diff --git a/CMakeLists.txt b/CMakeLists.txt
index ed973ac7367ae16918f03fcb9b17d1263fe6c610..bab43939a686d7586dd75b0a22557adbb5dde95f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -285,7 +285,7 @@ add_executable(test-usart-f7 src/tests/drivers/usart/test-usart.cpp)
sbs_target(test-usart-f7 stm32f767zi_nucleo)
add_executable(test-dma-mem-to-mem src/tests/drivers/test-dma-mem-to-mem.cpp)
-sbs_target(test-dma-mem-to-mem stm32f769ni_discovery)
+sbs_target(test-dma-mem-to-mem stm32f407vg_stm32f4discovery)
add_executable(test-i2c-driver-f4 src/tests/drivers/i2c/test-i2c-driver.cpp)
sbs_target(test-i2c-driver-f4 stm32f429zi_stm32f4discovery)
diff --git a/src/shared/drivers/dma/DMA.cpp b/src/shared/drivers/dma/DMA.cpp
index 3848389799c375926a0ec004c201b0b8fab0ce41..653401f22d0e75ff66050efcd805ec9c82809318 100644
--- a/src/shared/drivers/dma/DMA.cpp
+++ b/src/shared/drivers/dma/DMA.cpp
@@ -29,9 +29,6 @@
using namespace miosix;
-namespace Boardcore
-{
-
void __attribute__((naked)) DMA1_Stream0_IRQHandler()
{
saveContext();
@@ -41,20 +38,21 @@ void __attribute__((naked)) DMA1_Stream0_IRQHandler()
void __attribute__((used)) DMA1_Stream0_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA1_Str0);
-}
-
-void __attribute__((naked)) DMA1_Stream1_IRQHandler()
-{
- saveContext();
- asm volatile("bl _Z20DMA1_Stream1_IRQImplv");
- restoreContext();
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA1_Str0);
}
-void __attribute__((used)) DMA1_Stream1_IRQImpl()
-{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA1_Str1);
-}
+// Commented because already used elsewhere by miosix
+// void __attribute__((naked)) DMA1_Stream1_IRQHandler()
+// {
+// saveContext();
+// asm volatile("bl _Z20DMA1_Stream1_IRQImplv");
+// restoreContext();
+// }
+// void __attribute__((used)) DMA1_Stream1_IRQImpl()
+// {
+// Boardcore::DMADriver::instance().IRQhandleInterrupt(Boardcore::DMAStreamId::DMA1_Str1);
+// }
void __attribute__((naked)) DMA1_Stream2_IRQHandler()
{
@@ -65,20 +63,21 @@ void __attribute__((naked)) DMA1_Stream2_IRQHandler()
void __attribute__((used)) DMA1_Stream2_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA1_Str2);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA1_Str2);
}
-void __attribute__((naked)) DMA1_Stream3_IRQHandler()
-{
- saveContext();
- asm volatile("bl _Z20DMA1_Stream3_IRQImplv");
- restoreContext();
-}
-
-void __attribute__((used)) DMA1_Stream3_IRQImpl()
-{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA1_Str3);
-}
+// Commented because already used elsewhere by miosix
+// void __attribute__((naked)) DMA1_Stream3_IRQHandler()
+// {
+// saveContext();
+// asm volatile("bl _Z20DMA1_Stream3_IRQImplv");
+// restoreContext();
+// }
+// void __attribute__((used)) DMA1_Stream3_IRQImpl()
+// {
+// Boardcore::DMADriver::instance().IRQhandleInterrupt(Boardcore::DMAStreamId::DMA1_Str3);
+// }
void __attribute__((naked)) DMA1_Stream4_IRQHandler()
{
@@ -89,7 +88,8 @@ void __attribute__((naked)) DMA1_Stream4_IRQHandler()
void __attribute__((used)) DMA1_Stream4_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA1_Str4);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA1_Str4);
}
void __attribute__((naked)) DMA1_Stream5_IRQHandler()
@@ -101,7 +101,8 @@ void __attribute__((naked)) DMA1_Stream5_IRQHandler()
void __attribute__((used)) DMA1_Stream5_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA1_Str5);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA1_Str5);
}
void __attribute__((naked)) DMA1_Stream6_IRQHandler()
@@ -113,7 +114,8 @@ void __attribute__((naked)) DMA1_Stream6_IRQHandler()
void __attribute__((used)) DMA1_Stream6_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA1_Str6);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA1_Str6);
}
void __attribute__((naked)) DMA1_Stream7_IRQHandler()
@@ -125,7 +127,8 @@ void __attribute__((naked)) DMA1_Stream7_IRQHandler()
void __attribute__((used)) DMA1_Stream7_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA1_Str7);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA1_Str7);
}
void __attribute__((naked)) DMA2_Stream0_IRQHandler()
@@ -137,7 +140,8 @@ void __attribute__((naked)) DMA2_Stream0_IRQHandler()
void __attribute__((used)) DMA2_Stream0_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA2_Str0);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA2_Str0);
}
void __attribute__((naked)) DMA2_Stream1_IRQHandler()
@@ -149,7 +153,8 @@ void __attribute__((naked)) DMA2_Stream1_IRQHandler()
void __attribute__((used)) DMA2_Stream1_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA2_Str1);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA2_Str1);
}
void __attribute__((naked)) DMA2_Stream2_IRQHandler()
@@ -161,7 +166,8 @@ void __attribute__((naked)) DMA2_Stream2_IRQHandler()
void __attribute__((used)) DMA2_Stream2_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA2_Str2);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA2_Str2);
}
// void __attribute__((naked)) DMA2_Stream3_IRQHandler() {
@@ -183,7 +189,8 @@ void __attribute__((naked)) DMA2_Stream4_IRQHandler()
void __attribute__((used)) DMA2_Stream4_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA2_Str4);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA2_Str4);
}
// void __attribute__((naked)) DMA2_Stream5_IRQHandler() {
@@ -205,7 +212,8 @@ void __attribute__((naked)) DMA2_Stream6_IRQHandler()
void __attribute__((used)) DMA2_Stream6_IRQImpl()
{
- DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA2_Str6);
+ Boardcore::DMADriver::instance().IRQhandleInterrupt(
+ Boardcore::DMAStreamId::DMA2_Str6);
}
// void __attribute__((naked)) DMA2_Stream7_IRQHandler() {
@@ -218,6 +226,9 @@ void __attribute__((used)) DMA2_Stream6_IRQImpl()
// DMADriver::instance().IRQhandleInterrupt(DMAStreamId::DMA2_Str7);
// }
+namespace Boardcore
+{
+
void DMADriver::IRQhandleInterrupt(DMAStreamId id)
{
auto stream = streams[id];
@@ -320,9 +331,9 @@ DMADriver::DMADriver()
ClockUtils::enablePeripheralClock(DMA1);
ClockUtils::enablePeripheralClock(DMA2);
- // Reset interrupts flags
+ // Reset interrupts flags by setting the clear bits to 1
// TODO: Change this magic number
- DMA1->HIFCR = 0x0f7d0f7d;
+ DMA1->HIFCR = 0x0f7d0f7d; // = 0b 0000 1111 0111 1101 0000 1111 0111 1101
DMA1->LIFCR = 0x0f7d0f7d;
DMA2->HIFCR = 0x0f7d0f7d;
DMA2->LIFCR = 0x0f7d0f7d;
@@ -443,6 +454,11 @@ void DMAStream::enable()
fifoErrorFlag = false;
directModeErrorFlag = false;
+ // Before setting EN bit to '1' to start a new transfer, the event
+ // flags corresponding to the stream in DMA_LISR or DMA_HISR
+ // register must be cleared.
+ clearAllFlags();
+
// Enable the peripheral
registers->CR |= DMA_SxCR_EN;
}
@@ -532,15 +548,17 @@ DMAStream::DMAStream(DMAStreamId id) : id(id)
if (id < DMAStreamId::DMA2_Str0)
{
registers = reinterpret_cast<DMA_Stream_TypeDef*>(
- DMA1_BASE + 0x10 + 0x18 * static_cast<int>(id));
+ DMA1_BASE + 0x10 + 0x18 * static_cast<uint8_t>(id));
if (id < DMAStreamId::DMA1_Str4)
{
+ // Streams from 0 to 3 use low registers (LIFCR and LISR)
IFCR = &DMA1->LIFCR;
ISR = &DMA1->LISR;
}
else
{
+ // Streams from 4 to 7 use high registers (HIFCR and HISR)
IFCR = &DMA1->HIFCR;
ISR = &DMA1->HISR;
}
@@ -548,15 +566,17 @@ DMAStream::DMAStream(DMAStreamId id) : id(id)
else
{
registers = reinterpret_cast<DMA_Stream_TypeDef*>(
- DMA2_BASE + 0x10 + 0x18 * (static_cast<int>(id) - 8));
+ DMA2_BASE + 0x10 + 0x18 * (static_cast<uint8_t>(id) - 8));
if (id < DMAStreamId::DMA2_Str4)
{
+ // Streams from 0 to 3 use low registers (LIFCR and LISR)
IFCR = &DMA2->LIFCR;
ISR = &DMA2->LISR;
}
else
{
+ // Streams from 4 to 7 use high registers (HIFCR and HISR)
IFCR = &DMA2->HIFCR;
ISR = &DMA2->HISR;
}
@@ -564,12 +584,11 @@ DMAStream::DMAStream(DMAStreamId id) : id(id)
// Compute the index for the interrupt flags clear register
// Refer to reference manual for the register bits structure
- int offset = static_cast<int>(id) % 4;
+ int offset = static_cast<uint8_t>(id) % 4;
IFindex = (offset % 2) * 6 + (offset / 2) * 16;
// Select the interrupt
- irqNumber = static_cast<IRQn_Type>(
- static_cast<int>(IRQn_Type::DMA1_Stream0_IRQn) + static_cast<int>(id));
+ irqNumber = irqNumberMapping[static_cast<uint8_t>(id)];
}
} // namespace Boardcore
diff --git a/src/shared/drivers/dma/DMA.h b/src/shared/drivers/dma/DMA.h
index b0e31d3df58c2936e624c61cb6f144efa6ea92ab..a0262f0e7713a1f7f01fe8f8c50d4ecbfcd18913 100644
--- a/src/shared/drivers/dma/DMA.h
+++ b/src/shared/drivers/dma/DMA.h
@@ -33,24 +33,45 @@
namespace Boardcore
{
-enum class DMAStreamId
+// TODO: remove and find a better solution for stm32f407
+#ifndef DMA_SxCR_MSIZE_Pos
+#define DMA_SxCR_MSIZE_Pos (13U)
+#endif
+// TODO: remove and find a better solution for stm32f407
+#ifndef DMA_SxCR_PSIZE_Pos
+#define DMA_SxCR_PSIZE_Pos (11U)
+#endif
+
+enum class DMAStreamId : uint8_t
{
DMA1_Str0 = 0,
- DMA1_Str1,
- DMA1_Str2,
- DMA1_Str3,
- DMA1_Str4,
- DMA1_Str5,
- DMA1_Str6,
- DMA1_Str7,
- DMA2_Str0,
- DMA2_Str1,
- DMA2_Str2,
- DMA2_Str3,
- DMA2_Str4,
- DMA2_Str5,
- DMA2_Str6,
- DMA2_Str7,
+ DMA1_Str1 = 1,
+ DMA1_Str2 = 2,
+ DMA1_Str3 = 3,
+ DMA1_Str4 = 4,
+ DMA1_Str5 = 5,
+ DMA1_Str6 = 6,
+ DMA1_Str7 = 7,
+ DMA2_Str0 = 8,
+ DMA2_Str1 = 9,
+ DMA2_Str2 = 10,
+ DMA2_Str3 = 11,
+ DMA2_Str4 = 12,
+ DMA2_Str5 = 13,
+ DMA2_Str6 = 14,
+ DMA2_Str7 = 15,
+};
+
+/**
+ * @brief Mapping between `DMAStreamId` and the corresponding irq number.
+ * This is needed because irq number values are not contiguous and they are
+ * architecture dependent.
+ */
+const IRQn_Type irqNumberMapping[] = {
+ DMA1_Stream0_IRQn, DMA1_Stream1_IRQn, DMA1_Stream2_IRQn, DMA1_Stream3_IRQn,
+ DMA1_Stream4_IRQn, DMA1_Stream5_IRQn, DMA1_Stream6_IRQn, DMA1_Stream7_IRQn,
+ DMA2_Stream0_IRQn, DMA2_Stream1_IRQn, DMA2_Stream2_IRQn, DMA2_Stream3_IRQn,
+ DMA2_Stream4_IRQn, DMA2_Stream5_IRQn, DMA2_Stream6_IRQn, DMA2_Stream7_IRQn,
};
struct DMATransaction
@@ -144,8 +165,15 @@ class DMAStream
friend DMADriver;
public:
+ /**
+ * @brief Setup the stream with the given configuration.
+ */
void setup(DMATransaction transaction);
+ /**
+ * @brief Activate the stream. As soon as the stream is enabled, it
+ * can serve any DMA request from the peripheral connected to the stream.
+ */
void enable();
void disable();
@@ -241,6 +269,10 @@ public:
*IFCR |= DMA_LIFCR_CDMEIF0 << IFindex;
}
+ /**
+ * @brief Clear all the flags for the selected stream in the DMA ISR
+ * register (LISR or HISR depending on the selected stream id).
+ */
inline void clearAllFlags()
{
*IFCR |= (DMA_LIFCR_CHTIF0 | DMA_LIFCR_CTCIF0 | DMA_LIFCR_CTEIF0 |
@@ -252,6 +284,11 @@ private:
DMAStream(DMAStreamId id);
DMATransaction currentSetup;
+
+ /**
+ * @brief Used to determine if the user thread is
+ * waiting to be awaked by an interrupt.
+ */
miosix::Thread* waitingThread = nullptr;
// These flags are set by the interrupt routine and tells the user
@@ -308,25 +345,22 @@ private:
{
do
{
- // TODO: Wait Miosix 2.7 or do in another way?
- // if (miosix::Thread::IRQenableIrqAndTimedWait(
- // dLock, timeout_ns + miosix::getTime()) ==
- // miosix::TimedWaitResult::Timeout)
- // {
- // result = false;
-
- // // If the timeout expired we clear the thread
- // // pointer so that the interrupt, if it will
- // occur,
- // // will not wake up the thread (and we can exit
- // the
- // // while loop)
- // waitingThread = nullptr;
- // }
- // else
- // {
- // result = true;
- // }
+ if (miosix::Thread::IRQenableIrqAndTimedWait(
+ dLock, timeout_ns + miosix::getTime()) ==
+ miosix::TimedWaitResult::Timeout)
+ {
+ result = false;
+
+ // If the timeout expired we clear the thread
+ // pointer so that the interrupt, if it will occur,
+ // will not wake up the thread (and we can exit the
+ // while loop)
+ waitingThread = nullptr;
+ }
+ else
+ {
+ result = true;
+ }
} while (waitingThread);
}
else
@@ -348,12 +382,20 @@ private:
// Pool the flag if the user did not enable the interrupt
if (timeout_ns >= 0)
{
+ // TODO: this doesn't work, because the methods passed as
+ // getEventStatus do not update the flags (reading them
+ // by calling readFlags()).
+ // This means that it always polls a value that will
+ // never become true, then exit when the timeout is
+ // reached.
result = timedPollingFlag(getEventStatus, timeout_ns);
}
else
{
while (!getEventStatus())
- ;
+ {
+ readFlags();
+ }
result = true;
}
diff --git a/src/shared/utils/TimedPollingFlag.h b/src/shared/utils/TimedPollingFlag.h
index de0574e5bdf396b876efc7d00b7a7d72ff2ade9a..4e2dd42d04bff8b98e19eba798b7339266151ffd 100644
--- a/src/shared/utils/TimedPollingFlag.h
+++ b/src/shared/utils/TimedPollingFlag.h
@@ -37,10 +37,9 @@ namespace Boardcore
inline bool timedPollingFlag(std::function<bool()> readFlag,
uint64_t timeout_ns)
{
- // TODO: When Miosix 2.7 will be supported, change this with getTime() in ns
- uint64_t start = miosix::getTick();
+ uint64_t start = miosix::getTime();
- while (miosix::getTick() - start < timeout_ns * 1e6)
+ while (miosix::getTime() - start < timeout_ns)
{
if (readFlag())
{
@@ -51,4 +50,4 @@ inline bool timedPollingFlag(std::function<bool()> readFlag,
return false;
}
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
diff --git a/src/tests/drivers/test-dma-mem-to-mem.cpp b/src/tests/drivers/test-dma-mem-to-mem.cpp
index 97f43983c3a013a1b47eed16cf1df4af9412960e..f11549bcd9695c0d667caf51d9cff71390631f96 100644
--- a/src/tests/drivers/test-dma-mem-to-mem.cpp
+++ b/src/tests/drivers/test-dma-mem-to-mem.cpp
@@ -24,6 +24,8 @@
#include <miosix.h>
#include <util/util.h>
+#include <chrono>
+
using namespace miosix;
using namespace Boardcore;
@@ -40,6 +42,7 @@ int main()
uint8_t buffer1[8] = {1, 2, 3, 4, 5, 6, 7, 8};
uint8_t buffer2[8] = {0};
+ printf("Before:\n");
printf("Buffer 1:\n");
printBuffer(buffer1, sizeof(buffer1));
printf("Buffer 2:\n");
@@ -54,18 +57,27 @@ int main()
.numberOfDataItems = sizeof(buffer1),
.srcIncrement = true,
.dstIncrement = true,
+ .enableTransferCompleteInterrupt = true,
};
stream.setup(trn);
stream.enable();
- // stream.waitForTransferComplete();
- delayMs(10);
- delayMs(100);
+ auto begin = std::chrono::steady_clock::now();
+ stream.waitForTransferComplete();
+ auto end = std::chrono::steady_clock::now();
+ printf("After:\n");
printf("Buffer 1:\n");
printBuffer(buffer1, sizeof(buffer1));
printf("Buffer 2:\n");
printBuffer(buffer2, sizeof(buffer2));
+
+ const auto elapsedTime =
+ std::chrono::duration_cast<std::chrono::microseconds>(end - begin)
+ .count();
+ printf("Elapsed time: %lld [us]\n", elapsedTime);
+
+ return 0;
}
void printBuffer(uint8_t *buffer, size_t size)
@@ -76,4 +88,4 @@ void printBuffer(uint8_t *buffer, size_t size)
}
printf("%x\n", buffer[size - 1]);
-}
\ No newline at end of file
+}