#546 Moved another ~20k to CCM.

src/deck/api/deck_spi.c

@@ -223,6 +223,9 @@ bool spiTest(void)
 
 bool spiExchange(size_t length, const uint8_t * data_tx, uint8_t * data_rx)
 {
+  ASSERT_DMA_SAFE(data_tx);
+  ASSERT_DMA_SAFE(data_rx);
+
   // DMA already configured, just need to set memory addresses
   SPI_TX_DMA_STREAM->M0AR = (uint32_t)data_tx;
   SPI_TX_DMA_STREAM->NDTR = length;

src/deck/api/deck_spi3.c

@@ -215,6 +215,9 @@ bool spi3Test(void)
 
 bool spi3Exchange(size_t length, const uint8_t * data_tx, uint8_t * data_rx)
 {
+  ASSERT_DMA_SAFE(data_tx);
+  ASSERT_DMA_SAFE(data_rx);
+
   // DMA already configured, just need to set memory addresses
   SPI_TX_DMA_STREAM->M0AR = (uint32_t)data_tx;
   SPI_TX_DMA_STREAM->NDTR = length;

src/deck/drivers/src/aideck.c

@@ -130,9 +130,9 @@ static bool aideckTest()
 }
 
 static const DeckDriver aideck_deck = {
-    .vid = 0,
-    .pid = 0,
-    .name = "bcAIDeck",
+    .vid = 0xBC,
+    .pid = 0x12,
+    .name = "bcAI",
 
     .usedPeriph = 0,
     .usedGpio = 0, // FIXME: Edit the used GPIOs

src/deck/drivers/src/lhtesterdeck.c

@@ -44,7 +44,7 @@ static bool isInit;
 
 #define TIM_PERIF       RCC_APB1Periph_TIM5
 #define TIM             TIM5
-#define TIM_DBG         DBGMCU_TIM2_STOP
+#define TIM_DBG         DBGMCU_TIM5_STOP
 #define TIM_SETCOMPARE  TIM_SetCompare2
 #define TIM_GETCAPTURE  TIM_GetCapture2
 

src/deck/drivers/src/multiranger.c

@@ -34,6 +34,7 @@
 #include "pca95x4.h"
 #include "vl53l1x.h"
 #include "range.h"
+#include "static_mem.h"
 
 #include "i2cdev.h"
 
@@ -52,11 +53,11 @@ static bool isPassed = false;
 #define MR_PIN_LEFT   PCA95X4_P6
 #define MR_PIN_RIGHT  PCA95X4_P2
 
-static VL53L1_Dev_t devFront;
-static VL53L1_Dev_t devBack;
-static VL53L1_Dev_t devUp;
-static VL53L1_Dev_t devLeft;
-static VL53L1_Dev_t devRight;
+NO_DMA_CCM_SAFE_ZERO_INIT static VL53L1_Dev_t devFront;
+NO_DMA_CCM_SAFE_ZERO_INIT static VL53L1_Dev_t devBack;
+NO_DMA_CCM_SAFE_ZERO_INIT static VL53L1_Dev_t devUp;
+NO_DMA_CCM_SAFE_ZERO_INIT static VL53L1_Dev_t devLeft;
+NO_DMA_CCM_SAFE_ZERO_INIT static VL53L1_Dev_t devRight;
 
 static uint16_t mrGetMeasurementAndRestart(VL53L1_Dev_t *dev)
 {

src/deck/drivers/src/test/aidecktest.c

@@ -403,6 +403,10 @@ static bool aitdecktestTest()
       DEBUG_PRINT("NINA->GAP8 reset [FAILED]\r\n");
     }
   }
+  else
+  {
+    DEBUG_PRINT("NINA->GAP8 reset, NINA not responding. [FAILED]\r\n");
+  }
 
   //Test RST of both GAP8 and NINA by pulling reset
   pinMode(DECK_GPIO_IO4, OUTPUT);

src/deck/drivers/src/usddeck.c

@@ -57,6 +57,7 @@
 #include "log.h"
 #include "param.h"
 #include "crc_bosch.h"
+#include "static_mem.h"
 
 // Hardware defines
 #ifdef USDDECK_USE_ALT_PINS_AND_SPI
@@ -112,7 +113,7 @@ static void csLow(void);
 static void usdLogTask(void* prm);
 static void usdWriteTask(void* prm);
 
-static crc crcTable[256];
+NO_DMA_CCM_SAFE_ZERO_INIT static crc crcTable[256];
 
 static usdLogConfig_t usdLogConfig;
 
@@ -124,9 +125,9 @@ DWORD workBuff[512];  /* 2048 byte working buffer */
 #endif
 
 //Fatfs object
-static FATFS FatFs;
+NO_DMA_CCM_SAFE_ZERO_INIT static FATFS FatFs;
 //File object
-static FIL logFile;
+NO_DMA_CCM_SAFE_ZERO_INIT static FIL logFile;
 static SemaphoreHandle_t logFileMutex;
 
 static QueueHandle_t usdLogQueue;

src/deck/drivers/src/zranger.c

@@ -35,6 +35,7 @@
 #include "log.h"
 #include "param.h"
 #include "range.h"
+#include "static_mem.h"
 
 #include "i2cdev.h"
 #include "zranger.h"
@@ -55,7 +56,7 @@ static uint16_t range_last = 0;
 
 static bool isInit;
 
-static VL53L0xDev dev;
+NO_DMA_CCM_SAFE_ZERO_INIT static VL53L0xDev dev;
 
 void zRangerInit(DeckInfo* info)
 {

src/deck/drivers/src/zranger2.c

@@ -36,6 +36,7 @@
 #include "log.h"
 #include "param.h"
 #include "range.h"
+#include "static_mem.h"
 
 #include "i2cdev.h"
 #include "zranger2.h"
@@ -56,7 +57,7 @@ static uint16_t range_last = 0;
 
 static bool isInit;
 
-static VL53L1_Dev_t dev;
+NO_DMA_CCM_SAFE_ZERO_INIT static VL53L1_Dev_t dev;
 
 static uint16_t zRanger2GetMeasurementAndRestart(VL53L1_Dev_t *dev)
 {

src/drivers/src/i2c_drv.c

@@ -208,6 +208,8 @@ static inline void i2cdrvRoughLoopDelay(uint32_t us)
 
 static void i2cdrvStartTransfer(I2cDrv *i2c)
 {
+  ASSERT_DMA_SAFE(i2c->txMessage.buffer);
+
   if (i2c->txMessage.direction == i2cRead)
   {
     i2c->DMAStruct.DMA_BufferSize = i2c->txMessage.messageLength;
@@ -380,6 +382,8 @@ void i2cdrvCreateMessage(I2cMessage *message,
                       uint32_t length,
                       uint8_t  *buffer)
 {
+  ASSERT_DMA_SAFE(buffer);
+
   message->slaveAddress = slaveAddress;
   message->direction = direction;
   message->isInternal16bit = false;
@@ -398,6 +402,8 @@ void i2cdrvCreateMessageIntAddr(I2cMessage *message,
                              uint32_t length,
                              uint8_t  *buffer)
 {
+  ASSERT_DMA_SAFE(buffer);
+
   message->slaveAddress = slaveAddress;
   message->direction = direction;
   message->isInternal16bit = IsInternal16;

src/drivers/src/piezo.c

@@ -40,7 +40,7 @@
 // HW defines
 #define PIEZO_TIM_PERIF       RCC_APB1Periph_TIM5
 #define PIEZO_TIM             TIM5
-#define PIEZO_TIM_DBG         DBGMCU_TIM2_STOP
+#define PIEZO_TIM_DBG         DBGMCU_TIM5_STOP
 #define PIEZO_TIM_SETCOMPARE  TIM_SetCompare2
 #define PIEZO_TIM_GETCAPTURE  TIM_GetCapture2
 

src/drivers/src/vl53l1x.c

@@ -194,14 +194,16 @@ VL53L1_Error VL53L1_RdByte(
 	uint16_t      index,
 	uint8_t      *pdata)
 {
-	VL53L1_Error status         = VL53L1_ERROR_NONE;
+  VL53L1_Error status         = VL53L1_ERROR_NONE;
+  static uint8_t r8data;
 
-	if (!i2cdevRead16(pdev->I2Cx, pdev->devAddr, index, 1, pdata))
+  if (!i2cdevRead16(pdev->I2Cx, pdev->devAddr, index, 1, &r8data))
   {
     status = VL53L1_ERROR_CONTROL_INTERFACE;
   }
+  *pdata = r8data;
 
-	return status;
+  return status;
 }
 
 
@@ -210,14 +212,16 @@ VL53L1_Error VL53L1_RdWord(
 	uint16_t      index,
 	uint16_t     *pdata)
 {
-	VL53L1_Error status         = VL53L1_ERROR_NONE;
+  VL53L1_Error status         = VL53L1_ERROR_NONE;
+  static uint16_t r16data;
 
-  if (!i2cdevRead16(pdev->I2Cx, pdev->devAddr, index, 2, (uint8_t *)pdata))
+  if (!i2cdevRead16(pdev->I2Cx, pdev->devAddr, index, 2, (uint8_t *)&r16data))
   {
     status = VL53L1_ERROR_CONTROL_INTERFACE;
   }
-
-	return status;
+  *pdata = r16data;
+
+  return status;
 }
 
 
@@ -226,14 +230,16 @@ VL53L1_Error VL53L1_RdDWord(
 	uint16_t      index,
 	uint32_t     *pdata)
 {
-	VL53L1_Error status = VL53L1_ERROR_NONE;
+  VL53L1_Error status = VL53L1_ERROR_NONE;
+  static uint32_t r32data;
 
-	if (!i2cdevRead16(pdev->I2Cx, pdev->devAddr, index, 4, (uint8_t *)pdata))
+  if (!i2cdevRead16(pdev->I2Cx, pdev->devAddr, index, 4, (uint8_t *)&r32data))
   {
     status = VL53L1_ERROR_CONTROL_INTERFACE;
   }
+  *pdata = r32data;
 
-	return status;
+  return status;
 }
 
 /*

src/drivers/src/ws2812_cf2.c

@@ -113,6 +113,7 @@ void ws2812Init(void)
 	/* DMA1 Channel5 Config TM */
 	DMA_DeInit(DMA1_Stream5);
 
+	ASSERT_DMA_SAFE(led_dma.buffer);
   // USART TX DMA Channel Config
   DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&TIM3->CCR2;
   DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)led_dma.buffer;    // this is the buffer memory

src/hal/src/ledseq.c

@@ -33,6 +33,7 @@
 #include "FreeRTOS.h"
 #include "timers.h"
 #include "semphr.h"
+#include "static_mem.h"
 
 #include "led.h"
 
@@ -167,12 +168,12 @@ static void updateActive(led_t led);
 
 //State of every sequence for every led: LEDSEQ_STOP if stopped or the current
 //step
-static int state[LED_NUM][SEQ_NUM];
+NO_DMA_CCM_SAFE_ZERO_INIT static int state[LED_NUM][SEQ_NUM];
 //Active sequence for each led
-static int activeSeq[LED_NUM];
+NO_DMA_CCM_SAFE_ZERO_INIT static int activeSeq[LED_NUM];
 
-static xTimerHandle timer[LED_NUM];
-static StaticTimer_t timerBuffer[LED_NUM];
+NO_DMA_CCM_SAFE_ZERO_INIT static xTimerHandle timer[LED_NUM];
+NO_DMA_CCM_SAFE_ZERO_INIT static StaticTimer_t timerBuffer[LED_NUM];
 
 static xSemaphoreHandle ledseqSem;
 

src/hal/src/sensors_bmi088_spi_bmp388.c

@@ -133,6 +133,7 @@
 #define GYR_DIS_CS() GPIO_SetBits(BMI088_GYR_GPIO_CS_PORT, BMI088_GYR_GPIO_CS)
 
 /* Defines and buffers for full duplex SPI DMA transactions */
+/* The buffers must not be placed in CCM */
 #define SPI_MAX_DMA_TRANSACTION_SIZE    15
 static uint8_t spiTxBuffer[SPI_MAX_DMA_TRANSACTION_SIZE + 1];
 static uint8_t spiRxBuffer[SPI_MAX_DMA_TRANSACTION_SIZE + 1];

src/hal/src/usb.c

@@ -49,7 +49,7 @@
 #include "static_mem.h"
 
 
-__ALIGN_BEGIN USB_OTG_CORE_HANDLE    USB_OTG_dev __ALIGN_END ;
+NO_DMA_CCM_SAFE_ZERO_INIT __ALIGN_BEGIN USB_OTG_CORE_HANDLE    USB_OTG_dev __ALIGN_END ;
 
 static bool isInit = false;
 static bool doingTransfer = false;

src/lib/STM32_USB_Device_Library/Core/src/usbd_req.c

@@ -31,6 +31,7 @@
 #include "usbd_req.h"
 #include "usbd_ioreq.h"
 #include "usbd_desc.h"
+#include "static_mem.h"
 
 
 /** @addtogroup STM32_USB_OTG_DEVICE_LIBRARY
@@ -99,7 +100,7 @@ __ALIGN_BEGIN uint32_t  USBD_cfg_status __ALIGN_END  = 0;
     #pragma data_alignment=4   
   #endif
 #endif /* USB_OTG_HS_INTERNAL_DMA_ENABLED */
-__ALIGN_BEGIN uint8_t USBD_StrDesc[USB_MAX_STR_DESC_SIZ] __ALIGN_END ;
+NO_DMA_CCM_SAFE_ZERO_INIT __ALIGN_BEGIN uint8_t USBD_StrDesc[USB_MAX_STR_DESC_SIZ] __ALIGN_END ;
 /**
   * @}
   */ 

src/modules/src/kalman_core.c

@@ -65,6 +65,7 @@
 #include "param.h"
 #include "math3d.h"
 #include "debug.h"
+#include "static_mem.h"
 
 // #define DEBUG_STATE_CHECK
 
@@ -225,23 +226,23 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
 static void scalarUpdate(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, float error, float stdMeasNoise)
 {
   // The Kalman gain as a column vector
-  static float K[KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float K[KC_STATE_DIM];
   static arm_matrix_instance_f32 Km = {KC_STATE_DIM, 1, (float *)K};
 
   // Temporary matrices for the covariance updates
-  static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
   static arm_matrix_instance_f32 tmpNN1m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
 
-  static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
   static arm_matrix_instance_f32 tmpNN2m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
 
-  static float tmpNN3d[KC_STATE_DIM * KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN3d[KC_STATE_DIM * KC_STATE_DIM];
   static arm_matrix_instance_f32 tmpNN3m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN3d};
 
-  static float HTd[KC_STATE_DIM * 1];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float HTd[KC_STATE_DIM * 1];
   static arm_matrix_instance_f32 HTm = {KC_STATE_DIM, 1, HTd};
 
-  static float PHTd[KC_STATE_DIM * 1];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float PHTd[KC_STATE_DIM * 1];
   static arm_matrix_instance_f32 PHTm = {KC_STATE_DIM, 1, PHTd};
 
   ASSERT(Hm->numRows == 1);
@@ -670,14 +671,14 @@ void kalmanCorePredict(kalmanCoreData_t* this, float cmdThrust, Axis3f *acc, Axi
    */
 
   // The linearized update matrix
-  static float A[KC_STATE_DIM][KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float A[KC_STATE_DIM][KC_STATE_DIM];
   static arm_matrix_instance_f32 Am = { KC_STATE_DIM, KC_STATE_DIM, (float *)A}; // linearized dynamics for covariance update;
 
   // Temporary matrices for the covariance updates
-  static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
   static arm_matrix_instance_f32 tmpNN1m = { KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
 
-  static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
   static arm_matrix_instance_f32 tmpNN2m = { KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
 
   float dt2 = dt*dt;
@@ -923,14 +924,14 @@ void kalmanCoreAddProcessNoise(kalmanCoreData_t* this, float dt)
 void kalmanCoreFinalize(kalmanCoreData_t* this, uint32_t tick)
 {
   // Matrix to rotate the attitude covariances once updated
-  static float A[KC_STATE_DIM][KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float A[KC_STATE_DIM][KC_STATE_DIM];
   static arm_matrix_instance_f32 Am = {KC_STATE_DIM, KC_STATE_DIM, (float *)A};
 
   // Temporary matrices for the covariance updates
-  static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
   static arm_matrix_instance_f32 tmpNN1m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
 
-  static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
+  NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
   static arm_matrix_instance_f32 tmpNN2m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
 
   // Incorporate the attitude error (Kalman filter state) with the attitude

src/modules/src/log.c

@@ -98,7 +98,7 @@ struct log_block {
   struct log_ops * ops;
 };
 
-static struct log_ops logOps[LOG_MAX_OPS];
+NO_DMA_CCM_SAFE_ZERO_INIT static struct log_ops logOps[LOG_MAX_OPS];
 NO_DMA_CCM_SAFE_ZERO_INIT static struct log_block logBlocks[LOG_MAX_BLOCKS];
 static xSemaphoreHandle logLock;
 static StaticSemaphore_t logLockBuffer;