diff options
-rw-r--r-- | src/drivers/boards/px4fmu-v2/px4fmu2_init.c | 61 |
1 files changed, 60 insertions, 1 deletions
diff --git a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c index 135767b26..c5d0377bc 100644 --- a/src/drivers/boards/px4fmu-v2/px4fmu2_init.c +++ b/src/drivers/boards/px4fmu-v2/px4fmu2_init.c @@ -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(); |