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pios_usart on F4: DMA send/receive implementation (WIP) #2032

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pios_usart on F4: DMA send/receive implementation (WIP) #2032

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8e9ae1b
pios_usart,F4: Add DMA transfer capability.
glowtape Jan 17, 2018
7f2c57f
seppuku: DMA on USART6 test/demo config.
glowtape Jan 17, 2018
7410022
pios_usart: Declare USART specific DMA RX/TX handlers to call.
glowtape May 1, 2018
d87b816
seppuku: Change handler stuff
glowtape May 1, 2018
56c7daf
pios_usart: Add flag field and DMA hint.
glowtape May 1, 2018
35d6ff9
pios_hal: Allow USART DMA for OpenLog, S.Bus, SRXL, IBus and Crossfire.
glowtape May 1, 2018
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5 changes: 5 additions & 0 deletions flight/PiOS/Common/pios_hal.c
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Original file line number Diff line number Diff line change
Expand Up @@ -813,6 +813,7 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type,

case HWSHARED_PORTTYPES_OPENLOG:
#if defined(PIOS_INCLUDE_OPENLOG)
usart_port_params.flags = PIOS_USART_ALLOW_TRANSMIT_DMA;
PIOS_HAL_ConfigureCom(usart_port_cfg, &usart_port_params, 0, PIOS_COM_OPENLOG_TX_BUF_LEN, com_driver, &port_driver_id);
target = &pios_com_openlog_logging_id;
#endif /* PIOS_INCLUDE_OPENLOG */
Expand Down Expand Up @@ -874,6 +875,7 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type,
usart_port_params.init.USART_StopBits = USART_StopBits_2;
usart_port_params.init.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart_port_params.init.USART_Mode = USART_Mode_Rx;
usart_port_params.flags = PIOS_USART_ALLOW_RECEIVE_DMA;

if (port_type == HWSHARED_PORTTYPES_SBUS)
usart_port_params.rx_invert = true;
Expand Down Expand Up @@ -919,6 +921,7 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type,
usart_port_params.init.USART_StopBits = USART_StopBits_1;
usart_port_params.init.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart_port_params.init.USART_Mode = USART_Mode_Rx;
usart_port_params.flags = PIOS_USART_ALLOW_RECEIVE_DMA;

PIOS_HAL_ConfigureSRXL(usart_port_cfg, &usart_port_params, com_driver);
}
Expand All @@ -934,6 +937,7 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type,
usart_port_params.init.USART_StopBits = USART_StopBits_1;
usart_port_params.init.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart_port_params.init.USART_Mode = USART_Mode_Rx;
usart_port_params.flags = PIOS_USART_ALLOW_RECEIVE_DMA;

PIOS_HAL_ConfigureIBus(usart_port_cfg, &usart_port_params, com_driver);
}
Expand All @@ -949,6 +953,7 @@ void PIOS_HAL_ConfigurePort(HwSharedPortTypesOptions port_type,
usart_port_params.init.USART_StopBits = USART_StopBits_1;
usart_port_params.init.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
usart_port_params.init.USART_Mode = USART_Mode_Rx|USART_Mode_Tx;
usart_port_params.flags = PIOS_USART_ALLOW_RECEIVE_DMA | PIOS_USART_ALLOW_TRANSMIT_DMA;

PIOS_HAL_ConfigureTbsCrossfire(usart_port_cfg, &usart_port_params, com_driver);
PIOS_Modules_Enable(PIOS_MODULE_UAVOCROSSFIRETELEMETRY);
Expand Down
39 changes: 39 additions & 0 deletions flight/PiOS/STM32/inc/pios_usart_priv.h
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Original file line number Diff line number Diff line change
Expand Up @@ -34,14 +34,30 @@
#include <pios_stm32.h>
#include "pios_usart.h"

#define PIOS_USART_ALLOW_RECEIVE_DMA 0x1
#define PIOS_USART_ALLOW_TRANSMIT_DMA 0x2

extern const struct pios_com_driver pios_usart_com_driver;

#if defined(STM32F4XX)
struct pios_usart_dma_cfg {
DMA_Stream_TypeDef *stream;
DMA_InitTypeDef init;
uint32_t tcif;
NVIC_InitTypeDef irq;
};
#endif

struct pios_usart_cfg {
USART_TypeDef *regs;
uint32_t remap; /* GPIO_Remap_* */
struct stm32_gpio rx;
struct stm32_gpio tx;
struct stm32_irq irq;
#if defined(STM32F4XX)
struct pios_usart_dma_cfg *dma_send;
struct pios_usart_dma_cfg *dma_recv;
#endif
};

struct pios_usart_params {
Expand All @@ -50,11 +66,34 @@ struct pios_usart_params {
bool tx_invert;
bool rxtx_swap;
bool single_wire;
uint8_t flags;
};

extern int32_t PIOS_USART_Init(uintptr_t * usart_id, const struct pios_usart_cfg * cfg, struct pios_usart_params * params);
extern const struct pios_usart_cfg * PIOS_USART_GetConfig(uintptr_t usart_id);

#if defined(STM32F4XX)

extern void PIOS_USART_1_dmarx_irq_handler(void);
extern void PIOS_USART_1_dmatx_irq_handler(void);

extern void PIOS_USART_2_dmarx_irq_handler(void);
extern void PIOS_USART_2_dmatx_irq_handler(void);

extern void PIOS_USART_3_dmarx_irq_handler(void);
extern void PIOS_USART_3_dmatx_irq_handler(void);

extern void PIOS_USART_4_dmarx_irq_handler(void);
extern void PIOS_USART_4_dmatx_irq_handler(void);

extern void PIOS_USART_5_dmarx_irq_handler(void);
extern void PIOS_USART_5_dmatx_irq_handler(void);

extern void PIOS_USART_6_dmarx_irq_handler(void);
extern void PIOS_USART_6_dmatx_irq_handler(void);

#endif

#endif /* PIOS_USART_PRIV_H */

/**
Expand Down
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