMEMORY)
|
||||
# if !defined(CONFIG_GRAN) || !defined(CONFIG_FAT_DMAMEMORY)
|
||||
# error microSD DMA support requires CONFIG_GRAN
|
||||
# endif
|
||||
|
||||
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("DMA alloc FAILED");
|
||||
|
||||
} else {
|
||||
g_dma_perf = perf_alloc(PC_COUNT, "dma_alloc");
|
||||
}
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* 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);
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
# define dma_alloc_init()
|
||||
|
||||
#endif
|
||||
|
||||
/************************************************************************************
|
||||
* Name: board_peripheral_reset
|
||||
*
|
||||
@@ -278,7 +214,10 @@ __EXPORT int nsh_archinitialize(void)
|
||||
hrt_init();
|
||||
|
||||
/* configure the DMA allocator */
|
||||
dma_alloc_init();
|
||||
|
||||
if (board_dma_alloc_init() < 0) {
|
||||
message("DMA alloc FAILED");
|
||||
}
|
||||
|
||||
/* configure CPU load estimation */
|
||||
#ifdef CONFIG_SCHED_INSTRUMENTATION
|
||||
|
||||
Reference in New Issue
Block a user