void init_ppm_dma_transfer()
{
dma_init(DMA1);
dma_setup_transfer( DMA1, //dma device, dma1 here because that's the only one we have
DMA_CH1, //dma channel, channel1, because it looks after tim4_ch1 (timer4, channel1)
&(r.gen->CCR1), //peripheral address
DMA_SIZE_16BITS, //peripheral size
data, //memory address
DMA_SIZE_16BITS, //memory transfer size
(0
//| DMA_FROM_MEM //set if going from memory, don't set if going to memory.
| DMA_MINC_MODE //auto inc where the data does in memory (uses size_16bits to know how much)
| DMA_TRNS_ERR //tell me if it's fubar
//| DMA_HALF_TRNS //tell me half way (actually, don't as I spend so long there, I dont see 'complete')
| DMA_TRNS_CMPLT //tell me at the end
| DMA_CIRC_MODE // circular mode... capture "num_transfers" (below) and repeat
)
);
dma_attach_interrupt(DMA1, DMA_CH1, dma_isr); //hook up an isr for the dma chan to tell us if things happen.
dma_set_num_transfers(DMA1, DMA_CH1, NUM_TIMERS); //only allow it to transfer TIMERS number of times.
dma_enable(DMA1, DMA_CH1); //enable it..
}
void DMA_init(void) {
dma_init(DMA1);
// TIM2 Update event
/* DMA1 Channel2 configuration ----------------------------------------------*/
dma_setup_transfer(DMA1, DMA_CH2, (volatile void*) &(GPIOA->regs->ODR), DMA_SIZE_32BITS,
(volatile void*) &(WS2812_IO_High), DMA_SIZE_8BITS, DMA_FROM_MEM);
dma_set_priority(DMA1, DMA_CH2, DMA_PRIORITY_HIGH);
// TIM2 CC1 event
/* DMA1 Channel5 configuration ----------------------------------------------*/
dma_setup_transfer(DMA1, DMA_CH5, (volatile void*) &(GPIOA->regs->ODR), DMA_SIZE_32BITS,
(volatile void*) WS2812_buffer, DMA_SIZE_8BITS, DMA_FROM_MEM | DMA_MINC_MODE);
dma_set_priority(DMA1, DMA_CH5, DMA_PRIORITY_HIGH);
// TIM2 CC2 event
/* DMA1 Channel7 configuration ----------------------------------------------*/
dma_setup_transfer(DMA1, DMA_CH7, (volatile void*) &(GPIOA->regs->ODR), DMA_SIZE_32BITS,
(volatile void*) &(WS2812_IO_Low), DMA_SIZE_8BITS, DMA_FROM_MEM | DMA_TRNS_CMPLT);
dma_set_priority(DMA1, DMA_CH7, DMA_PRIORITY_HIGH);
/* configure DMA1 Channel7 interrupt */
nvic_irq_set_priority(NVIC_DMA_CH7, 1);
nvic_irq_enable(NVIC_DMA_CH7);
dma_attach_interrupt(DMA1, DMA_CH7, DMA1_Channel7_IRQHandler);
/* enable DMA1 Channel7 transfer complete interrupt */
}
//------------------------------------------------------------------------------
// send one block of data for write block or write multiple blocks
uint8_t Sd2Card::writeData(uint8_t token, const uint8_t* src) {
#ifdef SPI_DMA
dma_setup_transfer(DMA1, DMA_CH3, &SPI1->regs->DR, DMA_SIZE_8BITS, (uint8_t *)src, DMA_SIZE_8BITS, (DMA_MINC_MODE | DMA_FROM_MEM | DMA_TRNS_CMPLT | DMA_TRNS_ERR));
dma_attach_interrupt(DMA1, DMA_CH3, DMAEvent);
dma_set_priority(DMA1, DMA_CH3, DMA_PRIORITY_VERY_HIGH);
dma_set_num_transfers(DMA1, DMA_CH3, 512);
dmaActive = true;
dma_enable(DMA1, DMA_CH3);
while(dmaActive) delayMicroseconds(1);
dma_disable(DMA1, DMA_CH3);
#else // SPI_DMA
spiSend(token);
for (uint16_t i = 0; i < 512; i++) {
spiSend(src[i]);
}
#endif // OPTIMIZE_HARDWARE_SPI
spiSend(0xff); // dummy crc
spiSend(0xff); // dummy crc
status_ = spiRec();
if ((status_ & DATA_RES_MASK) != DATA_RES_ACCEPTED) {
error(SD_CARD_ERROR_WRITE);
chipSelectHigh();
Serial.println("Error: Write");
Serial.println("Error: Sd2Card::writeData()");
return false;
}
return true;
}
/* Configure DMA transmission */
void init_dma_xfer(void) {
dma_init(USART_DMA_DEV);
dma_setup_transfer(USART_DMA_DEV, USART_RX_DMA_CHANNEL,
&USART->regs->DR, DMA_SIZE_8BITS,
rx_buf, DMA_SIZE_8BITS,
(DMA_MINC_MODE | DMA_CIRC_MODE | DMA_TRNS_CMPLT));
dma_set_num_transfers(USART_DMA_DEV, USART_RX_DMA_CHANNEL, BUF_SIZE);
dma_attach_interrupt(USART_DMA_DEV, USART_RX_DMA_CHANNEL, rx_dma_irq);
dma_enable(USART_DMA_DEV, USART_RX_DMA_CHANNEL);
}
void sendSerialPacket(struct serial *serial, volatile struct dxl_packet *packet)
{
// We have a packet for the serial bus
// First, clear the serial input buffers
serial->port->flush();
// Writing the packet in the buffer
int n = dxl_write_packet(packet, (ui8 *)serial->outputBuffer);
// Go in transmit mode
transmitMode(serial);
#if 1
// Then runs the DMA transfer
serial->txComplete = false;
serial->dmaEvent = false;
setupSerialDMA(serial, n);
dma_tube_cfg(DMA1, serial->channel, &serial->tube_config);
dma_set_priority(DMA1, serial->channel, DMA_PRIORITY_VERY_HIGH);
if (serial->index == 1) dma_attach_interrupt(DMA1, serial->channel, DMAEvent1);
if (serial->index == 2) dma_attach_interrupt(DMA1, serial->channel, DMAEvent2);
if (serial->index == 3) dma_attach_interrupt(DMA1, serial->channel, DMAEvent3);
usart_tcie(serial->port->c_dev()->regs, 1);
dma_enable(DMA1, serial->channel);
serial->packetSent = millis();
#else
// Directly send the packet
char buffer[1024];
n = dxl_write_packet(packet, (ui8 *)buffer);
for (int i=0; i<n; i++) {
serial->port->write(buffer[i]);
}
serial->port->waitDataToBeSent();
receiveMode(serial);
#endif
}
void STM32ADC::setDMA(uint16 * Buf, uint16 BufLen, uint32 dmaFlags, voidFuncPtr func) {
//initialize DMA
dma_init(DMA1);
//if there is an int handler to be called...
if (func != NULL)
dma_attach_interrupt(DMA1, DMA_CH1, func);
//enable ADC DMA transfer
//adc_dma_enable(ADC1);
_dev->regs->CR2 |= ADC_CR2_DMA;
//set it up...
dma_setup_transfer(DMA1, DMA_CH1, &ADC1->regs->DR, DMA_SIZE_16BITS, Buf, DMA_SIZE_16BITS, dmaFlags);// Receive buffer DMA
//how many are we making??
dma_set_num_transfers(DMA1, DMA_CH1, BufLen);
//enable dma.
dma_enable(DMA1, DMA_CH1); // Enable the channel and start the transfer.
}
/** Skip remaining data in a block when in partial block read mode. */
void Sd2Card::readEnd(void) {
if (inBlock_) {
// skip data and crc
#ifdef SPI_DMA
dma_setup_transfer(DMA1, DMA_CH3, &SPI1->regs->DR, DMA_SIZE_8BITS, ack, DMA_SIZE_8BITS,
(/*DMA_MINC_MODE | DMA_CIRC_MODE |*/ DMA_FROM_MEM | DMA_TRNS_CMPLT | DMA_TRNS_ERR));
dma_attach_interrupt(DMA1, DMA_CH3, DMAEvent);
dma_set_priority(DMA1, DMA_CH3, DMA_PRIORITY_VERY_HIGH);
dma_set_num_transfers(DMA1, DMA_CH3, SPI_BUFF_SIZE + 1 - offset_);
dmaActive = true;
dma_enable(DMA1, DMA_CH3);
while(dmaActive)delayMicroseconds(1);
dma_disable(DMA1, DMA_CH3);
#else // SPI_DMA
while (offset_++ < 514) spiRec();
#endif // SPI_DMA
chipSelectHigh();
inBlock_ = 0;
}
}
/*
This will set the Scan Mode on.
This will use DMA.
*/
void STM32ADC::attachDMAInterrupt(voidFuncPtr func){
_DMA_int = func;
dma_attach_interrupt(DMA1, DMA_CH1, func);
}
/**
* Read part of a 512 byte block from an SD card.
*
* \param[in] block Logical block to be read.
* \param[in] offset Number of bytes to skip at start of block
* \param[out] dst Pointer to the location that will receive the data.
* \param[in] count Number of bytes to read
* \return The value one, true, is returned for success and
* the value zero, false, is returned for failure.
*/
uint8_t Sd2Card::readData(uint32_t block,
uint16_t offset, uint16_t count, uint8_t* dst) {
//uint16_t n;
if (count == 0) return true;
if ((count + offset) > 512) {
goto fail;
}
if (!inBlock_ || block != block_ || offset < offset_) {
block_ = block;
// use address if not SDHC card
if (type()!= SD_CARD_TYPE_SDHC) block <<= 9;
if (cardCommand(CMD17, block)) {
error(SD_CARD_ERROR_CMD17);
Serial.println("Error: CMD17");
goto fail;
}
if (!waitStartBlock()) {
goto fail;
}
offset_ = 0;
inBlock_ = 1;
}
#ifdef SPI_DMA
// skip data before offset
if(offset_ < offset){
dma_setup_transfer(DMA1,
DMA_CH3,
&SPI1->regs->DR,
DMA_SIZE_8BITS,
ack,
DMA_SIZE_8BITS,
(/*DMA_MINC_MODE | DMA_CIRC_MODE |*/ DMA_FROM_MEM | DMA_TRNS_CMPLT | DMA_TRNS_ERR));
dma_attach_interrupt(DMA1, DMA_CH3, DMAEvent);
dma_set_priority(DMA1, DMA_CH3, DMA_PRIORITY_VERY_HIGH);
dma_set_num_transfers(DMA1, DMA_CH3, offset - offset_);
dmaActive = true;
dma_enable(DMA1, DMA_CH3);
while(dmaActive) delayMicroseconds(1);
dma_disable(DMA1, DMA_CH3);
}
offset_ = offset;
// transfer data
dma_setup_transfer(DMA1, DMA_CH2, &SPI1->regs->DR, DMA_SIZE_8BITS, dst, DMA_SIZE_8BITS,
(DMA_MINC_MODE | DMA_TRNS_CMPLT | DMA_TRNS_ERR));
dma_attach_interrupt(DMA1, DMA_CH2, DMAEvent);
dma_setup_transfer(DMA1, DMA_CH3, &SPI1->regs->DR, DMA_SIZE_8BITS, ack, DMA_SIZE_8BITS,
(/*DMA_MINC_MODE | DMA_CIRC_MODE |*/ DMA_FROM_MEM));
dma_set_priority(DMA1, DMA_CH2, DMA_PRIORITY_VERY_HIGH);
dma_set_priority(DMA1, DMA_CH3, DMA_PRIORITY_VERY_HIGH);
dma_set_num_transfers(DMA1, DMA_CH2, count);
dma_set_num_transfers(DMA1, DMA_CH3, count);
dmaActive = true;
dma_enable(DMA1, DMA_CH3);
dma_enable(DMA1, DMA_CH2);
while(dmaActive) delayMicroseconds(1);
dma_disable(DMA1, DMA_CH3);
dma_disable(DMA1, DMA_CH2);
offset_ += count;
if (!partialBlockRead_ || offset_ >= SPI_BUFF_SIZE) {
readEnd();
}
#else
// skip data before offset
for (;offset_ < offset; offset_++) {
spiRec();
}
// transfer data
for (uint16_t i = 0; i < count; i++) {
dst[i] = spiRec();
}
offset_ += count;
if (!partialBlockRead_ || offset_ >= 512) {
// read rest of data, checksum and set chip select high
readEnd();
}
#endif
return true;
fail:
chipSelectHigh();
Serial.println("Error: Sd2Card::readData()");
return false;
}
