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oncilla-motordriver-fw/src/dma_memory_mapping_sbcp.h
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dma_memory_mapping_sbcp.h
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/*
* dma_memory_mapping_sbcp.h
*
* Copyright (c) Alexandre Tuleu
* EPFL Biorobotics Laboratory (http://biorob.epfl.ch)
* EPFL Ecole Polytechnique Federale de Lausanne (http://www.epfl.ch)
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* \file dma_memory_mapping_sbcp.h
* This file defines the memory mapping used for the SBCP implementation through
* DMA. DMA module on dsPIC33 can only access a subset region of the memory
* space. C30 compiler come with lot of tools to deal with this, but however,
* they are only static. Our DMA_packet_queue ressource management system need a
* dynamic access to this buffer, so a careful handling of the memory address
* should be used. However this hardcoded dynamic access will likely be not very
* portable, if not at all.
*
* \author Alexandre Tuleu
*/
#ifndef DMA_MEMORY_MAPPING_SBCP_H_
#define DMA_MEMORY_MAPPING_SBCP_H_
#include "config.h"
#include "dma_packet_queue.h"
#if !(defined(SBCP_IS_MASTER) || defined(SBCP_IS_SLAVE))
#error "You have to define either the SBCP_IS_MASTER or the SBCP_IS_SLAVE mode in config.h"
#endif
#if !(defined(__dsPIC33FJ128MC802__) || defined (__dsPIC33FJ128MC804__) || defined(__dsPIC33FJ64MC802__) || defined(__dsPIC33FJ64MC804__) || defined(__dsPIC33FJ128GP802__) || defined (__dsPIC33FJ128GP804__) || defined(__dsPIC33FJ64GP802__) || defined(__dsPIC33FJ64GP804__) )
#error "You need to use a dsPIC33 with 16kB of RAM, as some offset are directly put in the code. If your sure that you have 16kB of ram on your device, please check the _DMA_BASE address value, if it is different than 0x4000, you cannot use this code either. Yes the code is not well portable."
#endif
/**
* Buffers for rs485 reception. There is a lot of macro that perform dynamic
* access to these buffers, and they hadrcode the corresponding address to
* perform well enough, this is why there is the 'adress' attribute. It makes
* the code very much not portable to another dsPIC33 of
* pic24 MCU, different of the 4 specified above. sorry for that.
* (Anyway if we switch to a more powerful PIC32 architecture , we have to
* rewrite evrything, ad the DMA layout is completely different
* (and far more easier :))
*/
extern unsigned int dma_sbcp_bus_rx_buffers[DMA_SBCP_MAX_PACKET_SIZE * DMA_PACKET_QUEUE_LENGTH] __attribute__((address (0x4400),space(dma)));
//starting from mow, all other buffer could be allocated using C30 portable way
//of defining dma ready buffers
#ifdef SBCP_IS_MASTER
extern unsigned int dma_usb_rx_buffers[512] __attribute__((space(dma)));
//ALL DMA SPACE IS RESERVED BY THE SBCP APPLICATION !
#elif defined (SBCP_IS_SLAVE)
/**
* Buffer for transmitting standard packet over the bus
*/
extern unsigned int dma_sbcp_bus_tx_buffer[DMA_SBCP_MAX_PACKET_SIZE] __attribute__((space(dma)));
/**
* Buffer for transmitting low latency packet standard feedback
*/
extern unsigned int dma_sbcp_bus_tx_ll_buffer[32] __attribute__((space(dma)));
/**
* Buffer for transmitting low latency packet error. Only for checksum.
*/
extern unsigned int dma_sbcp_bus_tx_ll_error_buffer[7] __attribute__((space(dma)));
//remains 690 free bytes for other dma applications.
#endif
#endif //DMA_MEMORY_MAPPING_SBCP_H_
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