NuttX stm32f7 fully re-enable dcache with write back (#12435)

- fixes https://github.com/PX4/Firmware/issues/12216
 - includes latest PX4/NuttX and apps update 7.29+

ROMFS/px4fmu_common/init.d/airframes/13014_vtol_babyshark

@@ -96,7 +96,6 @@ then
 	param set PWM_MIN 950
 
 	param set SENS_BOARD_ROT 4
-	param set SYS_FORCE_F7DC	2
 
 	param set VT_ARSP_BLEND 10
 	param set VT_ARSP_TRANS 21

boards/av/x-v1/default.cmake

@@ -49,7 +49,6 @@ px4_add_board(
 		#roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		#stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -49,12 +49,10 @@ CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_FINALINIT=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114

boards/av/x-v1/src/init.c

@@ -143,32 +143,6 @@ __EXPORT void board_on_reset(int status)
 	}
 }
 
-/****************************************************************************
- * Name: board_app_finalinitialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command
- *   BOARDIOC_FINALINIT.
- *
- * Input Parameters:
- *   arg - The argument has no meaning.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-#ifdef CONFIG_BOARDCTL_FINALINIT
-int board_app_finalinitialize(uintptr_t arg)
-{
-	board_configure_dcache(1);
-	return 0;
-}
-#endif
-
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -223,9 +197,6 @@ stm32_boardinitialize(void)
 
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
-
-	board_configure_dcache(0);
-
 	px4_platform_init();
 
 	/* configure the DMA allocator */

boards/px4/fmu-v5/default.cmake

@@ -54,7 +54,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5/fixedwing.cmake

@@ -38,7 +38,6 @@ px4_add_board(
 		rc_input
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		telemetry # all available telemetry drivers
 		tone_alarm

boards/px4/fmu-v5/multicopter.cmake

@@ -42,7 +42,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

@@ -31,12 +31,10 @@ CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_FINALINIT=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114

boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig

@@ -24,13 +24,11 @@ CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_STACKCHECK=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_FINALINIT=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114

boards/px4/fmu-v5/rover.cmake

@@ -42,7 +42,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		telemetry # all available telemetry drivers
 		tone_alarm

boards/px4/fmu-v5/rtps.cmake

@@ -52,7 +52,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5/src/init.c

@@ -190,32 +190,6 @@ __EXPORT void board_on_reset(int status)
 	}
 }
 
-/****************************************************************************
- * Name: board_app_finalinitialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command
- *   BOARDIOC_FINALINIT.
- *
- * Input Parameters:
- *   arg - The argument has no meaning.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-#ifdef CONFIG_BOARDCTL_FINALINIT
-int board_app_finalinitialize(uintptr_t arg)
-{
-	board_configure_dcache(1);
-	return 0;
-}
-#endif
-
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -279,9 +253,6 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
-
-	board_configure_dcache(0);
-
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);

boards/px4/fmu-v5/stackcheck.cmake

@@ -52,7 +52,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers
@@ -90,6 +89,7 @@ px4_add_board(
 	SYSTEMCMDS
 		bl_update
 		config
+		dmesg
 		dumpfile
 		esc_calib
 		hardfault_log

boards/px4/fmu-v5x/default.cmake

@@ -54,7 +54,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5x/fixedwing.cmake

@@ -48,7 +48,6 @@ px4_add_board(
 		rc_input
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		telemetry # all available telemetry drivers
 		tone_alarm

boards/px4/fmu-v5x/multicopter.cmake

@@ -49,7 +49,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5x/nuttx-config/nsh/defconfig

@@ -31,12 +31,10 @@ CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_FINALINIT=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114

boards/px4/fmu-v5x/nuttx-config/stackcheck/defconfig

@@ -24,13 +24,11 @@ CONFIG_ARCH_MATH_H=y
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_STACKCHECK=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_FINALINIT=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -144,7 +142,6 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1800
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -223,8 +220,8 @@ CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_UART8_RXDMA=y
+CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500
@@ -233,9 +230,9 @@ CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
+CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600

boards/px4/fmu-v5x/rover.cmake

@@ -52,7 +52,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		telemetry # all available telemetry drivers
 		tone_alarm

boards/px4/fmu-v5x/rtps.cmake

@@ -54,7 +54,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5x/src/init.c

@@ -196,32 +196,6 @@ __EXPORT void board_on_reset(int status)
 	}
 }
 
-/****************************************************************************
- * Name: board_app_finalinitialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command
- *   BOARDIOC_FINALINIT.
- *
- * Input Parameters:
- *   arg - The argument has no meaning.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-#ifdef CONFIG_BOARDCTL_FINALINIT
-int board_app_finalinitialize(uintptr_t arg)
-{
-	board_configure_dcache(1);
-	return 0;
-}
-#endif
-
 /************************************************************************************
  * Name: stm32_boardinitialize
  *
@@ -285,9 +259,6 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
-
-	board_configure_dcache(0);
-
 	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);

boards/px4/fmu-v5x/stackcheck.cmake

@@ -54,7 +54,6 @@ px4_add_board(
 		roboclaw
 		stm32
 		stm32/adc
-		stm32/armv7-m_dcache
 		stm32/tone_alarm
 		tap_esc
 		telemetry # all available telemetry drivers

src/drivers/boards/common/CMakeLists.txt

@@ -39,7 +39,6 @@ if ((${PX4_PLATFORM} MATCHES "nuttx") AND NOT ${PX4_BOARD} MATCHES "io")
 		board_dma_alloc.c
 		board_fat_dma_alloc.c
 		board_gpio_init.c
-		board_dcache_control.c
 		)
 
 	if (${CONFIG_ARCH_CHIP} MATCHES "kinetis")

src/drivers/boards/common/board_dcache_control.c

@@ -1,178 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
- *   Author: @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_dcache_control.c
- * Support for parameter based control of dcache for the
- * ARM 1259864 Data corruption eratta
- */
-
-#include <px4_config.h>
-#include <stdint.h>
-#include <stdbool.h>
-
-#include "nvic.h"
-#include <nuttx/cache.h>
-#include "up_arch.h"
-
-#include <parameters/param.h>
-
-#define CPUID_REVISION_SHIFT           0
-#define CPUID_REVISION_MASK            (0xf << CPUID_REVISION_SHIFT)
-#define CPUID_REVISION(cpuid)          (((cpuid) & CPUID_REVISION_MASK) >> CPUID_REVISION_SHIFT)
-#define CPUID_PARTNO_SHIFT             4
-#define CPUID_PARTNO_MASK              (0xfff << CPUID_PARTNO_SHIFT)
-#define CPUID_PARTNO(cpuid)            (((cpuid) & CPUID_PARTNO_MASK) >> CPUID_PARTNO_SHIFT)
-# define CPUID_CORTEX_M7               0xc27
-#define CPUID_VARIANT_SHIFT            20
-#define CPUID_VARIANT_MASK             (0xf << CPUID_VARIANT_SHIFT)
-#define CPUID_VARIANT(cpuid)            (((cpuid) & CPUID_VARIANT_MASK) >> CPUID_VARIANT_SHIFT)
-#define CPUID_IMPLEMENTER_SHIFT        24
-#define CPUID_IMPLEMENTER_MASK         (0xff << CPUID_IMPLEMENTER_SHIFT)
-#define CPUID_IMPLEMENTER(cpuid)       (((cpuid) & CPUID_IMPLEMENTER_MASK) >> CPUID_IMPLEMENTER_SHIFT)
-
-#if defined(CONFIG_ARMV7M_DCACHE) && defined(CONFIG_ARMV7M_DCACHE_WRITETHROUGH)
-/************************************************************************************
- * Name: board_configure_dcache
- *
- * Description:
- *  Called at various points in start up to disable the dcache if the
- *  1259864 Data corruption in a sequence of Write-Through stores and loads
- *  errata is preset.
- *
- * Input Parameters:
- *   stage - 0 - early init no OS;
- *           1  - OS and file system are runnting;
- *
- * Returned Value:
- ************************************************************************************/
-
-void board_configure_dcache(int stage)
-{
-	/* 1259864 Data corruption in a sequence of Write-Through stores and loads
-	 * Fault Status: Present in r0p1, r0p2, r1p0 and r1p1. Fixed in r1p2
-	 */
-
-	uint32_t cpuid = getreg32(NVIC_CPUID_BASE);
-
-
-	bool erratta = CPUID_PARTNO(cpuid) == CPUID_CORTEX_M7 && (CPUID_VARIANT(cpuid) == 0 || (CPUID_VARIANT(cpuid) == 1
-			&& CPUID_REVISION(cpuid) < 2));
-
-	/* On boot we should default to disabled on effected HW */
-
-	if (erratta && stage == 0) {
-		up_disable_dcache();
-		return;
-	}
-
-	/* Based on a param We can enable the dcache */
-
-	if (stage != 0) {
-
-		int32_t dcache = board_get_dcache_setting();
-
-		switch (dcache) {
-		default:
-		case 0:
-			erratta ? up_disable_dcache() : up_enable_dcache();
-			break;
-
-		case 1:
-			up_disable_dcache();
-			break;
-
-		case 2:
-			up_enable_dcache();
-			break;
-			return;
-		}
-
-	}
-}
-
-/************************************************************************************
- * Name: board_dcache_info
- *
- * Description:
- *  Called to retrieve dcache info and optionally set dcache to on or off.
- *
- * Input Parameters:
- *  action  - -1 Provide info only.
- *  pmesg   - if non null return the chipid revision and patch level
- *            will indicate if the dcache eratta is present.
- *  state   - if non null return the state of the dcache
- *            true on, false is off.
- *
- * Returned Value:
- *   0 - success
- *
- ************************************************************************************/
-
-int board_dcache_info(int action, char **pmesg, bool *pstate)
-{
-	uint32_t cpuid = getreg32(NVIC_CPUID_BASE);
-	static char mesg[] = "r?p? has dcache eratta!";
-	bool erratta = (CPUID_PARTNO(cpuid) == CPUID_CORTEX_M7 && (CPUID_VARIANT(cpuid) == 0 || (CPUID_VARIANT(cpuid) == 1
-			&& CPUID_REVISION(cpuid) < 2)));
-
-	mesg[1] = '0' + CPUID_VARIANT(cpuid);
-	mesg[3] = '0' + CPUID_REVISION(cpuid);
-
-	if (!erratta) {
-		mesg[5] = 'O';
-		mesg[6] = 'K';
-		mesg[7] = '\0';
-	}
-
-	if (action == 0) {
-		up_disable_dcache();
-	}
-
-	if (action == 1) {
-		up_enable_dcache();
-	}
-
-	if (pmesg) {
-		*pmesg = mesg;
-	}
-
-	if (pstate) {
-		*pstate = getreg32(NVIC_CFGCON) & NVIC_CFGCON_DC ? true : false;
-	}
-
-	return 0;
-
-}
-#endif

src/drivers/boards/common/board_internal_common.h

@@ -117,67 +117,3 @@ __EXPORT void board_gpio_init(const uint32_t list[], int count);
  ************************************************************************************/
 
 __EXPORT int board_determine_hw_info(void);
-
-#if defined(CONFIG_ARMV7M_DCACHE) && defined(CONFIG_ARMV7M_DCACHE_WRITETHROUGH)
-/************************************************************************************
- * Name: board_configure_dcache
- *
- * Description:
- *  Called at various points in start up to disable the dcache if the
- *  1259864 Data corruption in a sequence of Write-Through stores and loads
- *  errata is preset.
- *
- * Input Parameters:
- *   stage - 0 - early init no OS;
- *           1  - OS and file system are runnting;
- *
- * Returned Value:
- * None
- ************************************************************************************/
-
-void board_configure_dcache(int stage);
-
-/************************************************************************************
- * Name: board_get_dcache_setting
- *
- * Description:
- *  Called to retrieve the parameter setting to enable/disable
- *  the dcache.
- *
- * Input Parameters:
- *  None
- *
- * Returned Value:
- *  -1 -  Not set - if Eratta exits turn dcache off else leave it on
- *   0 -  if Eratta exits turn dcache off else leave it on
- *   1 -  Force it off
- *   2 -  Force it on
- *
- ************************************************************************************/
-
-int board_get_dcache_setting(void);
-
-/************************************************************************************
- * Name: board_dcache_info
- *
- * Description:
- *  Called to retrieve dcache info and optionally set dcache to on or off.
- *
- * Input Parameters:
- *  action  - -1 Provide info only.
- *  pmesg   - if non null return the chipid revision and patch level
- *            will indicate if the dcache eratta is present.
- *  state   - if non null return the state of the dcache
- *            true on, false is off.
- *
- * Returned Value:
- *   0 - success
- *
- ************************************************************************************/
-
-int board_dcache_info(int action, char **pmesg, bool *pstate);
-#else
-#  define board_configure_dcache(stage)
-#  define board_get_dcache_setting()
-#  define board_dcache_info(action, pmesg, pstate)
-#endif

src/drivers/magnetometer/lis3mdl/CMakeLists.txt

@@ -33,7 +33,7 @@
 px4_add_module(
 	MODULE drivers__lis3mdl
 	MAIN lis3mdl
-	STACK_MAIN 1200
+	STACK_MAIN 1500
 	COMPILE_FLAGS
 		-Wno-cast-align # TODO: fix and enable
 	SRCS

src/drivers/optical_flow/px4flow/CMakeLists.txt

@@ -33,7 +33,7 @@
 px4_add_module(
 	MODULE drivers__px4flow
 	MAIN px4flow
-	STACK_MAIN 1200
+	STACK_MAIN 1500
 	COMPILE_FLAGS
 		-Wno-cast-align # TODO: fix and enable
 	SRCS

src/drivers/px4io/px4io_serial.h

@@ -252,7 +252,7 @@ private:
 	/**
 	 * IO Buffer storage
 	 */
-	static uint8_t _io_buffer_storage[];
+	static uint8_t _io_buffer_storage[] __attribute__((aligned(ARMV7M_DCACHE_LINESIZE)));
 };
 
 #else

src/drivers/px4io/px4io_serial_f7.cpp

@@ -57,12 +57,10 @@
 #define rCR3		REG(STM32_USART_CR3_OFFSET)
 #define rGTPR		REG(STM32_USART_GTPR_OFFSET)
 
-#define CACHE_LINE_SIZE 32
+#define DMA_BUFFER_MASK    (ARMV7M_DCACHE_LINESIZE - 1)
+#define DMA_ALIGN_UP(n)    (((n) + DMA_BUFFER_MASK) & ~DMA_BUFFER_MASK)
 
-#define ROUND_UP_TO_POW2_CT(size, alignment) (((uintptr_t)((size) + ((alignment) - 1u))) & (~((uintptr_t)((alignment) - 1u))))
+uint8_t PX4IO_serial_f7::_io_buffer_storage[DMA_ALIGN_UP(sizeof(IOPacket))];
-#define ALIGNED_IO_BUFFER_SIZE ROUND_UP_TO_POW2_CT(sizeof(IOPacket), CACHE_LINE_SIZE)
-
-uint8_t PX4IO_serial_f7::_io_buffer_storage[ALIGNED_IO_BUFFER_SIZE + CACHE_LINE_SIZE];
 
 PX4IO_serial_f7::PX4IO_serial_f7() :
 	_tx_dma(nullptr),
@@ -119,9 +117,9 @@ int
 PX4IO_serial_f7::init()
 {
 	/* initialize base implementation */
-	int r;
+	int r = PX4IO_serial::init((IOPacket *)&_io_buffer_storage[0]);
 
-	if ((r = PX4IO_serial::init((IOPacket *)ROUND_UP_TO_POW2_CT((uintptr_t)_io_buffer_storage, CACHE_LINE_SIZE))) != 0) {
+	if (r != 0) {
 		return r;
 	}
 
@@ -289,7 +287,7 @@ PX4IO_serial_f7::_bus_exchange(IOPacket *_packet)
 
 	/* Clean _current_packet, so DMA can see the data */
 	up_clean_dcache((uintptr_t)_current_packet,
-			(uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
+			(uintptr_t)_current_packet + DMA_ALIGN_UP(sizeof(IOPacket)));
 
 	/* start TX DMA - no callback if we also expect a reply */
 	/* DMA setup time ~3µs */
@@ -459,7 +457,7 @@ PX4IO_serial_f7::_do_interrupt()
 		if (_rx_dma_status == _dma_status_waiting) {
 			/* Invalidate _current_packet, so we get fresh data from RAM */
 			up_invalidate_dcache((uintptr_t)_current_packet,
-					     (uintptr_t)_current_packet + ALIGNED_IO_BUFFER_SIZE);
+					     (uintptr_t)_current_packet + DMA_ALIGN_UP(sizeof(IOPacket)));
 
 			/* verify that the received packet is complete */
 			size_t length = sizeof(*_current_packet) - stm32_dmaresidual(_rx_dma);

src/drivers/stm32/armv7-m_dcache/CMakeLists.txt

@@ -1,39 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015-2019 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
-# 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.
-#
-############################################################################
-
-px4_add_module(
-	MODULE drivers__armv7-m_dcache
-	MAIN dcache
-	SRCS
-	armv7-m_dcache.cpp
-	)

src/drivers/stm32/armv7-m_dcache/armv7-m_dcache.cpp

@@ -1,106 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 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
- * 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 armv7-m_dcache.cpp
- *
- * Driver for the armv7 m_dcache.
- *
- */
-
-#include <px4_config.h>
-#include <px4_log.h>
-#include <board_config.h>
-#include <stdint.h>
-#include <string.h>
-
-#include <parameters/param.h>
-
-#include <nuttx/cache.h>
-
-#if defined(CONFIG_ARMV7M_DCACHE) && defined(CONFIG_ARMV7M_DCACHE_WRITETHROUGH)
-
-extern "C" __EXPORT int dcache_main(int argc, char *argv[]);
-extern "C" __EXPORT int board_get_dcache_setting();
-
-/************************************************************************************
- * Name: board_get_dcache_setting
- *
- * Description:
- *  Called to retrieve the parameter setting to enable/disable
- *  the dcache.
- *
- * Input Parameters:
- *  None
- *
- * Returned Value:
- *  -1 -  Not set - if Eratta exits turn dcache off else leave it on
- *   0 -  if Eratta exits turn dcache off else leave it on
- *   1 -  Force it off
- *   2 -  Force it on
- *
- ************************************************************************************/
-
-int board_get_dcache_setting()
-{
-	param_t ph = param_find("SYS_FORCE_F7DC");
-	int32_t dcache_setting = -1;
-
-	if (ph != PARAM_INVALID) {
-		param_get(ph, &dcache_setting);
-	}
-
-	return dcache_setting;
-}
-
-int dcache_main(int argc, char *argv[])
-{
-	int action = -1;
-	char *pmesg = nullptr;
-	bool state = false;
-
-	if (argc > 1) {
-		if (!strcmp(argv[1], "on") || !strcmp(argv[1], "1")) {
-			action = 1;
-		}
-
-		if (!strcmp(argv[1], "off") || !strcmp(argv[1], "0")) {
-			action = 0;
-		}
-	}
-
-	board_dcache_info(action, &pmesg, &state);
-	PX4_INFO("M7 cpuid %s dcache %s", pmesg, state ? "On" : "Off");
-	return 0;
-}
-#endif

src/drivers/stm32/armv7-m_dcache/params.c

@@ -1,49 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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
- * 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.
- *
- ****************************************************************************/
-
-/**
- * Force F7 D cache on and disregard errata 1259864 data corruption in
- * a sequence of write-through stores and loads on ARM M7 silicon
- * Fault Status: Present in r0p1, r0p2, r1p0 and r1p1. Fixed in r1p2
- *
- *
- * @min 0
- * @max 2
- * @value 0 if Eratta exits turn dcache off else leave it on
- * @value 1 Force it off
- * @value 2 Force it on
- * @group Chip
- * @category Developer
-
- */
-PARAM_DEFINE_INT32(SYS_FORCE_F7DC, 0);