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Code Issues Wiki Activity

Merge pull request #10895 from mikeller/add_dma_resource_allocation

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This commit is contained in:
Michael Keller 2021-09-29 01:04:53 +13:00
parent e7e44a8a42
commit 11ad60f856
30 changed files with 443 additions and 422 deletions
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1
make/source.mk
View file

@ -27,6 +27,7 @@ COMMON_SRC = \
drivers/buttons.c \ drivers/buttons.c \
drivers/display.c \ drivers/display.c \
drivers/display_canvas.c \ drivers/display_canvas.c \
drivers/dma_common.c \
drivers/dma_reqmap.c \ drivers/dma_reqmap.c \
drivers/exti.c \ drivers/exti.c \
drivers/io.c \ drivers/io.c \

10
src/main/drivers/adc_stm32f10x.c
View file

@ -67,7 +67,6 @@ const adcTagMap_t adcTagMap[] = {
void adcInit(const adcConfig_t *config) void adcInit(const adcConfig_t *config)
{ {
uint8_t configuredAdcChannels = 0; uint8_t configuredAdcChannels = 0;
memset(&adcOperatingConfig, 0, sizeof(adcOperatingConfig)); memset(&adcOperatingConfig, 0, sizeof(adcOperatingConfig));
@ -89,11 +88,16 @@ void adcInit(const adcConfig_t *config)
} }
ADCDevice device = adcDeviceByInstance(ADC_INSTANCE); ADCDevice device = adcDeviceByInstance(ADC_INSTANCE);
if (device == ADCINVALID) if (device == ADCINVALID) {
return; return;
}
const adcDevice_t adc = adcHardware[device]; const adcDevice_t adc = adcHardware[device];
if (!dmaAllocate(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0)) {
return;
}
bool adcActive = false; bool adcActive = false;
for (int i = 0; i < ADC_CHANNEL_COUNT; i++) { for (int i = 0; i < ADC_CHANNEL_COUNT; i++) {
if (!adcOperatingConfig[i].tag) if (!adcOperatingConfig[i].tag)
@ -115,7 +119,7 @@ void adcInit(const adcConfig_t *config)
RCC_ADCCLKConfig(RCC_PCLK2_Div8); // 9MHz from 72MHz APB2 clock(HSE), 8MHz from 64MHz (HSI) RCC_ADCCLKConfig(RCC_PCLK2_Div8); // 9MHz from 72MHz APB2 clock(HSE), 8MHz from 64MHz (HSI)
RCC_ClockCmd(adc.rccADC, ENABLE); RCC_ClockCmd(adc.rccADC, ENABLE);
dmaInit(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0); dmaEnable(dmaGetIdentifier(adc.dmaResource));
xDMA_DeInit(adc.dmaResource); xDMA_DeInit(adc.dmaResource);
DMA_InitTypeDef DMA_InitStructure; DMA_InitTypeDef DMA_InitStructure;

10
src/main/drivers/adc_stm32f30x.c
View file

@ -176,15 +176,19 @@ void adcInit(const adcConfig_t *config)
#if defined(USE_DMA_SPEC) #if defined(USE_DMA_SPEC)
const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, device, config->dmaopt[device]); const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, device, config->dmaopt[device]);
if (!dmaSpec) { if (!dmaSpec || !dmaAllocate(dmaGetIdentifier(dmaSpec->ref), OWNER_ADC, RESOURCE_INDEX(device))) {
return; return;
} }
dmaInit(dmaGetIdentifier(dmaSpec->ref), OWNER_ADC, RESOURCE_INDEX(device)); dmaEnable(dmaGetIdentifier(dmaSpec->ref));
DMA_DeInit((DMA_ARCH_TYPE *)dmaSpec->ref); DMA_DeInit((DMA_ARCH_TYPE *)dmaSpec->ref);
#else #else
dmaInit(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0); if (!dmaAllocate(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0)) {
return;
}
dmaEnable(dmaGetIdentifier(adc.dmaResource));
xDMA_DeInit(adc.dmaResource); xDMA_DeInit(adc.dmaResource);
#endif #endif

10
src/main/drivers/adc_stm32f4xx.c
View file

@ -304,15 +304,19 @@ void adcInit(const adcConfig_t *config)
#ifdef USE_DMA_SPEC #ifdef USE_DMA_SPEC
const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, device, config->dmaopt[device]); const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, device, config->dmaopt[device]);
if (!dmaSpec) { if (!dmaSpec || !dmaAllocate(dmaGetIdentifier(dmaSpec->ref), OWNER_ADC, RESOURCE_INDEX(device))) {
return; return;
} }
dmaInit(dmaGetIdentifier(dmaSpec->ref), OWNER_ADC, RESOURCE_INDEX(device)); dmaEnable(dmaGetIdentifier(dmaSpec->ref));
xDMA_DeInit(dmaSpec->ref); xDMA_DeInit(dmaSpec->ref);
#else #else
dmaInit(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0); if (!dmaAllocate(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0)) {
return;
}
dmaEnable(dmaGetIdentifier(adc.dmaResource));
xDMA_DeInit(adc.dmaResource); xDMA_DeInit(adc.dmaResource);
#endif #endif

9
src/main/drivers/adc_stm32f7xx.c
View file

@ -288,15 +288,18 @@ void adcInit(const adcConfig_t *config)
#ifdef USE_DMA_SPEC #ifdef USE_DMA_SPEC
const dmaChannelSpec_t *dmaspec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, device, config->dmaopt[device]); const dmaChannelSpec_t *dmaspec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, device, config->dmaopt[device]);
if (!dmaspec) { if (!dmaspec || !dmaAllocate(dmaGetIdentifier(dmaspec->ref), OWNER_ADC, 0)) {
return; return;
} }
dmaInit(dmaGetIdentifier(dmaspec->ref), OWNER_ADC, 0); dmaEnable(dmaGetIdentifier(dmaspec->ref));
adc.DmaHandle.Init.Channel = dmaspec->channel; adc.DmaHandle.Init.Channel = dmaspec->channel;
adc.DmaHandle.Instance = (DMA_ARCH_TYPE *)dmaspec->ref; adc.DmaHandle.Instance = (DMA_ARCH_TYPE *)dmaspec->ref;
#else #else
dmaInit(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0); if (!dmaAllocate(dmaGetIdentifier(adc.dmaResource), OWNER_ADC, 0)) {
return;
}
dmaEnable(dmaGetIdentifier(adc.dmaResource));
adc.DmaHandle.Init.Channel = adc.channel; adc.DmaHandle.Init.Channel = adc.channel;
adc.DmaHandle.Instance = (DMA_ARCH_TYPE *)adc.dmaResource; adc.DmaHandle.Instance = (DMA_ARCH_TYPE *)adc.dmaResource;
#endif #endif

9
src/main/drivers/adc_stm32g4xx.c
View file

@ -407,17 +407,16 @@ void adcInit(const adcConfig_t *config)
// Configure DMA for this ADC peripheral // Configure DMA for this ADC peripheral
dmaIdentifier_e dmaIdentifier;
#ifdef USE_DMA_SPEC #ifdef USE_DMA_SPEC
const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, dev, config->dmaopt[dev]); const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, dev, config->dmaopt[dev]);
if (!dmaSpec) { dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaSpec->ref);
if (!dmaSpec || !dmaAllocate(dmaIdentifier, OWNER_ADC, RESOURCE_INDEX(dev))) {
return; return;
} }
adc->DmaHandle.Instance = (DMA_ARCH_TYPE *)dmaSpec->ref; adc->DmaHandle.Instance = (DMA_ARCH_TYPE *)dmaSpec->ref;
adc->DmaHandle.Init.Request = dmaSpec->channel; adc->DmaHandle.Init.Request = dmaSpec->channel;
dmaIdentifier = dmaGetIdentifier(dmaSpec->ref);
#else #else
dmaIdentifier = dmaGetIdentifier(adc->dmaResource); dmaIdentifier = dmaGetIdentifier(adc->dmaResource);
adc->DmaHandle.Instance = (DMA_ARCH_TYPE *)adc->dmaResource; adc->DmaHandle.Instance = (DMA_ARCH_TYPE *)adc->dmaResource;
@ -433,9 +432,9 @@ void adcInit(const adcConfig_t *config)
// Deinitialize & Initialize the DMA for new transfer // Deinitialize & Initialize the DMA for new transfer
// dmaInit must be called before calling HAL_DMA_Init, // dmaEnable must be called before calling HAL_DMA_Init,
// to enable clock for associated DMA if not already done so. // to enable clock for associated DMA if not already done so.
dmaInit(dmaIdentifier, OWNER_ADC, RESOURCE_INDEX(dev)); dmaEnable(dmaIdentifier);
HAL_DMA_DeInit(&adc->DmaHandle); HAL_DMA_DeInit(&adc->DmaHandle);
HAL_DMA_Init(&adc->DmaHandle); HAL_DMA_Init(&adc->DmaHandle);

16
src/main/drivers/adc_stm32h7xx.c
View file

@ -400,19 +400,23 @@ void adcInit(const adcConfig_t *config)
// Configure DMA for this ADC peripheral // Configure DMA for this ADC peripheral
dmaIdentifier_e dmaIdentifier;
#ifdef USE_DMA_SPEC #ifdef USE_DMA_SPEC
const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, dev, config->dmaopt[dev]); const dmaChannelSpec_t *dmaSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_ADC, dev, config->dmaopt[dev]);
dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaSpec->ref);
if (!dmaSpec) { if (!dmaSpec || !dmaAllocate(dmaIdentifier, OWNER_ADC, RESOURCE_INDEX(dev))) {
return; return;
} }
adc->DmaHandle.Instance = dmaSpec->ref; adc->DmaHandle.Instance = dmaSpec->ref;
adc->DmaHandle.Init.Request = dmaSpec->channel; adc->DmaHandle.Init.Request = dmaSpec->channel;
dmaIdentifier = dmaGetIdentifier(dmaSpec->ref);
#else #else
dmaIdentifier = dmaGetIdentifier(adc->dmaResource); dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(adc->dmaResource);
if (!dmaAllocate(dmaIdentifier, OWNER_ADC, RESOURCE_INDEX(dev))) {
return;
}
adc->DmaHandle.Instance = (DMA_ARCH_TYPE *)adc->dmaResource; adc->DmaHandle.Instance = (DMA_ARCH_TYPE *)adc->dmaResource;
adc->DmaHandle.Init.Request = adc->channel; adc->DmaHandle.Init.Request = adc->channel;
#endif #endif
@ -426,9 +430,9 @@ void adcInit(const adcConfig_t *config)
// Deinitialize & Initialize the DMA for new transfer // Deinitialize & Initialize the DMA for new transfer
// dmaInit must be called before calling HAL_DMA_Init, // dmaEnable must be called before calling HAL_DMA_Init,
// to enable clock for associated DMA if not already done so. // to enable clock for associated DMA if not already done so.
dmaInit(dmaIdentifier, OWNER_ADC, RESOURCE_INDEX(dev)); dmaEnable(dmaIdentifier);
HAL_DMA_DeInit(&adc->DmaHandle); HAL_DMA_DeInit(&adc->DmaHandle);
HAL_DMA_Init(&adc->DmaHandle); HAL_DMA_Init(&adc->DmaHandle);

31
src/main/drivers/dma.c
View file

@ -32,7 +32,7 @@
/* /*
* DMA descriptors. * DMA descriptors.
*/ */
static dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = { dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = {
DEFINE_DMA_CHANNEL(DMA1, 1, 0), DEFINE_DMA_CHANNEL(DMA1, 1, 0),
DEFINE_DMA_CHANNEL(DMA1, 2, 4), DEFINE_DMA_CHANNEL(DMA1, 2, 4),
DEFINE_DMA_CHANNEL(DMA1, 3, 8), DEFINE_DMA_CHANNEL(DMA1, 3, 8),
@ -89,13 +89,11 @@ uint32_t dmaFlag_IT_TCIF(const dmaResource_t *channel)
} }
#define DMA_RCC(x) ((x) == DMA1 ? RCC_AHBPeriph_DMA1 : RCC_AHBPeriph_DMA2) #define DMA_RCC(x) ((x) == DMA1 ? RCC_AHBPeriph_DMA1 : RCC_AHBPeriph_DMA2)
void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex) dmaEnable(dmaIdentifier_e identifier) {
{ {
const int index = DMA_IDENTIFIER_TO_INDEX(identifier); const int index = DMA_IDENTIFIER_TO_INDEX(identifier);
RCC_AHBPeriphClockCmd(DMA_RCC(dmaDescriptors[index].dma), ENABLE); RCC_AHBPeriphClockCmd(DMA_RCC(dmaDescriptors[index].dma), ENABLE);
dmaDescriptors[index].owner.owner = owner;
dmaDescriptors[index].owner.resourceIndex = resourceIndex;
} }
void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam) void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam)
@ -115,29 +113,4 @@ void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callbac
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure); NVIC_Init(&NVIC_InitStructure);
} }
const resourceOwner_t *dmaGetOwner(dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].owner;
}
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t* channel)
{
for (int i = 0; i < DMA_LAST_HANDLER; i++) {
if (dmaDescriptors[i].ref == channel) {
return i + 1;
}
}
return 0;
}
dmaResource_t *dmaGetRefByIdentifier(const dmaIdentifier_e identifier)
{
return dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].ref;
}
dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)];
}
#endif #endif

13
src/main/drivers/dma.h
View file

@ -123,11 +123,6 @@ typedef enum {
#define DMA_IT_DMEIF ((uint32_t)0x00000004) #define DMA_IT_DMEIF ((uint32_t)0x00000004)
#define DMA_IT_FEIF ((uint32_t)0x00000001) #define DMA_IT_FEIF ((uint32_t)0x00000001)
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t *stream);
dmaChannelDescriptor_t* dmaGetDmaDescriptor(const dmaResource_t *stream);
dmaResource_t *dmaGetRefByIdentifier(const dmaIdentifier_e identifier);
uint32_t dmaGetChannel(const uint8_t channel);
#else #else
#if defined(STM32G4) #if defined(STM32G4)
@ -221,9 +216,6 @@ typedef enum {
#define DMA_IT_HTIF ((uint32_t)0x00000004) #define DMA_IT_HTIF ((uint32_t)0x00000004)
#define DMA_IT_TEIF ((uint32_t)0x00000008) #define DMA_IT_TEIF ((uint32_t)0x00000008)
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t* channel);
dmaResource_t* dmaGetRefByIdentifier(const dmaIdentifier_e identifier);
#endif #endif
// Macros to avoid direct register and register bit access // Macros to avoid direct register and register bit access
@ -254,11 +246,14 @@ dmaResource_t* dmaGetRefByIdentifier(const dmaIdentifier_e identifier);
#define DMAx_SetMemoryAddress(reg, address) ((DMA_ARCH_TYPE *)(reg))->CMAR = (uint32_t)&s->port.txBuffer[s->port.txBufferTail] #define DMAx_SetMemoryAddress(reg, address) ((DMA_ARCH_TYPE *)(reg))->CMAR = (uint32_t)&s->port.txBuffer[s->port.txBufferTail]
#endif #endif
void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex); dmaIdentifier_e dmaAllocate(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex);
void dmaEnable(dmaIdentifier_e identifier);
void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam); void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam);
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t* channel);
const resourceOwner_t *dmaGetOwner(dmaIdentifier_e identifier); const resourceOwner_t *dmaGetOwner(dmaIdentifier_e identifier);
dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier); dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier);
uint32_t dmaGetChannel(const uint8_t channel);
// //
// Wrapper macros to cast dmaResource_t back into DMA_ARCH_TYPE // Wrapper macros to cast dmaResource_t back into DMA_ARCH_TYPE

67
src/main/drivers/dma_common.c Normal file
View file

@ -0,0 +1,67 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include "platform.h"
#ifdef USE_DMA
#include "drivers/dma_impl.h"
#include "dma.h"
dmaIdentifier_e dmaAllocate(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex)
{
if (dmaGetOwner(identifier)->owner != OWNER_FREE) {
return DMA_NONE;
}
const int index = DMA_IDENTIFIER_TO_INDEX(identifier);
dmaDescriptors[index].owner.owner = owner;
dmaDescriptors[index].owner.resourceIndex = resourceIndex;
return identifier;
}
const resourceOwner_t *dmaGetOwner(dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].owner;
}
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t* channel)
{
for (int i = 0; i < DMA_LAST_HANDLER; i++) {
if (dmaDescriptors[i].ref == channel) {
return i + 1;
}
}
return 0;
}
dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)];
}
uint32_t dmaGetChannel(const uint8_t channel)
{
return ((uint32_t)channel*2)<<24;
}
#endif

25
src/main/drivers/dma_impl.h Normal file
View file

@ -0,0 +1,25 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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.
*
* Cleanflight and Betaflight are distributed in the hope that they
* 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 software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "drivers/dma.h"
extern dmaChannelDescriptor_t dmaDescriptors[];

46
src/main/drivers/dma_stm32f4xx.c
View file

@ -33,7 +33,7 @@
/* /*
* DMA descriptors. * DMA descriptors.
*/ */
static dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = { dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = {
DEFINE_DMA_CHANNEL(DMA1, 0, 0), DEFINE_DMA_CHANNEL(DMA1, 0, 0),
DEFINE_DMA_CHANNEL(DMA1, 1, 6), DEFINE_DMA_CHANNEL(DMA1, 1, 6),
DEFINE_DMA_CHANNEL(DMA1, 2, 16), DEFINE_DMA_CHANNEL(DMA1, 2, 16),
@ -74,12 +74,10 @@ DEFINE_DMA_IRQ_HANDLER(2, 6, DMA2_ST6_HANDLER)
DEFINE_DMA_IRQ_HANDLER(2, 7, DMA2_ST7_HANDLER) DEFINE_DMA_IRQ_HANDLER(2, 7, DMA2_ST7_HANDLER)
#define DMA_RCC(x) ((x) == DMA1 ? RCC_AHB1Periph_DMA1 : RCC_AHB1Periph_DMA2) #define DMA_RCC(x) ((x) == DMA1 ? RCC_AHB1Periph_DMA1 : RCC_AHB1Periph_DMA2)
void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex) void dmaEnable(dmaIdentifier_e identifier)
{ {
const int index = DMA_IDENTIFIER_TO_INDEX(identifier); const int index = DMA_IDENTIFIER_TO_INDEX(identifier);
RCC_AHB1PeriphClockCmd(DMA_RCC(dmaDescriptors[index].dma), ENABLE); RCC_AHB1PeriphClockCmd(DMA_RCC(dmaDescriptors[index].dma), ENABLE);
dmaDescriptors[index].owner.owner = owner;
dmaDescriptors[index].owner.resourceIndex = resourceIndex;
} }
#define RETURN_TCIF_FLAG(s, n) if (s == DMA1_Stream ## n || s == DMA2_Stream ## n) return DMA_IT_TCIF ## n #define RETURN_TCIF_FLAG(s, n) if (s == DMA1_Stream ## n || s == DMA2_Stream ## n) return DMA_IT_TCIF ## n
@ -114,44 +112,4 @@ void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callbac
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure); NVIC_Init(&NVIC_InitStructure);
} }
const resourceOwner_t *dmaGetOwner(dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].owner;
}
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t* instance)
{
for (int i = 0; i < DMA_LAST_HANDLER; i++) {
if (dmaDescriptors[i].ref == instance) {
return i + 1;
}
}
return 0;
}
dmaChannelDescriptor_t* dmaGetDescriptor(const dmaResource_t* instance)
{
for (int i = 0; i < DMA_LAST_HANDLER; i++) {
if (dmaDescriptors[i].ref == instance) {
return &dmaDescriptors[i];
}
}
return NULL;
}
dmaResource_t* dmaGetRefByIdentifier(const dmaIdentifier_e identifier)
{
return dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].ref;
}
dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)];
}
uint32_t dmaGetChannel(const uint8_t channel)
{
return ((uint32_t)channel*2)<<24;
}
#endif #endif

36
src/main/drivers/dma_stm32f7xx.c
View file

@ -34,7 +34,7 @@
/* /*
* DMA descriptors. * DMA descriptors.
*/ */
static dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = { dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = {
DEFINE_DMA_CHANNEL(DMA1, 0, 0), DEFINE_DMA_CHANNEL(DMA1, 0, 0),
DEFINE_DMA_CHANNEL(DMA1, 1, 6), DEFINE_DMA_CHANNEL(DMA1, 1, 6),
DEFINE_DMA_CHANNEL(DMA1, 2, 16), DEFINE_DMA_CHANNEL(DMA1, 2, 16),
@ -80,13 +80,11 @@ static void enableDmaClock(int index)
RCC_ClockCmd(dmaDescriptors[index].dma == DMA1 ? RCC_AHB1(DMA1) : RCC_AHB1(DMA2), ENABLE); RCC_ClockCmd(dmaDescriptors[index].dma == DMA1 ? RCC_AHB1(DMA1) : RCC_AHB1(DMA2), ENABLE);
} }
void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex) void dmaEnable(dmaIdentifier_e identifier)
{ {
const int index = DMA_IDENTIFIER_TO_INDEX(identifier); const int index = DMA_IDENTIFIER_TO_INDEX(identifier);
enableDmaClock(index); enableDmaClock(index);
dmaDescriptors[index].owner.owner = owner;
dmaDescriptors[index].owner.resourceIndex = resourceIndex;
} }
void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam) void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam)
@ -100,34 +98,4 @@ void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callbac
HAL_NVIC_SetPriority(dmaDescriptors[index].irqN, NVIC_PRIORITY_BASE(priority), NVIC_PRIORITY_SUB(priority)); HAL_NVIC_SetPriority(dmaDescriptors[index].irqN, NVIC_PRIORITY_BASE(priority), NVIC_PRIORITY_SUB(priority));
HAL_NVIC_EnableIRQ(dmaDescriptors[index].irqN); HAL_NVIC_EnableIRQ(dmaDescriptors[index].irqN);
} }
const resourceOwner_t *dmaGetOwner(dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].owner;
}
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t* stream)
{
for (int i = 0; i < DMA_LAST_HANDLER; i++) {
if (dmaDescriptors[i].ref == stream) {
return i + 1;
}
}
return 0;
}
dmaResource_t *dmaGetRefByIdentifier(const dmaIdentifier_e identifier)
{
return dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].ref;
}
dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)];
}
uint32_t dmaGetChannel(const uint8_t channel)
{
return ((uint32_t)channel*2)<<24;
}
#endif #endif

36
src/main/drivers/dma_stm32g4xx.c
View file

@ -34,7 +34,7 @@
/* /*
* DMA descriptors. * DMA descriptors.
*/ */
static dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = { dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = {
DEFINE_DMA_CHANNEL(DMA1, 1, 0), DEFINE_DMA_CHANNEL(DMA1, 1, 0),
DEFINE_DMA_CHANNEL(DMA1, 2, 4), DEFINE_DMA_CHANNEL(DMA1, 2, 4),
DEFINE_DMA_CHANNEL(DMA1, 3, 8), DEFINE_DMA_CHANNEL(DMA1, 3, 8),
@ -81,13 +81,11 @@ static void enableDmaClock(int index)
RCC_ClockCmd(RCC_AHB1(DMAMUX1), ENABLE); RCC_ClockCmd(RCC_AHB1(DMAMUX1), ENABLE);
} }
void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex) void dmaEnable(dmaIdentifier_e identifier)
{ {
const int index = DMA_IDENTIFIER_TO_INDEX(identifier); const int index = DMA_IDENTIFIER_TO_INDEX(identifier);
enableDmaClock(index); enableDmaClock(index);
dmaDescriptors[index].owner.owner = owner;
dmaDescriptors[index].owner.resourceIndex = resourceIndex;
} }
void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam) void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam)
@ -101,34 +99,4 @@ void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callbac
HAL_NVIC_SetPriority(dmaDescriptors[index].irqN, NVIC_PRIORITY_BASE(priority), NVIC_PRIORITY_SUB(priority)); HAL_NVIC_SetPriority(dmaDescriptors[index].irqN, NVIC_PRIORITY_BASE(priority), NVIC_PRIORITY_SUB(priority));
HAL_NVIC_EnableIRQ(dmaDescriptors[index].irqN); HAL_NVIC_EnableIRQ(dmaDescriptors[index].irqN);
} }
const resourceOwner_t *dmaGetOwner(dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].owner;
}
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t* stream)
{
for (int i = 0; i < DMA_LAST_HANDLER; i++) {
if (dmaDescriptors[i].ref == stream) {
return i + 1;
}
}
return 0;
}
dmaResource_t* dmaGetRefByIdentifier(const dmaIdentifier_e identifier)
{
return dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].ref;
}
dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)];
}
uint32_t dmaGetChannel(const uint8_t channel)
{
return ((uint32_t)channel*2)<<24;
}
#endif #endif

36
src/main/drivers/dma_stm32h7xx.c
View file

@ -34,7 +34,7 @@
/* /*
* DMA descriptors. * DMA descriptors.
*/ */
static dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = { dmaChannelDescriptor_t dmaDescriptors[DMA_LAST_HANDLER] = {
DEFINE_DMA_CHANNEL(DMA1, 0, 0), DEFINE_DMA_CHANNEL(DMA1, 0, 0),
DEFINE_DMA_CHANNEL(DMA1, 1, 6), DEFINE_DMA_CHANNEL(DMA1, 1, 6),
DEFINE_DMA_CHANNEL(DMA1, 2, 16), DEFINE_DMA_CHANNEL(DMA1, 2, 16),
@ -80,13 +80,11 @@ static void enableDmaClock(int index)
// There seems to be no explicit control for DMAMUX1 clocking // There seems to be no explicit control for DMAMUX1 clocking
} }
void dmaInit(dmaIdentifier_e identifier, resourceOwner_e owner, uint8_t resourceIndex) void dmaEnable(dmaIdentifier_e identifier)
{ {
const int index = DMA_IDENTIFIER_TO_INDEX(identifier); const int index = DMA_IDENTIFIER_TO_INDEX(identifier);
enableDmaClock(index); enableDmaClock(index);
dmaDescriptors[index].owner.owner = owner;
dmaDescriptors[index].owner.resourceIndex = resourceIndex;
} }
void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam) void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam)
@ -100,34 +98,4 @@ void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callbac
HAL_NVIC_SetPriority(dmaDescriptors[index].irqN, NVIC_PRIORITY_BASE(priority), NVIC_PRIORITY_SUB(priority)); HAL_NVIC_SetPriority(dmaDescriptors[index].irqN, NVIC_PRIORITY_BASE(priority), NVIC_PRIORITY_SUB(priority));
HAL_NVIC_EnableIRQ(dmaDescriptors[index].irqN); HAL_NVIC_EnableIRQ(dmaDescriptors[index].irqN);
} }
const resourceOwner_t *dmaGetOwner(dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].owner;
}
dmaIdentifier_e dmaGetIdentifier(const dmaResource_t* stream)
{
for (int i = 0; i < DMA_LAST_HANDLER; i++) {
if (dmaDescriptors[i].ref == stream) {
return i + 1;
}
}
return 0;
}
dmaResource_t* dmaGetRefByIdentifier(const dmaIdentifier_e identifier)
{
return dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)].ref;
}
dmaChannelDescriptor_t* dmaGetDescriptorByIdentifier(const dmaIdentifier_e identifier)
{
return &dmaDescriptors[DMA_IDENTIFIER_TO_INDEX(identifier)];
}
uint32_t dmaGetChannel(const uint8_t channel)
{
return ((uint32_t)channel*2)<<24;
}
#endif #endif

44
src/main/drivers/dshot_bitbang.c
View file

@ -193,7 +193,7 @@ static bbPort_t *bbFindMotorPort(int portIndex)
return NULL; return NULL;
} }
static bbPort_t *bbAllocMotorPort(int portIndex) static bbPort_t *bbAllocateMotorPort(int portIndex)
{ {
if (usedMotorPorts >= MAX_SUPPORTED_MOTOR_PORTS) { if (usedMotorPorts >= MAX_SUPPORTED_MOTOR_PORTS) {
bbStatus = DSHOT_BITBANG_STATUS_TOO_MANY_PORTS; bbStatus = DSHOT_BITBANG_STATUS_TOO_MANY_PORTS;
@ -244,25 +244,13 @@ static uint32_t getDshotBaseFrequency(motorPwmProtocolTypes_e pwmProtocolType)
} }
} }
static void bbAllocDma(bbPort_t *bbPort) static void bbSetupDma(bbPort_t *bbPort)
{ {
const timerHardware_t *timhw = bbPort->timhw; const dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(bbPort->dmaResource);
dmaEnable(dmaIdentifier);
bbPort->dmaSource = timerDmaSource(bbPort->timhw->channel);
#ifdef USE_DMA_SPEC bbPacer_t *bbPacer = bbFindMotorPacer(bbPort->timhw->tim);
dmaoptValue_t dmaopt = dmaGetOptionByTimer(timhw);
const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpecByTimerValue(timhw->tim, timhw->channel, dmaopt);
bbPort->dmaResource = dmaChannelSpec->ref;
bbPort->dmaChannel = dmaChannelSpec->channel;
#else
bbPort->dmaResource = timhw->dmaRef;
bbPort->dmaChannel = timhw->dmaChannel;
#endif
dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(bbPort->dmaResource);
dmaInit(dmaIdentifier, OWNER_DSHOT_BITBANG, bbPort->owner.resourceIndex);
bbPort->dmaSource = timerDmaSource(timhw->channel);
bbPacer_t *bbPacer = bbFindMotorPacer(timhw->tim);
bbPacer->dmaSources |= bbPort->dmaSource; bbPacer->dmaSources |= bbPort->dmaSource;
dmaSetHandler(dmaIdentifier, bbDMAIrqHandler, NVIC_BUILD_PRIORITY(2, 1), (uint32_t)bbPort); dmaSetHandler(dmaIdentifier, bbDMAIrqHandler, NVIC_BUILD_PRIORITY(2, 1), (uint32_t)bbPort);
@ -388,8 +376,22 @@ static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorPwmProtocolTypes_e p
// New port group // New port group
bbPort = bbAllocMotorPort(portIndex); bbPort = bbAllocateMotorPort(portIndex);
if (!bbPort) {
if (bbPort) {
const timerHardware_t *timhw = bbPort->timhw;
#ifdef USE_DMA_SPEC
const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpecByTimerValue(timhw->tim, timhw->channel, dmaGetOptionByTimer(timhw));
bbPort->dmaResource = dmaChannelSpec->ref;
bbPort->dmaChannel = dmaChannelSpec->channel;
#else
bbPort->dmaResource = timhw->dmaRef;
bbPort->dmaChannel = timhw->dmaChannel;
#endif
}
if (!bbPort || !dmaAllocate(dmaGetIdentifier(bbPort->dmaResource), bbPort->owner.owner, bbPort->owner.resourceIndex)) {
bbDevice.vTable.write = motorWriteNull; bbDevice.vTable.write = motorWriteNull;
bbDevice.vTable.updateStart = motorUpdateStartNull; bbDevice.vTable.updateStart = motorUpdateStartNull;
bbDevice.vTable.updateComplete = motorUpdateCompleteNull; bbDevice.vTable.updateComplete = motorUpdateCompleteNull;
@ -409,7 +411,7 @@ static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorPwmProtocolTypes_e p
bbTIM_TimeBaseInit(bbPort, bbPort->outputARR); bbTIM_TimeBaseInit(bbPort, bbPort->outputARR);
bbTimerChannelInit(bbPort); bbTimerChannelInit(bbPort);
bbAllocDma(bbPort); bbSetupDma(bbPort);
bbDMAPreconfigure(bbPort, DSHOT_BITBANG_DIRECTION_OUTPUT); bbDMAPreconfigure(bbPort, DSHOT_BITBANG_DIRECTION_OUTPUT);
bbDMAPreconfigure(bbPort, DSHOT_BITBANG_DIRECTION_INPUT); bbDMAPreconfigure(bbPort, DSHOT_BITBANG_DIRECTION_INPUT);

4
src/main/drivers/light_ws2811strip_hal.c
View file

@ -80,7 +80,7 @@ bool ws2811LedStripHardwareInit(ioTag_t ioTag)
uint32_t dmaChannel = timerHardware->dmaChannel; uint32_t dmaChannel = timerHardware->dmaChannel;
#endif #endif
if (dmaRef == NULL) { if (dmaRef == NULL || !dmaAllocate(dmaGetIdentifier(dmaRef), OWNER_LED_STRIP, 0)) {
return false; return false;
} }
TimHandle.Instance = timer; TimHandle.Instance = timer;
@ -138,7 +138,7 @@ bool ws2811LedStripHardwareInit(ioTag_t ioTag)
/* Link hdma_tim to hdma[x] (channelx) */ /* Link hdma_tim to hdma[x] (channelx) */
__HAL_LINKDMA(&TimHandle, hdma[dmaIndex], hdma_tim); __HAL_LINKDMA(&TimHandle, hdma[dmaIndex], hdma_tim);
dmaInit(dmaGetIdentifier(dmaRef), OWNER_LED_STRIP, 0); dmaEnable(dmaGetIdentifier(dmaRef));
dmaSetHandler(dmaGetIdentifier(dmaRef), WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, dmaIndex); dmaSetHandler(dmaGetIdentifier(dmaRef), WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, dmaIndex);
/* Initialize TIMx DMA handle */ /* Initialize TIMx DMA handle */

4
src/main/drivers/light_ws2811strip_stdperiph.c
View file

@ -109,7 +109,7 @@ bool ws2811LedStripHardwareInit(ioTag_t ioTag)
#endif #endif
#endif #endif
if (dmaRef == NULL) { if (dmaRef == NULL || !dmaAllocate(dmaGetIdentifier(dmaRef), OWNER_LED_STRIP, 0)) {
return false; return false;
} }
@ -171,7 +171,7 @@ bool ws2811LedStripHardwareInit(ioTag_t ioTag)
TIM_Cmd(timer, ENABLE); TIM_Cmd(timer, ENABLE);
dmaInit(dmaGetIdentifier(dmaRef), OWNER_LED_STRIP, 0); dmaEnable(dmaGetIdentifier(dmaRef));
dmaSetHandler(dmaGetIdentifier(dmaRef), WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, 0); dmaSetHandler(dmaGetIdentifier(dmaRef), WS2811_DMA_IRQHandler, NVIC_PRIO_WS2811_DMA, 0);
xDMA_DeInit(dmaRef); xDMA_DeInit(dmaRef);

40
src/main/drivers/pwm_output_dshot.c
View file

@ -269,6 +269,25 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
return false; return false;
} }
dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaRef);
bool dmaIsConfigured = false;
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
const resourceOwner_t *owner = dmaGetOwner(dmaIdentifier);
if (owner->owner == OWNER_TIMUP && owner->resourceIndex == timerGetTIMNumber(timerHardware->tim)) {
dmaIsConfigured = true;
} else if (!dmaAllocate(dmaIdentifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
return false;
}
} else
#endif
{
if (!dmaAllocate(dmaIdentifier, OWNER_MOTOR, RESOURCE_INDEX(motorIndex))) {
return false;
}
}
motorDmaOutput_t * const motor = &dmaMotors[motorIndex]; motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
TIM_TypeDef *timer = timerHardware->tim; TIM_TypeDef *timer = timerHardware->tim;
@ -344,14 +363,16 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->timer->timerDmaSources &= ~motor->timerDmaSource; motor->timer->timerDmaSources &= ~motor->timerDmaSource;
} }
xDMA_Cmd(dmaRef, DISABLE); if (!dmaIsConfigured) {
xDMA_DeInit(dmaRef); xDMA_Cmd(dmaRef, DISABLE);
DMA_StructInit(&DMAINIT); xDMA_DeInit(dmaRef);
dmaEnable(dmaIdentifier);
}
DMA_StructInit(&DMAINIT);
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
if (useBurstDshot) { if (useBurstDshot) {
dmaInit(timerHardware->dmaTimUPIrqHandler, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim));
motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0]; motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
#if defined(STM32F3) #if defined(STM32F3)
@ -377,8 +398,6 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
} else } else
#endif #endif
{ {
dmaInit(dmaGetIdentifier(dmaRef), OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0]; motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
#if defined(STM32F3) #if defined(STM32F3)
@ -415,13 +434,16 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#else #else
pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT); pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT);
#endif #endif
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
if (useBurstDshot) { if (useBurstDshot) {
dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index); if (!dmaIsConfigured) {
dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, timerIndex);
}
} else } else
#endif #endif
{ {
dmaSetHandler(dmaGetIdentifier(dmaRef), motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index); dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
} }
TIM_Cmd(timer, ENABLE); TIM_Cmd(timer, ENABLE);

47
src/main/drivers/pwm_output_dshot_hal.c
View file

@ -245,6 +245,25 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
return false; return false;
} }
dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaRef);
bool dmaIsConfigured = false;
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
const resourceOwner_t *owner = dmaGetOwner(dmaIdentifier);
if (owner->owner == OWNER_TIMUP && owner->resourceIndex == timerGetTIMNumber(timerHardware->tim)) {
dmaIsConfigured = true;
} else if (!dmaAllocate(dmaIdentifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
return false;
}
} else
#endif
{
if (!dmaAllocate(dmaIdentifier, OWNER_MOTOR, RESOURCE_INDEX(motorIndex))) {
return false;
}
}
motorDmaOutput_t * const motor = &dmaMotors[motorIndex]; motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
motor->dmaRef = dmaRef; motor->dmaRef = dmaRef;
@ -335,14 +354,16 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
motor->timer->timerDmaSources &= ~motor->timerDmaSource; motor->timer->timerDmaSources &= ~motor->timerDmaSource;
} }
xLL_EX_DMA_DisableResource(dmaRef); if (!dmaIsConfigured) {
xLL_EX_DMA_DeInit(dmaRef); xLL_EX_DMA_DisableResource(dmaRef);
LL_DMA_StructInit(&DMAINIT); xLL_EX_DMA_DeInit(dmaRef);
dmaEnable(dmaIdentifier);
}
LL_DMA_StructInit(&DMAINIT);
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
if (useBurstDshot) { if (useBurstDshot) {
dmaInit(timerHardware->dmaTimUPIrqHandler, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim));
motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0]; motor->timer->dmaBurstBuffer = &dshotBurstDmaBuffer[timerIndex][0];
#if defined(STM32H7) || defined(STM32G4) #if defined(STM32H7) || defined(STM32G4)
@ -358,8 +379,6 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
} else } else
#endif #endif
{ {
dmaInit(dmaGetIdentifier(dmaRef), OWNER_MOTOR, RESOURCE_INDEX(motorIndex));
motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0]; motor->dmaBuffer = &dshotDmaBuffer[motorIndex][0];
#if defined(STM32H7) || defined(STM32G4) #if defined(STM32H7) || defined(STM32G4)
@ -388,8 +407,11 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
DMAINIT.Mode = LL_DMA_MODE_NORMAL; DMAINIT.Mode = LL_DMA_MODE_NORMAL;
DMAINIT.Priority = LL_DMA_PRIORITY_HIGH; DMAINIT.Priority = LL_DMA_PRIORITY_HIGH;
xLL_EX_DMA_Init(dmaRef, &DMAINIT); if (!dmaIsConfigured) {
xLL_EX_DMA_EnableIT_TC(dmaRef); xLL_EX_DMA_Init(dmaRef, &DMAINIT);
xLL_EX_DMA_EnableIT_TC(dmaRef);
}
motor->dmaRef = dmaRef; motor->dmaRef = dmaRef;
#ifdef USE_DSHOT_TELEMETRY #ifdef USE_DSHOT_TELEMETRY
@ -400,13 +422,16 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#else #else
pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT); pwmDshotSetDirectionOutput(motor, &OCINIT, &DMAINIT);
#endif #endif
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
if (useBurstDshot) { if (useBurstDshot) {
dmaSetHandler(timerHardware->dmaTimUPIrqHandler, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index); if (!dmaIsConfigured) {
dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, timerIndex);
}
} else } else
#endif #endif
{ {
dmaSetHandler(dmaGetIdentifier(dmaRef), motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index); dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motor->index);
} }
LL_TIM_OC_Init(timer, channel, &OCINIT); LL_TIM_OC_Init(timer, channel, &OCINIT);

45
src/main/drivers/pwm_output_dshot_hal_hal.c
View file

@ -269,6 +269,25 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
return false; return false;
} }
dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaRef);
bool dmaIsConfigured = false;
#ifdef USE_DSHOT_DMAR
if (useBurstDshot) {
const resourceOwner_t *owner = dmaGetOwner(dmaIdentifier);
if (owner->owner == OWNER_TIMUP && owner->resourceIndex == timerGetTIMNumber(timerHardware->tim)) {
dmaIsConfigured = true;
} else if (!dmaAllocate(dmaIdentifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim))) {
return false;
}
} else
#endif
{
if (!dmaAllocate(dmaIdentifier, OWNER_MOTOR, RESOURCE_INDEX(motorIndex))) {
return false;
}
}
motorDmaOutput_t * const motor = &dmaMotors[motorIndex]; motorDmaOutput_t * const motor = &dmaMotors[motorIndex];
motor->timerHardware = timerHardware; motor->timerHardware = timerHardware;
@ -364,17 +383,16 @@ P - High - High -
motor->timerDmaIndex = timerDmaIndex(timerHardware->channel); motor->timerDmaIndex = timerDmaIndex(timerHardware->channel);
} }
dmaIdentifier_e identifier = dmaGetIdentifier(dmaRef); if (!dmaIsConfigured) {
dmaEnable(dmaIdentifier);
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
if (useBurstDshot) { if (useBurstDshot) {
dmaInit(identifier, OWNER_TIMUP, timerGetTIMNumber(timerHardware->tim)); dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, timerIndex);
dmaSetHandler(identifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, timerIndex); } else
} else
#endif #endif
{ {
dmaInit(identifier, OWNER_MOTOR, RESOURCE_INDEX(motorIndex)); dmaSetHandler(dmaIdentifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motorIndex);
dmaSetHandler(identifier, motor_DMA_IRQHandler, NVIC_PRIO_DSHOT_DMA, motorIndex); }
} }
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
@ -404,9 +422,12 @@ P - High - High -
/* Link hdma_tim to hdma[TIM_DMA_ID_UPDATE] (update) */ /* Link hdma_tim to hdma[TIM_DMA_ID_UPDATE] (update) */
__HAL_LINKDMA(&motor->timer->timHandle, hdma[TIM_DMA_ID_UPDATE], motor->timer->hdma_tim); __HAL_LINKDMA(&motor->timer->timHandle, hdma[TIM_DMA_ID_UPDATE], motor->timer->hdma_tim);
/* Initialize TIMx DMA handle */ if (!dmaIsConfigured) {
result = HAL_DMA_Init(motor->timer->timHandle.hdma[TIM_DMA_ID_UPDATE]); /* Initialize TIMx DMA handle */
result = HAL_DMA_Init(motor->timer->timHandle.hdma[TIM_DMA_ID_UPDATE]);
} else {
result = HAL_OK;
}
} else } else
#endif #endif
{ {

8
src/main/drivers/sdcard_spi.c
View file

@ -532,8 +532,12 @@ static void sdcardSpi_init(const sdcardConfig_t *config, const spiPinConfig_t *s
if (dmaIdentifier) { if (dmaIdentifier) {
sdcard.dma = dmaGetDescriptorByIdentifier(dmaIdentifier); sdcard.dma = dmaGetDescriptorByIdentifier(dmaIdentifier);
dmaInit(dmaIdentifier, OWNER_SDCARD, 0); if (dmaAllocate(dmaIdentifier, OWNER_SDCARD, 0)) {
sdcard.useDMAForTx = true; dmaEnable(dmaIdentifier);
sdcard.useDMAForTx = true;
} else {
sdcard.useDMAForTx = false;
}
} else { } else {
sdcard.useDMAForTx = false; sdcard.useDMAForTx = false;
} }

64
src/main/drivers/sdio_f4xx.c
View file

@ -238,7 +238,7 @@ static uint32_t SD_Status;
static uint32_t SD_CardRCA; static uint32_t SD_CardRCA;
SD_CardType_t SD_CardType; SD_CardType_t SD_CardType;
static volatile uint32_t TimeOut; static volatile uint32_t TimeOut;
DMA_Stream_TypeDef *dma_stream; DMA_Stream_TypeDef *dmaStream;
/* Private function(s) ----------------------------------------------------------------------------------------------*/ /* Private function(s) ----------------------------------------------------------------------------------------------*/
@ -536,7 +536,7 @@ static SD_Error_t SD_InitializeCard(void)
*/ */
static void SD_StartBlockTransfert(uint32_t* pBuffer, uint32_t BlockSize, uint32_t NumberOfBlocks, uint8_t dir) static void SD_StartBlockTransfert(uint32_t* pBuffer, uint32_t BlockSize, uint32_t NumberOfBlocks, uint8_t dir)
{ {
DMA_Stream_TypeDef *pDMA = dma_stream; DMA_Stream_TypeDef *pDMA = dmaStream;
SDIO->DCTRL = 0; // Initialize data control register SDIO->DCTRL = 0; // Initialize data control register
SD_Handle.TransferComplete = 0; // Initialize handle flags SD_Handle.TransferComplete = 0; // Initialize handle flags
@ -563,7 +563,7 @@ static void SD_StartBlockTransfert(uint32_t* pBuffer, uint32_t BlockSize, uint32
} else { } else {
pDMA->CR |= DMA_MEMORY_TO_PERIPH; // Sets memory to peripheral pDMA->CR |= DMA_MEMORY_TO_PERIPH; // Sets memory to peripheral
} }
if (dma_stream == DMA2_Stream3) { if (dmaStream == DMA2_Stream3) {
DMA2->LIFCR = DMA_LIFCR_CTEIF3 | DMA_LIFCR_CDMEIF3 | DMA2->LIFCR = DMA_LIFCR_CTEIF3 | DMA_LIFCR_CDMEIF3 |
DMA_LIFCR_CFEIF3 | DMA_LIFCR_CHTIF3 | DMA_LIFCR_CTCIF3; // Clear the transfer error flag DMA_LIFCR_CFEIF3 | DMA_LIFCR_CHTIF3 | DMA_LIFCR_CTCIF3; // Clear the transfer error flag
} else { } else {
@ -1556,9 +1556,14 @@ static SD_Error_t SD_IsCardProgramming(uint8_t *pStatus)
/** /**
* @brief Initialize the SDIO module, DMA, and IO * @brief Initialize the SDIO module, DMA, and IO
*/ */
void SD_Initialize_LL(DMA_Stream_TypeDef *dma) bool SD_Initialize_LL(DMA_Stream_TypeDef *dma)
{ {
// Reset SDIO Module const dmaIdentifier_e dmaIdentifier = dmaGetIdentifier((dmaResource_t *)dmaStream);
if (!(dma == DMA2_Stream3 || dma == DMA2_Stream6) || !dmaAllocate(dmaIdentifier, OWNER_SDCARD, 0)) {
return false;
}
// Reset SDIO Module
RCC->APB2RSTR |= RCC_APB2RSTR_SDIORST; RCC->APB2RSTR |= RCC_APB2RSTR_SDIORST;
delay(1); delay(1);
RCC->APB2RSTR &= ~RCC_APB2RSTR_SDIORST; RCC->APB2RSTR &= ~RCC_APB2RSTR_SDIORST;
@ -1612,35 +1617,30 @@ void SD_Initialize_LL(DMA_Stream_TypeDef *dma)
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure); NVIC_Init(&NVIC_InitStructure);
dma_stream = dma; dmaStream = dma;
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN; RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
if ((uint32_t)dma_stream == (uint32_t)DMA2_Stream3) { // Initialize DMA
// Initialize DMA2 channel 3 dmaStream->CR = 0; // Reset DMA Stream control register
DMA2_Stream3->CR = 0; // Reset DMA Stream control register dmaStream->PAR = (uint32_t)&SDIO->FIFO;
DMA2_Stream3->PAR = (uint32_t)&SDIO->FIFO; if (dmaStream == DMA2_Stream3) {
DMA2->LIFCR = IFCR_CLEAR_MASK_STREAM3; // Clear all interrupt flags DMA2->LIFCR = IFCR_CLEAR_MASK_STREAM3; // Clear all interrupt flags
DMA2_Stream3->CR = (DMA_CHANNEL_4 | DMA_SxCR_PFCTRL | // Prepare the DMA Stream configuration
DMA_MINC_ENABLE | DMA_PDATAALIGN_WORD | // And write to DMA Stream CR register
DMA_MDATAALIGN_WORD | DMA_PRIORITY_VERY_HIGH |
DMA_MBURST_INC4 | DMA_PBURST_INC4 |
DMA_MEMORY_TO_PERIPH);
DMA2_Stream3->FCR = (DMA_SxFCR_DMDIS | DMA_SxFCR_FTH); // Configuration FIFO control register
dmaInit(dmaGetIdentifier((dmaResource_t *)DMA2_Stream3), OWNER_SDCARD, 0);
dmaSetHandler(dmaGetIdentifier((dmaResource_t *)DMA2_Stream3), SDIO_DMA_ST3_IRQHandler, 1, 0);
} else { } else {
// Initialize DMA2 channel 6 DMA2->HIFCR = IFCR_CLEAR_MASK_STREAM6; // Clear all interrupt flags
DMA2_Stream6->CR = 0; // Reset DMA Stream control register
DMA2_Stream6->PAR = (uint32_t)&SDIO->FIFO;
DMA2->HIFCR = IFCR_CLEAR_MASK_STREAM6; // Clear all interrupt flags
DMA2_Stream6->CR = (DMA_CHANNEL_4 | DMA_SxCR_PFCTRL | // Prepare the DMA Stream configuration
DMA_MINC_ENABLE | DMA_PDATAALIGN_WORD | // And write to DMA Stream CR register
DMA_MDATAALIGN_WORD | DMA_PRIORITY_VERY_HIGH |
DMA_MBURST_INC4 | DMA_PBURST_INC4 |
DMA_MEMORY_TO_PERIPH);
DMA2_Stream6->FCR = (DMA_SxFCR_DMDIS | DMA_SxFCR_FTH); // Configuration FIFO control register
dmaInit(dmaGetIdentifier((dmaResource_t *)DMA2_Stream6), OWNER_SDCARD, 0);
dmaSetHandler(dmaGetIdentifier((dmaResource_t *)DMA2_Stream6), SDIO_DMA_ST6_IRQHandler, 1, 0);
} }
dmaStream->CR = (DMA_CHANNEL_4 | DMA_SxCR_PFCTRL | // Prepare the DMA Stream configuration
DMA_MINC_ENABLE | DMA_PDATAALIGN_WORD | // And write to DMA Stream CR register
DMA_MDATAALIGN_WORD | DMA_PRIORITY_VERY_HIGH |
DMA_MBURST_INC4 | DMA_PBURST_INC4 |
DMA_MEMORY_TO_PERIPH);
dmaStream->FCR = (DMA_SxFCR_DMDIS | DMA_SxFCR_FTH); // Configuration FIFO control register
dmaEnable(dmaIdentifier);
if (dmaStream == DMA2_Stream3) {
dmaSetHandler(dmaIdentifier, SDIO_DMA_ST3_IRQHandler, 1, 0);
} else {
dmaSetHandler(dmaIdentifier, SDIO_DMA_ST6_IRQHandler, 1, 0);
}
return true;
} }
@ -1726,7 +1726,7 @@ void SDIO_IRQHandler(void) {
/* Currently doesn't implement multiple block write handling */ /* Currently doesn't implement multiple block write handling */
if ((SD_Handle.Operation & 0x02) == (SDIO_DIR_TX << 1)) { if ((SD_Handle.Operation & 0x02) == (SDIO_DIR_TX << 1)) {
/* Disable the stream */ /* Disable the stream */
dma_stream->CR &= ~DMA_SxCR_EN; dmaStream->CR &= ~DMA_SxCR_EN;
SDIO->DCTRL &= ~(SDIO_DCTRL_DMAEN); SDIO->DCTRL &= ~(SDIO_DCTRL_DMAEN);
/* Transfer is complete */ /* Transfer is complete */
SD_Handle.TXCplt = 0; SD_Handle.TXCplt = 0;

65
src/main/drivers/sdio_f7xx.c
View file

@ -220,7 +220,7 @@ static uint32_t SD_Status;
static uint32_t SD_CardRCA; static uint32_t SD_CardRCA;
SD_CardType_t SD_CardType; SD_CardType_t SD_CardType;
static volatile uint32_t TimeOut; static volatile uint32_t TimeOut;
DMA_Stream_TypeDef *dma_stream; DMA_Stream_TypeDef *dmaStream;
/* Private function(s) ----------------------------------------------------------------------------------------------*/ /* Private function(s) ----------------------------------------------------------------------------------------------*/
@ -518,7 +518,7 @@ static SD_Error_t SD_InitializeCard(void)
*/ */
static void SD_StartBlockTransfert(uint32_t* pBuffer, uint32_t BlockSize, uint32_t NumberOfBlocks, uint8_t dir) static void SD_StartBlockTransfert(uint32_t* pBuffer, uint32_t BlockSize, uint32_t NumberOfBlocks, uint8_t dir)
{ {
DMA_Stream_TypeDef *pDMA = dma_stream; DMA_Stream_TypeDef *pDMA = dmaStream;
SDMMC1->DCTRL = 0; // Initialize data control register SDMMC1->DCTRL = 0; // Initialize data control register
SD_Handle.TransferComplete = 0; // Initialize handle flags SD_Handle.TransferComplete = 0; // Initialize handle flags
@ -545,7 +545,7 @@ static void SD_StartBlockTransfert(uint32_t* pBuffer, uint32_t BlockSize, uint32
} else { } else {
pDMA->CR |= DMA_MEMORY_TO_PERIPH; // Sets memory to peripheral pDMA->CR |= DMA_MEMORY_TO_PERIPH; // Sets memory to peripheral
} }
if (dma_stream == DMA2_Stream3) { if (dmaStream == DMA2_Stream3) {
DMA2->LIFCR = DMA_LIFCR_CTEIF3 | DMA_LIFCR_CDMEIF3 | DMA2->LIFCR = DMA_LIFCR_CTEIF3 | DMA_LIFCR_CDMEIF3 |
DMA_LIFCR_CFEIF3 | DMA_LIFCR_CHTIF3 | DMA_LIFCR_CTCIF3; // Clear the transfer error flag DMA_LIFCR_CFEIF3 | DMA_LIFCR_CHTIF3 | DMA_LIFCR_CTCIF3; // Clear the transfer error flag
} else { } else {
@ -1541,9 +1541,14 @@ static SD_Error_t SD_IsCardProgramming(uint8_t *pStatus)
/** /**
* @brief Initialize the SDMMC1 module, DMA, and IO * @brief Initialize the SDMMC1 module, DMA, and IO
*/ */
void SD_Initialize_LL(DMA_Stream_TypeDef *dma) bool SD_Initialize_LL(DMA_Stream_TypeDef *dma)
{ {
// Reset SDMMC1 Module const dmaIdentifier_e dmaIdentifier = dmaGetIdentifier((dmaResource_t *)dmaStream);
if (!(dma == DMA2_Stream3 || dma == DMA2_Stream6) || !dmaAllocate(dmaIdentifier, OWNER_SDCARD, 0)) {
return false;
}
// Reset SDMMC1 Module
RCC->APB2RSTR |= RCC_APB2RSTR_SDMMC1RST; RCC->APB2RSTR |= RCC_APB2RSTR_SDMMC1RST;
delay(1); delay(1);
RCC->APB2RSTR &= ~RCC_APB2RSTR_SDMMC1RST; RCC->APB2RSTR &= ~RCC_APB2RSTR_SDMMC1RST;
@ -1595,35 +1600,31 @@ void SD_Initialize_LL(DMA_Stream_TypeDef *dma)
NVIC_SetPriority(SDMMC1_IRQn, NVIC_EncodePriority(PriorityGroup, 1, 0)); NVIC_SetPriority(SDMMC1_IRQn, NVIC_EncodePriority(PriorityGroup, 1, 0));
NVIC_EnableIRQ(SDMMC1_IRQn); NVIC_EnableIRQ(SDMMC1_IRQn);
dma_stream = dma; dmaStream = dma;
RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN; RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
if ((uint32_t)dma_stream == (uint32_t)DMA2_Stream3) {
// Initialize DMA2 channel 3 // Initialize DMA
DMA2_Stream3->CR = 0; // Reset DMA Stream control register dmaStream->CR = 0; // Reset DMA Stream control register
DMA2_Stream3->PAR = (uint32_t)&SDMMC1->FIFO; dmaStream->PAR = (uint32_t)&SDMMC1->FIFO;
DMA2->LIFCR = IFCR_CLEAR_MASK_STREAM3; // Clear all interrupt flags if (dmaStream == DMA2_Stream3) {
DMA2_Stream3->CR = (DMA_CHANNEL_4 | DMA_SxCR_PFCTRL | // Prepare the DMA Stream configuration DMA2->LIFCR = IFCR_CLEAR_MASK_STREAM3; // Clear all interrupt flags
DMA_MINC_ENABLE | DMA_PDATAALIGN_WORD | // And write to DMA Stream CR register
DMA_MDATAALIGN_WORD | DMA_PRIORITY_VERY_HIGH |
DMA_MBURST_INC4 | DMA_PBURST_INC4 |
DMA_MEMORY_TO_PERIPH);
DMA2_Stream3->FCR = (DMA_SxFCR_DMDIS | DMA_SxFCR_FTH); // Configuration FIFO control register
dmaInit(dmaGetIdentifier((dmaResource_t *)DMA2_Stream3), OWNER_SDCARD, 0);
dmaSetHandler(dmaGetIdentifier((dmaResource_t *)DMA2_Stream3), SDMMC_DMA_ST3_IRQHandler, 1, 0);
} else { } else {
// Initialize DMA2 channel 6 DMA2->HIFCR = IFCR_CLEAR_MASK_STREAM6; // Clear all interrupt flags
DMA2_Stream6->CR = 0; // Reset DMA Stream control register
DMA2_Stream6->PAR = (uint32_t)&SDMMC1->FIFO;
DMA2->HIFCR = IFCR_CLEAR_MASK_STREAM6; // Clear all interrupt flags
DMA2_Stream6->CR = (DMA_CHANNEL_4 | DMA_SxCR_PFCTRL | // Prepare the DMA Stream configuration
DMA_MINC_ENABLE | DMA_PDATAALIGN_WORD | // And write to DMA Stream CR register
DMA_MDATAALIGN_WORD | DMA_PRIORITY_VERY_HIGH |
DMA_MBURST_INC4 | DMA_PBURST_INC4 |
DMA_MEMORY_TO_PERIPH);
DMA2_Stream6->FCR = (DMA_SxFCR_DMDIS | DMA_SxFCR_FTH); // Configuration FIFO control register
dmaInit(dmaGetIdentifier((dmaResource_t *)DMA2_Stream6), OWNER_SDCARD, 0);
dmaSetHandler(dmaGetIdentifier((dmaResource_t *)DMA2_Stream6), SDMMC_DMA_ST6_IRQHandler, 1, 0);
} }
dmaStream->CR = (DMA_CHANNEL_4 | DMA_SxCR_PFCTRL | // Prepare the DMA Stream configuration
DMA_MINC_ENABLE | DMA_PDATAALIGN_WORD | // And write to DMA Stream CR register
DMA_MDATAALIGN_WORD | DMA_PRIORITY_VERY_HIGH |
DMA_MBURST_INC4 | DMA_PBURST_INC4 |
DMA_MEMORY_TO_PERIPH);
dmaStream->FCR = (DMA_SxFCR_DMDIS | DMA_SxFCR_FTH); // Configuration FIFO control register
dmaEnable(dmaIdentifier);
if (dmaStream == DMA2_Stream3) {
dmaSetHandler(dmaIdentifier, SDMMC_DMA_ST3_IRQHandler, 1, 0);
} else {
dmaSetHandler(dmaIdentifier, SDMMC_DMA_ST6_IRQHandler, 1, 0);
}
return true;
} }
@ -1706,7 +1707,7 @@ void SDMMC1_IRQHandler(void) {
/* Currently doesn't implement multiple block write handling */ /* Currently doesn't implement multiple block write handling */
if ((SD_Handle.Operation & 0x02) == (SDMMC_DIR_TX << 1)) { if ((SD_Handle.Operation & 0x02) == (SDMMC_DIR_TX << 1)) {
/* Disable the stream */ /* Disable the stream */
dma_stream->CR &= ~DMA_SxCR_EN; dmaStream->CR &= ~DMA_SxCR_EN;
SDMMC1->DCTRL &= ~(SDMMC_DCTRL_DMAEN); SDMMC1->DCTRL &= ~(SDMMC_DCTRL_DMAEN);
/* Transfer is complete */ /* Transfer is complete */
SD_Handle.TXCplt = 0; SD_Handle.TXCplt = 0;

4
src/main/drivers/sdio_h7xx.c
View file

@ -251,9 +251,11 @@ void SDIO_GPIO_Init(void)
IOConfigGPIO(cmd, IOCFG_OUT_PP); IOConfigGPIO(cmd, IOCFG_OUT_PP);
} }
void SD_Initialize_LL(DMA_Stream_TypeDef *dma) bool SD_Initialize_LL(DMA_Stream_TypeDef *dma)
{ {
UNUSED(dma); UNUSED(dma);
return true;
} }
bool SD_GetState(void) bool SD_GetState(void)

2
src/main/drivers/sdmmc_sdio.h
View file

@ -219,7 +219,7 @@ typedef struct
extern SD_CardInfo_t SD_CardInfo; extern SD_CardInfo_t SD_CardInfo;
extern SD_CardType_t SD_CardType; extern SD_CardType_t SD_CardType;
void SD_Initialize_LL (DMA_Stream_TypeDef *dma); bool SD_Initialize_LL (DMA_Stream_TypeDef *dma);
bool SD_Init (void); bool SD_Init (void);
bool SD_IsDetected (void); bool SD_IsDetected (void);
bool SD_GetState (void); bool SD_GetState (void);

154
src/main/drivers/serial_uart.c
View file

@ -105,28 +105,28 @@ UART_BUFFERS(9);
serialPort_t *uartOpen(UARTDevice_e device, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_e mode, portOptions_e options) serialPort_t *uartOpen(UARTDevice_e device, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_e mode, portOptions_e options)
{ {
uartPort_t *s = serialUART(device, baudRate, mode, options); uartPort_t *uartPort = serialUART(device, baudRate, mode, options);
if (!s) if (!uartPort)
return (serialPort_t *)s; return (serialPort_t *)uartPort;
#ifdef USE_DMA #ifdef USE_DMA
s->txDMAEmpty = true; uartPort->txDMAEmpty = true;
#endif #endif
// common serial initialisation code should move to serialPort::init() // common serial initialisation code should move to serialPort::init()
s->port.rxBufferHead = s->port.rxBufferTail = 0; uartPort->port.rxBufferHead = uartPort->port.rxBufferTail = 0;
s->port.txBufferHead = s->port.txBufferTail = 0; uartPort->port.txBufferHead = uartPort->port.txBufferTail = 0;
// callback works for IRQ-based RX ONLY // callback works for IRQ-based RX ONLY
s->port.rxCallback = rxCallback; uartPort->port.rxCallback = rxCallback;
s->port.rxCallbackData = rxCallbackData; uartPort->port.rxCallbackData = rxCallbackData;
s->port.mode = mode; uartPort->port.mode = mode;
s->port.baudRate = baudRate; uartPort->port.baudRate = baudRate;
s->port.options = options; uartPort->port.options = options;
uartReconfigure(s); uartReconfigure(uartPort);
return (serialPort_t *)s; return (serialPort_t *)uartPort;
} }
static void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate) static void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate)
@ -145,56 +145,56 @@ static void uartSetMode(serialPort_t *instance, portMode_e mode)
static uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance) static uint32_t uartTotalRxBytesWaiting(const serialPort_t *instance)
{ {
const uartPort_t *s = (const uartPort_t*)instance; const uartPort_t *uartPort = (const uartPort_t*)instance;
#ifdef USE_DMA #ifdef USE_DMA
if (s->rxDMAResource) { if (uartPort->rxDMAResource) {
// XXX Could be consolidated // XXX Could be consolidated
#ifdef USE_HAL_DRIVER #ifdef USE_HAL_DRIVER
uint32_t rxDMAHead = __HAL_DMA_GET_COUNTER(s->Handle.hdmarx); uint32_t rxDMAHead = __HAL_DMA_GET_COUNTER(uartPort->Handle.hdmarx);
#else #else
uint32_t rxDMAHead = xDMA_GetCurrDataCounter(s->rxDMAResource); uint32_t rxDMAHead = xDMA_GetCurrDataCounter(uartPort->rxDMAResource);
#endif #endif
// s->rxDMAPos and rxDMAHead represent distances from the end // uartPort->rxDMAPos and rxDMAHead represent distances from the end
// of the buffer. They count DOWN as they advance. // of the buffer. They count DOWN as they advance.
if (s->rxDMAPos >= rxDMAHead) { if (uartPort->rxDMAPos >= rxDMAHead) {
return s->rxDMAPos - rxDMAHead; return uartPort->rxDMAPos - rxDMAHead;
} else { } else {
return s->port.rxBufferSize + s->rxDMAPos - rxDMAHead; return uartPort->port.rxBufferSize + uartPort->rxDMAPos - rxDMAHead;
} }
} }
#endif #endif
if (s->port.rxBufferHead >= s->port.rxBufferTail) { if (uartPort->port.rxBufferHead >= uartPort->port.rxBufferTail) {
return s->port.rxBufferHead - s->port.rxBufferTail; return uartPort->port.rxBufferHead - uartPort->port.rxBufferTail;
} else { } else {
return s->port.rxBufferSize + s->port.rxBufferHead - s->port.rxBufferTail; return uartPort->port.rxBufferSize + uartPort->port.rxBufferHead - uartPort->port.rxBufferTail;
} }
} }
static uint32_t uartTotalTxBytesFree(const serialPort_t *instance) static uint32_t uartTotalTxBytesFree(const serialPort_t *instance)
{ {
const uartPort_t *s = (const uartPort_t*)instance; const uartPort_t *uartPort = (const uartPort_t*)instance;
uint32_t bytesUsed; uint32_t bytesUsed;
if (s->port.txBufferHead >= s->port.txBufferTail) { if (uartPort->port.txBufferHead >= uartPort->port.txBufferTail) {
bytesUsed = s->port.txBufferHead - s->port.txBufferTail; bytesUsed = uartPort->port.txBufferHead - uartPort->port.txBufferTail;
} else { } else {
bytesUsed = s->port.txBufferSize + s->port.txBufferHead - s->port.txBufferTail; bytesUsed = uartPort->port.txBufferSize + uartPort->port.txBufferHead - uartPort->port.txBufferTail;
} }
#ifdef USE_DMA #ifdef USE_DMA
if (s->txDMAResource) { if (uartPort->txDMAResource) {
/* /*
* When we queue up a DMA request, we advance the Tx buffer tail before the transfer finishes, so we must add * When we queue up a DMA request, we advance the Tx buffer tail before the transfer finishes, so we must add
* the remaining size of that in-progress transfer here instead: * the remaining size of that in-progress transfer here instead:
*/ */
#ifdef USE_HAL_DRIVER #ifdef USE_HAL_DRIVER
bytesUsed += __HAL_DMA_GET_COUNTER(s->Handle.hdmatx); bytesUsed += __HAL_DMA_GET_COUNTER(uartPort->Handle.hdmatx);
#else #else
bytesUsed += xDMA_GetCurrDataCounter(s->txDMAResource); bytesUsed += xDMA_GetCurrDataCounter(uartPort->txDMAResource);
#endif #endif
/* /*
@ -205,46 +205,46 @@ static uint32_t uartTotalTxBytesFree(const serialPort_t *instance)
* *
* Be kind to callers and pretend like our buffer can only ever be 100% full. * Be kind to callers and pretend like our buffer can only ever be 100% full.
*/ */
if (bytesUsed >= s->port.txBufferSize - 1) { if (bytesUsed >= uartPort->port.txBufferSize - 1) {
return 0; return 0;
} }
} }
#endif #endif
return (s->port.txBufferSize - 1) - bytesUsed; return (uartPort->port.txBufferSize - 1) - bytesUsed;
} }
static bool isUartTransmitBufferEmpty(const serialPort_t *instance) static bool isUartTransmitBufferEmpty(const serialPort_t *instance)
{ {
const uartPort_t *s = (const uartPort_t *)instance; const uartPort_t *uartPort = (const uartPort_t *)instance;
#ifdef USE_DMA #ifdef USE_DMA
if (s->txDMAResource) { if (uartPort->txDMAResource) {
return s->txDMAEmpty; return uartPort->txDMAEmpty;
} else } else
#endif #endif
{ {
return s->port.txBufferTail == s->port.txBufferHead; return uartPort->port.txBufferTail == uartPort->port.txBufferHead;
} }
} }
static uint8_t uartRead(serialPort_t *instance) static uint8_t uartRead(serialPort_t *instance)
{ {
uint8_t ch; uint8_t ch;
uartPort_t *s = (uartPort_t *)instance; uartPort_t *uartPort = (uartPort_t *)instance;
#ifdef USE_DMA #ifdef USE_DMA
if (s->rxDMAResource) { if (uartPort->rxDMAResource) {
ch = s->port.rxBuffer[s->port.rxBufferSize - s->rxDMAPos]; ch = uartPort->port.rxBuffer[uartPort->port.rxBufferSize - uartPort->rxDMAPos];
if (--s->rxDMAPos == 0) if (--uartPort->rxDMAPos == 0)
s->rxDMAPos = s->port.rxBufferSize; uartPort->rxDMAPos = uartPort->port.rxBufferSize;
} else } else
#endif #endif
{ {
ch = s->port.rxBuffer[s->port.rxBufferTail]; ch = uartPort->port.rxBuffer[uartPort->port.rxBufferTail];
if (s->port.rxBufferTail + 1 >= s->port.rxBufferSize) { if (uartPort->port.rxBufferTail + 1 >= uartPort->port.rxBufferSize) {
s->port.rxBufferTail = 0; uartPort->port.rxBufferTail = 0;
} else { } else {
s->port.rxBufferTail++; uartPort->port.rxBufferTail++;
} }
} }
@ -253,26 +253,26 @@ static uint8_t uartRead(serialPort_t *instance)
static void uartWrite(serialPort_t *instance, uint8_t ch) static void uartWrite(serialPort_t *instance, uint8_t ch)
{ {
uartPort_t *s = (uartPort_t *)instance; uartPort_t *uartPort = (uartPort_t *)instance;
s->port.txBuffer[s->port.txBufferHead] = ch; uartPort->port.txBuffer[uartPort->port.txBufferHead] = ch;
if (s->port.txBufferHead + 1 >= s->port.txBufferSize) { if (uartPort->port.txBufferHead + 1 >= uartPort->port.txBufferSize) {
s->port.txBufferHead = 0; uartPort->port.txBufferHead = 0;
} else { } else {
s->port.txBufferHead++; uartPort->port.txBufferHead++;
} }
#ifdef USE_DMA #ifdef USE_DMA
if (s->txDMAResource) { if (uartPort->txDMAResource) {
uartTryStartTxDMA(s); uartTryStartTxDMA(uartPort);
} else } else
#endif #endif
{ {
#ifdef USE_HAL_DRIVER #ifdef USE_HAL_DRIVER
__HAL_UART_ENABLE_IT(&s->Handle, UART_IT_TXE); __HAL_UART_ENABLE_IT(&uartPort->Handle, UART_IT_TXE);
#else #else
USART_ITConfig(s->USARTx, USART_IT_TXE, ENABLE); USART_ITConfig(uartPort->USARTx, USART_IT_TXE, ENABLE);
#endif #endif
} }
} }
@ -297,7 +297,7 @@ const struct serialPortVTable uartVTable[] = {
#ifdef USE_DMA #ifdef USE_DMA
void uartConfigureDma(uartDevice_t *uartdev) void uartConfigureDma(uartDevice_t *uartdev)
{ {
uartPort_t *s = &(uartdev->port); uartPort_t *uartPort = &(uartdev->port);
const uartHardware_t *hardware = uartdev->hardware; const uartHardware_t *hardware = uartdev->hardware;
#ifdef USE_DMA_SPEC #ifdef USE_DMA_SPEC
@ -307,43 +307,47 @@ void uartConfigureDma(uartDevice_t *uartdev)
if (serialUartConfig(device)->txDmaopt != DMA_OPT_UNUSED) { if (serialUartConfig(device)->txDmaopt != DMA_OPT_UNUSED) {
dmaChannelSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_UART_TX, device, serialUartConfig(device)->txDmaopt); dmaChannelSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_UART_TX, device, serialUartConfig(device)->txDmaopt);
if (dmaChannelSpec) { if (dmaChannelSpec) {
s->txDMAResource = dmaChannelSpec->ref; uartPort->txDMAResource = dmaChannelSpec->ref;
s->txDMAChannel = dmaChannelSpec->channel; uartPort->txDMAChannel = dmaChannelSpec->channel;
} }
} }
if (serialUartConfig(device)->rxDmaopt != DMA_OPT_UNUSED) { if (serialUartConfig(device)->rxDmaopt != DMA_OPT_UNUSED) {
dmaChannelSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_UART_RX, device, serialUartConfig(device)->txDmaopt); dmaChannelSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_UART_RX, device, serialUartConfig(device)->txDmaopt);
if (dmaChannelSpec) { if (dmaChannelSpec) {
s->rxDMAResource = dmaChannelSpec->ref; uartPort->rxDMAResource = dmaChannelSpec->ref;
s->rxDMAChannel = dmaChannelSpec->channel; uartPort->rxDMAChannel = dmaChannelSpec->channel;
} }
} }
#else #else
// Non USE_DMA_SPEC does not support configurable ON/OFF of UART DMA // Non USE_DMA_SPEC does not support configurable ON/OFF of UART DMA
if (hardware->rxDMAResource) { if (hardware->rxDMAResource) {
s->rxDMAResource = hardware->rxDMAResource; uartPort->rxDMAResource = hardware->rxDMAResource;
s->rxDMAChannel = hardware->rxDMAChannel; uartPort->rxDMAChannel = hardware->rxDMAChannel;
} }
if (hardware->txDMAResource) { if (hardware->txDMAResource) {
s->txDMAResource = hardware->txDMAResource; uartPort->txDMAResource = hardware->txDMAResource;
s->txDMAChannel = hardware->txDMAChannel; uartPort->txDMAChannel = hardware->txDMAChannel;
} }
#endif #endif
if (s->txDMAResource) { if (uartPort->txDMAResource) {
dmaIdentifier_e identifier = dmaGetIdentifier(s->txDMAResource); dmaIdentifier_e identifier = dmaGetIdentifier(uartPort->txDMAResource);
dmaInit(identifier, OWNER_SERIAL_TX, RESOURCE_INDEX(hardware->device)); if (dmaAllocate(identifier, OWNER_SERIAL_TX, RESOURCE_INDEX(hardware->device))) {
dmaSetHandler(identifier, uartDmaIrqHandler, hardware->txPriority, (uint32_t)uartdev); dmaEnable(identifier);
s->txDMAPeripheralBaseAddr = (uint32_t)&UART_REG_TXD(hardware->reg); dmaSetHandler(identifier, uartDmaIrqHandler, hardware->txPriority, (uint32_t)uartdev);
uartPort->txDMAPeripheralBaseAddr = (uint32_t)&UART_REG_TXD(hardware->reg);
}
} }
if (s->rxDMAResource) { if (uartPort->rxDMAResource) {
dmaIdentifier_e identifier = dmaGetIdentifier(s->rxDMAResource); dmaIdentifier_e identifier = dmaGetIdentifier(uartPort->rxDMAResource);
dmaInit(identifier, OWNER_SERIAL_RX, RESOURCE_INDEX(hardware->device)); if (dmaAllocate(identifier, OWNER_SERIAL_RX, RESOURCE_INDEX(hardware->device))) {
s->rxDMAPeripheralBaseAddr = (uint32_t)&UART_REG_RXD(hardware->reg); dmaEnable(identifier);
uartPort->rxDMAPeripheralBaseAddr = (uint32_t)&UART_REG_RXD(hardware->reg);
}
} }
} }
#endif #endif
@ -351,8 +355,8 @@ void uartConfigureDma(uartDevice_t *uartdev)
#define UART_IRQHandler(type, number, dev) \ #define UART_IRQHandler(type, number, dev) \
void type ## number ## _IRQHandler(void) \ void type ## number ## _IRQHandler(void) \
{ \ { \
uartPort_t *s = &(uartDevmap[UARTDEV_ ## dev]->port); \ uartPort_t *uartPort = &(uartDevmap[UARTDEV_ ## dev]->port); \
uartIrqHandler(s); \ uartIrqHandler(uartPort); \
} }
#ifdef USE_UART1 #ifdef USE_UART1

7
src/main/drivers/transponder_ir_io_hal.c
View file

@ -92,7 +92,8 @@ void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
uint32_t dmaChannel = timerHardware->dmaChannel; uint32_t dmaChannel = timerHardware->dmaChannel;
#endif #endif
if (dmaRef == NULL) { dmaIdentifier_e dmaIdentifier = dmaGetIdentifier(dmaRef);
if (dmaRef == NULL || !dmaAllocate(dmaIdentifier, OWNER_TRANSPONDER, 0)) {
return; return;
} }
@ -153,8 +154,8 @@ void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
/* Link hdma_tim to hdma[x] (channelx) */ /* Link hdma_tim to hdma[x] (channelx) */
__HAL_LINKDMA(&TimHandle, hdma[dmaIndex], hdma_tim); __HAL_LINKDMA(&TimHandle, hdma[dmaIndex], hdma_tim);
dmaInit(dmaGetIdentifier(dmaRef), OWNER_TRANSPONDER, 0); dmaEnable(dmaIdentifier);
dmaSetHandler(dmaGetIdentifier(dmaRef), TRANSPONDER_DMA_IRQHandler, NVIC_PRIO_TRANSPONDER_DMA, dmaIndex); dmaSetHandler(dmaIdentifier, TRANSPONDER_DMA_IRQHandler, NVIC_PRIO_TRANSPONDER_DMA, dmaIndex);
/* Initialize TIMx DMA handle */ /* Initialize TIMx DMA handle */
if (HAL_DMA_Init(TimHandle.hdma[dmaIndex]) != HAL_OK) { if (HAL_DMA_Init(TimHandle.hdma[dmaIndex]) != HAL_OK) {

4
src/main/drivers/transponder_ir_io_stdperiph.c
View file

@ -89,7 +89,7 @@ void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
#endif #endif
#endif #endif
if (dmaRef == NULL) { if (dmaRef == NULL || !dmaAllocate(dmaGetIdentifier(dmaRef), OWNER_TRANSPONDER, 0)) {
return; return;
} }
@ -97,7 +97,7 @@ void transponderIrHardwareInit(ioTag_t ioTag, transponder_t *transponder)
IOInit(transponderIO, OWNER_TRANSPONDER, 0); IOInit(transponderIO, OWNER_TRANSPONDER, 0);
IOConfigGPIOAF(transponderIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_DOWN), timerHardware->alternateFunction); IOConfigGPIOAF(transponderIO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_DOWN), timerHardware->alternateFunction);
dmaInit(dmaGetIdentifier(dmaRef), OWNER_TRANSPONDER, 0); dmaEnable(dmaGetIdentifier(dmaRef));
dmaSetHandler(dmaGetIdentifier(dmaRef), TRANSPONDER_DMA_IRQHandler, NVIC_PRIO_TRANSPONDER_DMA, 0); dmaSetHandler(dmaGetIdentifier(dmaRef), TRANSPONDER_DMA_IRQHandler, NVIC_PRIO_TRANSPONDER_DMA, 0);
RCC_ClockCmd(timerRCC(timer), ENABLE); RCC_ClockCmd(timerRCC(timer), ENABLE);

18
src/main/msc/usbd_storage_sdio.c
View file

@ -167,21 +167,19 @@ static int8_t STORAGE_Init (uint8_t lun)
LED0_OFF; LED0_OFF;
#ifdef USE_DMA_SPEC #ifdef USE_DMA_SPEC
#if defined(STM32H7) // H7 uses IDMA
SD_Initialize_LL(0);
#else
const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_SDIO, 0, sdioConfig()->dmaopt); const dmaChannelSpec_t *dmaChannelSpec = dmaGetChannelSpecByPeripheral(DMA_PERIPH_SDIO, 0, sdioConfig()->dmaopt);
if (!dmaChannelSpec) { if (!dmaChannelSpec || !SD_Initialize_LL((DMA_ARCH_TYPE *)dmaChannelSpec->ref)) {
#else
#if defined(STM32H7) // H7 uses IDMA
if (!SD_Initialize_LL(0)) {
#else
if (!SD_Initialize_LL(SDCARD_SDIO_DMA_OPT)) {
#endif
#endif // USE_DMA_SPEC
return 1; return 1;
} }
SD_Initialize_LL((DMA_ARCH_TYPE *)dmaChannelSpec->ref);
#endif
#else
SD_Initialize_LL(SDCARD_SDIO_DMA_OPT);
#endif
if (!sdcard_isInserted()) { if (!sdcard_isInserted()) {
return 1; return 1;
} }