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Move the DMA allocation to a common code and provide an instrumentation interface

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This commit is contained in:
David Sidrane
2016-06-01 08:35:34 +02:00
committed by Lorenz Meier
parent 28080f04b0
commit b54ec99d22
14 changed files with 293 additions and 196 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/boards/aerocore/board_config.h
+2
View File
@@ -235,6 +235,8 @@ extern void stm32_spiinitialize(void);
int nsh_archinitialize(void);
#endif
#include "../common/board_common.h"
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/common/board_common.h
+101
View File
@@ -0,0 +1,101 @@
/****************************************************************************
*
* Copyright (C) 2016 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_common.h
*
* Provide the the common board interfaces
*/
#pragma once
/************************************************************************************
* Included Files
************************************************************************************/
#include <errno.h>
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* Name: board_name
*
* Description:
* All boards must provide this API to return the board name.
*
************************************************************************************/
__EXPORT const char *board_name(void);
/************************************************************************************
* 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
*
*
************************************************************************************/
#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
*
*
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peek_used);
#else
#define board_get_dma_usage(dma_total,dma_used, dma_peek_used) (-ENOMEM)
#endif
src/drivers/boards/common/board_dma_alloc.c
+156
View File
@@ -0,0 +1,156 @@
/****************************************************************************
*
* 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.
*/
/************************************************************************************
* Included Files
************************************************************************************/
#include <px4_config.h>
#include "board_config.h"
#include <stdint.h>
#include <errno.h>
#include <nuttx/gran.h>
#include <systemlib/perf_counter.h>
/************************************************************************************
* Definitions
************************************************************************************/
/************************************************************************************
* Private Functions
************************************************************************************/
/************************************************************************************
* Public Functions
************************************************************************************/
/************************************************************************************
* 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.
*
************************************************************************************/
#if defined(BOARD_DMA_ALLOC_POOL_SIZE)
# 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[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_peek_use;
/****************************************************************************
* Public Functions
****************************************************************************/
__EXPORT int board_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) {
return -ENOMEM;
} else {
dma_heap_inuse = 0;
dma_heap_peek_use = 0;
g_dma_perf = perf_alloc(PC_COUNT, "dma_alloc");
}
return OK;
}
__EXPORT int board_get_dma_usage(uint16_t *dma_total, uint16_t *dma_used, uint16_t *dma_peek_used)
{
*dma_total = sizeof(g_dma_heap);
*dma_used = dma_heap_inuse;
*dma_peek_used = dma_heap_peek_use;
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)
{
void *rv = NULL;
perf_count(g_dma_perf);
rv = gran_alloc(dma_allocator, size);
if (rv != NULL) {
dma_heap_inuse += size;
if (dma_heap_inuse > dma_heap_peek_use) {
dma_heap_peek_use = dma_heap_inuse;
}
}
return rv;
}
void
fat_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) */
src/drivers/boards/mindpx-v2/CMakeLists.txt
+1
View File
@@ -35,6 +35,7 @@ px4_add_module(
COMPILE_FLAGS
-Os
SRCS
../common/board_dma_alloc.c
../common/board_name.c
mindpx_can.c
mindpx2_init.c
src/drivers/boards/mindpx-v2/board_config.h
+5
View File
@@ -319,6 +319,9 @@ __BEGIN_DECLS
{GPIO_GPIO11_INPUT, GPIO_GPIO11_OUTPUT, 0}, \
{GPIO_GPIO12_INPUT, GPIO_GPIO12_OUTPUT, 0}, }
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 8192
/****************************************************************************************************
* Public Types
@@ -369,6 +372,8 @@ extern void stm32_usbinitialize(void);
int nsh_archinitialize(void);
#endif
#include "../common/board_common.h"
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/mindpx-v2/mindpx2_init.c
+4 -65
View File
@@ -110,73 +110,9 @@ __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: stm32_boardinitialize
*
@@ -252,7 +188,10 @@ __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
src/drivers/boards/px4-stm32f4discovery/board_config.h
+2
View File
@@ -134,6 +134,8 @@ extern void stm32_usbinitialize(void);
int nsh_archinitialize(void);
#endif
#include "../common/board_common.h"
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4fmu-v1/board_config.h
+2
View File
@@ -272,6 +272,8 @@ extern void stm32_usbinitialize(void);
int nsh_archinitialize(void);
#endif
#include "../common/board_common.h"
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4fmu-v2/CMakeLists.txt
+1
View File
@@ -36,6 +36,7 @@ px4_add_module(
-Os
SRCS
../common/board_name.c
../common/board_dma_alloc.c
px4fmu_can.c
px4fmu2_init.c
px4fmu_timer_config.c
src/drivers/boards/px4fmu-v2/board_config.h
+5
View File
@@ -270,6 +270,9 @@ __BEGIN_DECLS
{GPIO_VDD_5V_HIPOWER_OC, 0, 0}, \
{GPIO_VDD_5V_PERIPH_OC, 0, 0}, }
/* This board provides a DMA pool and APIs */
#define BOARD_DMA_ALLOC_POOL_SIZE 8192
/****************************************************************************************************
* Public Types
****************************************************************************************************/
@@ -318,6 +321,8 @@ extern void board_peripheral_reset(int ms);
int nsh_archinitialize(void);
#endif
#include "../common/board_common.h"
#endif /* __ASSEMBLY__ */
__END_DECLS
src/drivers/boards/px4fmu-v2/px4fmu2_init.c
+4 -66
View File
@@ -58,7 +58,6 @@
#include <nuttx/sdio.h>
#include <nuttx/mmcsd.h>
#include <nuttx/analog/adc.h>
#include <nuttx/gran.h>
#include <stm32.h>
#include "board_config.h"
@@ -111,73 +110,9 @@ __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
*
@@ -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
src/drivers/boards/px4fmu-v4/CMakeLists.txt
+1
View File
@@ -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
src/drivers/boards/px4fmu-v4/board_config.h
+5
View File
@@ -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
src/drivers/boards/px4fmu-v4/px4fmu_init.c
+4 -65
View File
@@ -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