/**
* @brief Stops an ongoing conversion.
* @details This function stops the currently ongoing conversion and returns
* the driver in the @p DAC_READY state. If there was no conversion
* being processed then the function does nothing.
*
* @param[in] dacp pointer to the @p DACDriver object
*
* @iclass
*/
void dacStopConversionI(DACDriver *dacp) {
osalDbgCheckClassI();
osalDbgCheck(dacp != NULL);
osalDbgAssert((dacp->state == DAC_READY) ||
(dacp->state == DAC_ACTIVE) ||
(dacp->state == DAC_COMPLETE),
"invalid state");
if (dacp->state != DAC_READY) {
dac_lld_stop_conversion(dacp);
dacp->grpp = NULL;
dacp->state = DAC_READY;
_dac_reset_i(dacp);
}
}
/**
* @brief Disables a channel de-activation edge notification.
* @pre The PWM unit must have been activated using @p pwmStart().
* @pre The channel must have been activated using @p pwmEnableChannel().
* @note If the notification is already disabled then the call has no effect.
*
* @param[in] pwmp pointer to a @p PWMDriver object
* @param[in] channel PWM channel identifier (0...channels-1)
*
* @api
*/
void pwmDisableChannelNotification(PWMDriver *pwmp, pwmchannel_t channel) {
osalDbgCheck((pwmp != NULL) && (channel < pwmp->channels));
osalSysLock();
osalDbgAssert(pwmp->state == PWM_READY, "not ready");
osalDbgAssert((pwmp->enabled & (1 << channel)) != 0,
"channel not enabled");
osalDbgAssert(pwmp->config->channels[channel].callback != NULL,
"undefined channel callback");
pwmDisableChannelNotificationI(pwmp, channel);
osalSysUnlock();
}
void ExtiPnc::pps(bool flag){
osalDbgCheck(ready);
#if defined(BOARD_BEZVODIATEL)
if (flag)
extChannelEnable(&EXTD1, GPIOA_GPS_PPS);
else
extChannelDisable(&EXTD1, GPIOA_GPS_PPS);
#elif defined(BOARD_MNU)
if (flag)
extChannelEnable(&EXTD1, GPIOB_PPS4);
else
extChannelDisable(&EXTD1, GPIOB_PPS4);
#else
#error "Unknown board"
#endif
}
/**
* @brief Configures and activates the USB peripheral.
*
* @param[in] usbp pointer to the @p USBDriver object
* @param[in] config pointer to the @p USBConfig object
*
* @api
*/
void usbStart(USBDriver *usbp, const USBConfig *config) {
unsigned i;
osalDbgCheck((usbp != NULL) && (config != NULL));
osalSysLock();
osalDbgAssert((usbp->state == USB_STOP) || (usbp->state == USB_READY),
"invalid state");
usbp->config = config;
for (i = 0; i <= (unsigned)USB_MAX_ENDPOINTS; i++) {
usbp->epc[i] = NULL;
}
usb_lld_start(usbp);
usbp->state = USB_READY;
osalSysUnlock();
}
/**
* @brief Stops a sequential write gracefully.
*
* @param[in] mmcp pointer to the @p MMCDriver object
*
* @return The operation status.
* @retval HAL_SUCCESS the operation succeeded.
* @retval HAL_FAILED the operation failed.
*
* @api
*/
bool mmcStopSequentialWrite(MMCDriver *mmcp) {
static const uint8_t stop[] = {0xFD, 0xFF};
osalDbgCheck(mmcp != NULL);
if (mmcp->state != BLK_WRITING) {
return HAL_FAILED;
}
spiSend(mmcp->config->spip, sizeof(stop), stop);
spiUnselect(mmcp->config->spip);
/* Write operation finished.*/
mmcp->state = BLK_READY;
return HAL_SUCCESS;
}
/**
* @brief Stops an ongoing conversion.
* @details This function stops the currently ongoing conversion and returns
* the driver in the @p ADC_READY state. If there was no conversion
* being processed then the function does nothing.
*
* @param[in] adcp pointer to the @p ADCDriver object
*
* @iclass
*/
void adcStopConversionI(ADCDriver *adcp) {
osalDbgCheckClassI();
osalDbgCheck(adcp != NULL);
osalDbgAssert((adcp->state == ADC_READY) ||
(adcp->state == ADC_ACTIVE) ||
(adcp->state == ADC_COMPLETE),
"invalid state");
if (adcp->state != ADC_READY) {
adc_lld_stop_conversion(adcp);
adcp->grpp = NULL;
adcp->state = ADC_READY;
_adc_reset_i(adcp);
}
}
/**
* Enables interrupts from MPU
*/
void ExtiPnc::mpu6050(bool flag){
osalDbgCheck(ready);
#if defined(BOARD_BEZVODIATEL)
if (flag)
extChannelEnable(&EXTD1, GPIOE_MPU9150_INT);
else
extChannelDisable(&EXTD1, GPIOE_MPU9150_INT);
#elif defined(BOARD_MNU)
if (flag)
extChannelEnable(&EXTD1, GPIOG_MPU9150_INT);
else
extChannelDisable(&EXTD1, GPIOG_MPU9150_INT);
#else
#error "Unknown board"
#endif
}
/**
* @brief Disables all the active endpoints.
* @details This function disables all the active endpoints except the
* endpoint zero.
* @note This function must be invoked in response of a SET_CONFIGURATION
* message with configuration number zero.
*
* @param[in] usbp pointer to the @p USBDriver object
*
* @iclass
*/
void usbDisableEndpointsI(USBDriver *usbp) {
unsigned i;
osalDbgCheckClassI();
osalDbgCheck(usbp != NULL);
osalDbgAssert(usbp->state == USB_SELECTED, "invalid state");
usbp->transmitting &= ~1U;
usbp->receiving &= ~1U;
for (i = 1; i <= (unsigned)USB_MAX_ENDPOINTS; i++) {
usbp->epc[i] = NULL;
}
/* Low level endpoints deactivation.*/
usb_lld_disable_endpoints(usbp);
}
/**
* @brief Waits for a completed capture.
* @note The operation could be performed in polled mode depending on.
* @note In order to use this function notifications must be disabled.
* @pre The driver must be in @p ICU_WAITING or @p ICU_ACTIVE states.
* @post After the capture is available the driver is in @p ICU_ACTIVE
* state. If a capture fails then the driver is in @p ICU_WAITING
* state.
*
* @param[in] icup pointer to the @p ICUDriver object
* @return The capture status.
* @retval false if the capture is successful.
* @retval true if a timer overflow occurred.
*
* @api
*/
bool icuWaitCapture(ICUDriver *icup) {
bool result;
osalDbgCheck(icup != NULL);
osalSysLock();
osalDbgAssert((icup->state == ICU_WAITING) || (icup->state == ICU_ACTIVE),
"invalid state");
osalDbgAssert(icuAreNotificationsEnabledX(icup) == false,
"notifications enabled");
result = icu_lld_wait_capture(icup);
icup->state = result ? ICU_WAITING : ICU_ACTIVE;
osalSysUnlock();
return result;
}
/**
* @brief Deactivates the PWM peripheral.
*
* @param[in] pwmp pointer to a @p PWMDriver object
*
* @api
*/
void pwmStop(PWMDriver *pwmp) {
osalDbgCheck(pwmp != NULL);
osalSysLock();
osalDbgAssert((pwmp->state == PWM_STOP) || (pwmp->state == PWM_READY),
"invalid state");
pwm_lld_stop(pwmp);
pwmp->enabled = 0;
pwmp->config = NULL;
pwmp->state = PWM_STOP;
osalSysUnlock();
}
/**
* @brief Writes one or more blocks.
*
* @param[in] sdcp pointer to the @p SDCDriver object
* @param[in] startblk first block to write
* @param[out] buf pointer to the write buffer
* @param[in] n number of blocks to write
*
* @return The operation status.
* @retval HAL_SUCCESS operation succeeded.
* @retval HAL_FAILED operation failed.
*
* @notapi
*/
bool sdc_lld_write_aligned(SDCDriver *sdcp, uint32_t startblk,
const uint8_t *buf, uint32_t blocks) {
uint32_t resp[1];
osalDbgCheck(blocks < 0x1000000 / MMCSD_BLOCK_SIZE);
sdcp->sdio->DTIMER = STM32_SDC_WRITE_TIMEOUT;
/* Checks for errors and waits for the card to be ready for writing.*/
if (_sdc_wait_for_transfer_state(sdcp))
return HAL_FAILED;
/* Prepares the DMA channel for writing.*/
dmaStreamSetMemory0(sdcp->dma, buf);
dmaStreamSetTransactionSize(sdcp->dma,
(blocks * MMCSD_BLOCK_SIZE) / sizeof (uint32_t));
dmaStreamSetMode(sdcp->dma, sdcp->dmamode | STM32_DMA_CR_DIR_M2P);
dmaStreamEnable(sdcp->dma);
/* Setting up data transfer.*/
sdcp->sdio->ICR = STM32_SDIO_ICR_ALL_FLAGS;
sdcp->sdio->MASK = SDIO_MASK_DCRCFAILIE |
SDIO_MASK_DTIMEOUTIE |
SDIO_MASK_STBITERRIE |
SDIO_MASK_TXUNDERRIE |
SDIO_MASK_DATAENDIE;
sdcp->sdio->DLEN = blocks * MMCSD_BLOCK_SIZE;
/* Talk to card what we want from it.*/
if (sdc_lld_prepare_write(sdcp, startblk, blocks, resp) == TRUE)
goto error;
/* Transaction starts just after DTEN bit setting.*/
sdcp->sdio->DCTRL = SDIO_DCTRL_DBLOCKSIZE_3 |
SDIO_DCTRL_DBLOCKSIZE_0 |
SDIO_DCTRL_DMAEN |
SDIO_DCTRL_DTEN;
if (sdc_lld_wait_transaction_end(sdcp, blocks, resp) == TRUE)
goto error;
return HAL_SUCCESS;
error:
sdc_lld_error_cleanup(sdcp, blocks, resp);
return HAL_FAILED;
}
/**
* @brief Enters the sleep mode.
* @details This function puts the CAN driver in sleep mode and broadcasts
* the @p sleep_event event source.
* @pre In order to use this function the option @p CAN_USE_SLEEP_MODE must
* be enabled and the @p CAN_SUPPORTS_SLEEP mode must be supported
* by the low level driver.
*
* @param[in] canp pointer to the @p CANDriver object
*
* @api
*/
void canSleep(CANDriver *canp) {
osalDbgCheck(canp != NULL);
osalSysLock();
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"invalid state");
if (canp->state == CAN_READY) {
can_lld_sleep(canp);
canp->state = CAN_SLEEP;
#if !defined(CAN_ENFORCE_USE_CALLBACKS)
osalEventBroadcastFlagsI(&canp->sleep_event, (eventflags_t)0);
osalOsRescheduleS();
#endif
}
osalSysUnlock();
}
static msg_t gyro_read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LSM6DS0_GYRO_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck(((ip != NULL) && (axes != NULL)) &&
(((LSM6DS0Driver *)ip)->config->gyrocfg != NULL));
osalDbgAssert((((LSM6DS0Driver *)ip)->state == LSM6DS0_READY),
"gyro_read_cooked(), invalid state");
msg = gyro_read_raw(ip, raw);
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES ; i++){
axes[i] = raw[i] * ((LSM6DS0Driver *)ip)->gyrosensitivity[i];
}
return msg;
}
/**
* @brief Waits for card idle condition.
*
* @param[in] mmcp pointer to the @p MMCDriver object
*
* @return The operation status.
* @retval CH_SUCCESS the operation succeeded.
* @retval CH_FAILED the operation failed.
*
* @api
*/
bool mmcSync(MMCDriver *mmcp) {
osalDbgCheck(mmcp != NULL);
if (mmcp->state != BLK_READY)
return CH_FAILED;
/* Synchronization operation in progress.*/
mmcp->state = BLK_SYNCING;
spiStart(mmcp->config->spip, mmcp->config->hscfg);
sync(mmcp);
/* Synchronization operation finished.*/
mmcp->state = BLK_READY;
return CH_SUCCESS;
}
/**
* @brief Configures and starts the driver.
*
* @param[in] sdup pointer to a @p SerialUSBDriver object
* @param[in] config the serial over USB driver configuration
*
* @api
*/
void sduStart(SerialUSBDriver *sdup, const SerialUSBConfig *config) {
USBDriver *usbp = config->usbp;
osalDbgCheck(sdup != NULL);
osalSysLock();
osalDbgAssert((sdup->state == SDU_STOP) || (sdup->state == SDU_READY),
"invalid state");
usbp->in_params[config->bulk_in - 1U] = sdup;
usbp->out_params[config->bulk_out - 1U] = sdup;
if (config->int_in > 0U) {
usbp->in_params[config->int_in - 1U] = sdup;
}
sdup->config = config;
sdup->state = SDU_READY;
osalSysUnlock();
}
/**
* @brief Reset bias values for the BaseAccelerometer.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_reset_bias(void *ip) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_reset_bias(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++)
devp->accbias[i] = LSM6DS0_ACC_BIAS;
return msg;
}
/**
* @brief Enforces leaving the sleep mode.
* @note The sleep mode is supposed to be usually exited automatically by
* an hardware event.
*
* @param[in] canp pointer to the @p CANDriver object
*/
void canWakeup(CANDriver *canp) {
osalDbgCheck(canp != NULL);
osalSysLock();
osalDbgAssert((canp->state == CAN_READY) || (canp->state == CAN_SLEEP),
"invalid state");
if (canp->state == CAN_SLEEP) {
can_lld_wakeup(canp);
canp->state = CAN_READY;
#if CAN_ENFORCE_USE_CALLBACKS == FALSE
osalEventBroadcastFlagsI(&canp->wakeup_event, (eventflags_t)0);
osalOsRescheduleS();
#endif
}
osalSysUnlock();
}
static msg_t read_cooked(void *ip, float axes[]) {
uint32_t i;
int32_t raw[LIS302DL_NUMBER_OF_AXES];
msg_t msg;
osalDbgCheck((ip != NULL) && (axes != NULL));
osalDbgAssert((((LIS302DLDriver *)ip)->state == LIS302DL_READY),
"read_cooked(), invalid state");
msg = read_raw(ip, raw);
for(i = 0; i < LIS302DL_NUMBER_OF_AXES ; i++){
axes[i] = (raw[i] * ((LIS302DLDriver *)ip)->sensitivity[i]);
axes[i] -= ((LIS302DLDriver *)ip)->bias[i];
}
return msg;
}
/**
* @brief Deactivates the UART peripheral.
*
* @param[in] uartp pointer to the @p UARTDriver object
*
* @api
*/
void uartStop(UARTDriver *uartp) {
osalDbgCheck(uartp != NULL);
osalSysLock();
osalDbgAssert((uartp->state == UART_STOP) || (uartp->state == UART_READY),
"invalid state");
uart_lld_stop(uartp);
uartp->config = NULL;
uartp->state = UART_STOP;
uartp->txstate = UART_TX_IDLE;
uartp->rxstate = UART_RX_IDLE;
osalSysUnlock();
}
/**
* @brief Stops the driver.
* @details Any thread waiting on the driver's queues will be awakened with
* the message @p MSG_RESET.
*
* @param[in] sdp pointer to a @p SerialDriver object
*
* @api
*/
void sdStop(SerialDriver *sdp) {
osalDbgCheck(sdp != NULL);
osalSysLock();
osalDbgAssert((sdp->state == SD_STOP) || (sdp->state == SD_READY),
"invalid state");
sd_lld_stop(sdp);
sdp->state = SD_STOP;
oqResetI(&sdp->oqueue);
iqResetI(&sdp->iqueue);
osalOsRescheduleS();
osalSysUnlock();
}
/**
* @brief Gets a bit field from a words array.
* @note The bit zero is the LSb of the first word.
*
* @param[in] data pointer to the words array
* @param[in] end bit offset of the last bit of the field, inclusive
* @param[in] start bit offset of the first bit of the field, inclusive
*
* @return The bits field value, left aligned.
*
* @notapi
*/
static uint32_t mmcsd_get_slice(uint32_t *data, uint32_t end, uint32_t start) {
unsigned startidx, endidx, startoff;
uint32_t endmask;
osalDbgCheck((end >= start) && ((end - start) < 32));
startidx = start / 32;
startoff = start % 32;
endidx = end / 32;
endmask = (1 << ((end % 32) + 1)) - 1;
/* One or two pieces?*/
if (startidx < endidx)
return (data[startidx] >> startoff) | /* Two pieces case. */
((data[endidx] & endmask) << (32 - startoff));
return (data[startidx] & endmask) >> startoff; /* One piece case. */
}
/**
* @brief Reset bias values for the BaseGyroscope.
* @note Default biases value are obtained from device datasheet when
* available otherwise they are considered zero.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_reset_bias(void *ip) {
L3GD20Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck(ip != NULL);
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_reset_bias(), invalid state");
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++)
devp->gyrobias[i] = L3GD20_GYRO_BIAS;
return msg;
}
void lis3Start(void){
msg_t status = MSG_OK;
systime_t tmo = MS2ST(4);
/* configure accelerometer */
accel_tx_data[0] = ACCEL_CTRL_REG1 | AUTO_INCREMENT_BIT;
accel_tx_data[1] = 0b11100111;
accel_tx_data[2] = 0b01000001;
accel_tx_data[3] = 0b00000000;
/* sending */
i2cAcquireBus(&I2CD1);
status = i2cMasterTransmitTimeout(&I2CD1, addr,
accel_tx_data, 4, accel_rx_data, 0, tmo);
i2cReleaseBus(&I2CD1);
osalDbgCheck(MSG_OK == status);
}
/**
* @brief Set sensitivity values for the BaseGyroscope.
* @note Sensitivity must be expressed as DPS/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseGyroscope axes number.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_set_sensivity(void *ip, float *sp) {
L3GD20Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (sp !=NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(L3GD20Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == L3GD20_READY),
"gyro_set_sensivity(), invalid state");
for(i = 0; i < L3GD20_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrosensitivity[i] = sp[i];
}
return msg;
}
static void pattern_fill(void) {
size_t i;
srand(chSysGetRealtimeCounterX());
for(i=0; i<NAND_PAGE_SIZE; i++){
ref_buf[i] = rand() & 0xFF;
}
/* protect bad mark */
ref_buf[NAND_PAGE_DATA_SIZE] = 0xFF;
ref_buf[NAND_PAGE_DATA_SIZE + 1] = 0xFF;
memcpy(nand_buf, ref_buf, NAND_PAGE_SIZE);
/* paranoid mode ON */
osalDbgCheck(0 == memcmp(ref_buf, nand_buf, NAND_PAGE_SIZE));
}
/**
* @brief Set sensitivity values for the BaseAccelerometer.
* @note Sensitivity must be expressed as milli-G/LSB.
* @note The sensitivity buffer must be at least the same size of the
* BaseAccelerometer axes number.
*
* @param[in] ip pointer to @p BaseAccelerometer interface.
* @param[in] sp a buffer which contains sensitivities.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t acc_set_sensivity(void *ip, float *sp) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseAccelerometer*)ip);
osalDbgCheck((ip != NULL) && (sp != NULL));
osalDbgAssert((devp->state == LSM6DS0_READY),
"acc_set_sensivity(), invalid state");
for(i = 0; i < LSM6DS0_ACC_NUMBER_OF_AXES; i++) {
devp->accsensitivity[i] = sp[i];
}
return msg;
}
/**
* @brief Starts an ADC conversion.
* @details Starts an asynchronous conversion operation.
* @post The callbacks associated to the conversion group will be invoked
* on buffer fill and error events.
* @note The buffer is organized as a matrix of M*N elements where M is the
* channels number configured into the conversion group and N is the
* buffer depth. The samples are sequentially written into the buffer
* with no gaps.
*
* @param[in] adcp pointer to the @p ADCDriver object
* @param[in] grpp pointer to a @p ADCConversionGroup object
* @param[out] samples pointer to the samples buffer
* @param[in] depth buffer depth (matrix rows number). The buffer depth
* must be one or an even number.
*
* @iclass
*/
void adcStartConversionI(ADCDriver *adcp,
const ADCConversionGroup *grpp,
adcsample_t *samples,
size_t depth) {
osalDbgCheckClassI();
osalDbgCheck((adcp != NULL) && (grpp != NULL) && (samples != NULL) &&
(depth > 0U) && ((depth == 1U) || ((depth & 1U) == 0U)));
osalDbgAssert((adcp->state == ADC_READY) ||
(adcp->state == ADC_ERROR),
"not ready");
adcp->samples = samples;
adcp->depth = depth;
adcp->grpp = grpp;
adcp->state = ADC_ACTIVE;
adc_lld_start_conversion(adcp);
}
/**
* @brief Configures and activates the CAN peripheral.
* @note Activating the CAN bus can be a slow operation this this function
* is not atomic, it waits internally for the initialization to
* complete.
*
* @param[in] canp pointer to the @p CANDriver object
* @param[in] config pointer to the @p CANConfig object. Depending on
* the implementation the value can be @p NULL.
*
* @api
*/
void canStart(CANDriver *canp, const CANConfig *config) {
osalDbgCheck(canp != NULL);
osalSysLock();
osalDbgAssert((canp->state == CAN_STOP) ||
(canp->state == CAN_STARTING) ||
(canp->state == CAN_READY),
"invalid state");
while (canp->state == CAN_STARTING)
osalThreadSleepS(1);
if (canp->state == CAN_STOP) {
canp->config = config;
can_lld_start(canp);
canp->state = CAN_READY;
}
osalSysUnlock();
}
/**
* @brief Set bias values for the BaseGyroscope.
* @note Bias must be expressed as DPS.
* @note The bias buffer must be at least the same size of the BaseGyroscope
* axes number.
*
* @param[in] ip pointer to @p BaseGyroscope interface.
* @param[in] bp a buffer which contains biases.
*
* @return The operation status.
* @retval MSG_OK if the function succeeded.
*/
static msg_t gyro_set_bias(void *ip, float *bp) {
LSM6DS0Driver* devp;
uint32_t i;
msg_t msg = MSG_OK;
osalDbgCheck((ip != NULL) && (bp != NULL));
/* Getting parent instance pointer.*/
devp = objGetInstance(LSM6DS0Driver*, (BaseGyroscope*)ip);
osalDbgAssert((devp->state == LSM6DS0_READY),
"gyro_set_bias(), invalid state");
for(i = 0; i < LSM6DS0_GYRO_NUMBER_OF_AXES; i++) {
devp->gyrobias[i] = bp[i];
}
return msg;
}
/**
* @brief Releases a DMA stream.
* @details The stream is freed and, if required, the DMA clock disabled.
* Trying to release a unallocated stream is an illegal operation
* and is trapped if assertions are enabled.
* @pre The stream must have been allocated using @p dmaStreamAllocate().
* @post The stream is again available.
* @note This function can be invoked in both ISR or thread context.
*
* @param[in] dmastp pointer to a stm32_dma_stream_t structure
*
* @special
*/
void dmaStreamRelease(const stm32_dma_stream_t *dmastp) {
osalDbgCheck(dmastp != NULL);
/* Check if the streams is not taken.*/
osalDbgAssert((dma_streams_mask & (1 << dmastp->selfindex)) != 0,
"not allocated");
/* Disables the associated IRQ vector.*/
nvicDisableVector(dmastp->vector);
/* Marks the stream as not allocated.*/
dma_streams_mask &= ~(1 << dmastp->selfindex);
/* Shutting down clocks that are no more required, if any.*/
if ((dma_streams_mask & STM32_DMA1_STREAMS_MASK) == 0)
rccDisableDMA1(FALSE);
}
