HAL_ChibiOS: support ChibiOS kernel major 6

preparing for STM32H7 support

libraries/AP_HAL_ChibiOS/AnalogIn.cpp

@@ -185,11 +185,9 @@ void AnalogSource::_add_value(float v, float vcc5V)
 /*
   callback from ADC driver when sample buffer is filled
  */
-void AnalogIn::adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n)
+void AnalogIn::adccallback(ADCDriver *adcp)
 {
-    if (buffer != samples) {
-        return;
-    }
+    const adcsample_t *buffer = samples;
     for (uint8_t i = 0; i < ADC_DMA_BUF_DEPTH; i++) {
         for (uint8_t j = 0; j < ADC_GRP1_NUM_CHANNELS; j++) { 
             sample_sum[j] += *buffer++;

libraries/AP_HAL_ChibiOS/AnalogIn.h

@@ -63,7 +63,7 @@ public:
     float board_voltage(void) override { return _board_voltage; }
     float servorail_voltage(void) override { return _servorail_voltage; }
     uint16_t power_status_flags(void) override { return _power_flags; }
-    static void adccallback(ADCDriver *adcp, adcsample_t *buffer, size_t n);
+    static void adccallback(ADCDriver *adcp);
 
 private:
     void read_adc(uint32_t *val);

libraries/AP_HAL_ChibiOS/CanIface.cpp

@@ -63,7 +63,7 @@
 # endif
 #endif
 
-#if (CH_KERNEL_MAJOR == 3 || CH_KERNEL_MAJOR == 4 || CH_KERNEL_MAJOR == 5)
+#if (CH_KERNEL_MAJOR == 3 || CH_KERNEL_MAJOR == 4 || CH_KERNEL_MAJOR == 5 || CH_KERNEL_MAJOR == 6)
 #define CAN1_TX_IRQHandler      STM32_CAN1_TX_HANDLER
 #define CAN1_RX0_IRQHandler     STM32_CAN1_RX0_HANDLER
 #define CAN1_RX1_IRQHandler     STM32_CAN1_RX1_HANDLER
@@ -1213,10 +1213,16 @@ UAVCAN_STM32_IRQ_HANDLER(CAN1_RX1_IRQHandler)
 
 # if UAVCAN_STM32_NUM_IFACES > 1
 
-#if !defined(CAN2_TX_IRQHandler) ||\
-    !defined(CAN2_RX0_IRQHandler) ||\
-    !defined(CAN2_RX1_IRQHandler)
-# error "Misconfigured build"
+#if !defined(CAN2_TX_IRQHandler)
+# error "Misconfigured build1"
+#endif
+
+#if !defined(CAN2_RX0_IRQHandler)
+# error "Misconfigured build2"
+#endif
+
+#if !defined(CAN2_RX1_IRQHandler)
+# error "Misconfigured build3"
 #endif
 
 UAVCAN_STM32_IRQ_HANDLER(CAN2_TX_IRQHandler);

libraries/AP_HAL_ChibiOS/RCOutput.cpp

@@ -820,8 +820,9 @@ void RCOutput::dma_allocate(Shared_DMA *ctx)
     for (uint8_t i = 0; i < NUM_GROUPS; i++ ) {
         pwm_group &group = pwm_group_list[i];
         if (group.dma_handle == ctx) {
+            osalDbgAssert(group.dma == nullptr, "double DMA allocation");
             chSysLock();
-            dmaStreamAllocate(group.dma, 10, dma_irq_callback, &group);
+            group.dma = dmaStreamAllocI(group.dma_up_stream_id, 10, dma_irq_callback, &group);
             chSysUnlock();
         }
     }
@@ -836,7 +837,8 @@ void RCOutput::dma_deallocate(Shared_DMA *ctx)
         pwm_group &group = pwm_group_list[i];
         if (group.dma_handle == ctx) {
             chSysLock();
-            dmaStreamRelease(group.dma);
+            dmaStreamFreeI(group.dma);
+            group.dma = nullptr;
             chSysUnlock();
         }
     }

libraries/AP_HAL_ChibiOS/SoftSigReader.cpp

@@ -36,13 +36,13 @@ bool SoftSigReader::attach_capture_timer(ICUDriver* icu_drv, icuchannel_t chan,
     }
     _icu_drv = icu_drv;
     //Setup Burst transfer of period and width measurement
-    dma = STM32_DMA_STREAM(dma_stream);
+    osalDbgAssert(dma == nullptr, "double DMA allocation");
     chSysLock();
-    bool dma_allocated = dmaStreamAllocate(dma,
-                                            12,  //IRQ Priority
-                                            (stm32_dmaisr_t)_irq_handler,
-                                            (void *)this);
-    osalDbgAssert(!dma_allocated, "stream already allocated");
+    dma = dmaStreamAllocI(dma_stream,
+                          12,  //IRQ Priority
+                          (stm32_dmaisr_t)_irq_handler,
+                          (void *)this);
+    osalDbgAssert(dma, "stream allocation failed");
     chSysUnlock();
     //setup address for full word transfer from Timer
     dmaStreamSetPeripheral(dma, &icu_drv->tim->DMAR);

libraries/AP_HAL_ChibiOS/UARTDriver.cpp

@@ -226,13 +226,13 @@ void UARTDriver::begin(uint32_t b, uint16_t rxS, uint16_t txS)
             //setup Rx DMA
             if(!_device_initialised) {
                 if(sdef.dma_rx) {
-                    rxdma = STM32_DMA_STREAM(sdef.dma_rx_stream_id);
+                    osalDbgAssert(rxdma == nullptr, "double DMA allocation");
                     chSysLock();
-                    bool dma_allocated = dmaStreamAllocate(rxdma,
-                                               12,  //IRQ Priority
-                                               (stm32_dmaisr_t)rxbuff_full_irq,
-                                               (void *)this);
-                    osalDbgAssert(!dma_allocated, "stream already allocated");
+                    rxdma = dmaStreamAllocI(sdef.dma_rx_stream_id,
+                                            12,  //IRQ Priority
+                                            (stm32_dmaisr_t)rxbuff_full_irq,
+                                            (void *)this);
+                    osalDbgAssert(rxdma, "stream alloc failed");
                     chSysUnlock();
 #if defined(STM32F7)
                     dmaStreamSetPeripheral(rxdma, &((SerialDriver*)sdef.serial)->usart->RDR);
@@ -315,13 +315,12 @@ void UARTDriver::dma_tx_allocate(Shared_DMA *ctx)
 {
 #if HAL_USE_SERIAL == TRUE
     osalDbgAssert(txdma == nullptr, "double DMA allocation");
-    txdma = STM32_DMA_STREAM(sdef.dma_tx_stream_id);
     chSysLock();
-    bool dma_allocated = dmaStreamAllocate(txdma,
-                                           12,  //IRQ Priority
-                                           (stm32_dmaisr_t)tx_complete,
-                                           (void *)this);
-    osalDbgAssert(!dma_allocated, "stream already allocated");
+    txdma = dmaStreamAllocI(sdef.dma_tx_stream_id,
+                            12,  //IRQ Priority
+                            (stm32_dmaisr_t)tx_complete,
+                            (void *)this);
+    osalDbgAssert(txdma, "stream alloc failed");
     chSysUnlock();
 #if defined(STM32F7)
     dmaStreamSetPeripheral(txdma, &((SerialDriver*)sdef.serial)->usart->TDR);
@@ -334,7 +333,7 @@ void UARTDriver::dma_tx_allocate(Shared_DMA *ctx)
 void UARTDriver::dma_tx_deallocate(Shared_DMA *ctx)
 {
     chSysLock();
-    dmaStreamRelease(txdma);
+    dmaStreamFreeI(txdma);
     txdma = nullptr;
     chSysUnlock();
 }