diff --git a/src/shared/drivers/dma/DMA.cpp b/src/shared/drivers/dma/DMA.cpp
index a38af66d3880dea77c9e1ac6606451bcca9242e1..ecd2589789d64a374b3d942b4af95b8e99000e49 100644
--- a/src/shared/drivers/dma/DMA.cpp
+++ b/src/shared/drivers/dma/DMA.cpp
@@ -304,9 +304,9 @@ bool DMADriver::tryChannel(DMADefs::DMAStreamId id)
return streams.count(id) == 0;
}
-DMAStreamGuard DMADriver::acquireStreamBlocking(
- DMADefs::DMAStreamId id, DMADefs::Channel channel,
- const std::chrono::nanoseconds timeout)
+DMAStreamGuard DMADriver::acquireStream(DMADefs::DMAStreamId id,
+ DMADefs::Channel channel,
+ std::chrono::nanoseconds timeout)
{
Lock<FastMutex> l(mutex);
@@ -339,8 +339,8 @@ DMAStreamGuard DMADriver::acquireStreamBlocking(
return DMAStreamGuard(&(streams.at(id)));
}
-DMAStreamGuard DMADriver::automaticAcquireStreamBlocking(
- DMADefs::Peripherals peripheral, const std::chrono::nanoseconds timeout)
+DMAStreamGuard DMADriver::acquireStreamForPeripheral(
+ DMADefs::Peripherals peripheral, std::chrono::nanoseconds timeout)
{
const auto availableStreams =
DMADefs::mapPeripherals.equal_range(peripheral);
@@ -405,14 +405,14 @@ DMADriver::DMADriver()
ClockUtils::enablePeripheralClock(DMA2);
// Reset interrupts flags by setting the clear bits to 1
- // TODO: Change this magic number
- DMA1->HIFCR = 0x0f7d0f7d; // = 0b 0000 1111 0111 1101 0000 1111 0111 1101
- DMA1->LIFCR = 0x0f7d0f7d;
- DMA2->HIFCR = 0x0f7d0f7d;
- DMA2->LIFCR = 0x0f7d0f7d;
+ constexpr int resetValue = 0x0f7d0f7d;
+ DMA1->HIFCR = resetValue;
+ DMA1->LIFCR = resetValue;
+ DMA2->HIFCR = resetValue;
+ DMA2->LIFCR = resetValue;
}
-void DMAStream::setup(DMATransaction transaction)
+void DMAStream::setup(DMATransaction& transaction)
{
currentSetup = transaction;
diff --git a/src/shared/drivers/dma/DMA.h b/src/shared/drivers/dma/DMA.h
index 63ede2588ba6da57a4508bdf241c1267a8179757..1d78927b71c60092239d4eeec2d67eb4b4a7f5ca 100644
--- a/src/shared/drivers/dma/DMA.h
+++ b/src/shared/drivers/dma/DMA.h
@@ -35,15 +35,6 @@
namespace Boardcore
{
-// 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
-
struct DMATransaction
{
enum class Direction : uint16_t
@@ -105,29 +96,27 @@ public:
* correct channel.
* @param id The id of the stream to be acquired.
* @param channel The channel used to initialize the stream.
- * @param timeout The maximum time that will be waited when in blocking
- * mode, 0 to disable the timeout and wait forever.
- * @return The pointer to the allocated stream if successful, nullptr if the
- * timeout expired.
+ * @param timeout The maximum time that will be waited, defaults to waiting
+ * forever.
+ * @return A stream guard that might be valid or not, depending on the
+ * outcome of the request.
*/
- DMAStreamGuard acquireStreamBlocking(
+ DMAStreamGuard acquireStream(
DMADefs::DMAStreamId id, DMADefs::Channel channel,
- const std::chrono::nanoseconds timeout);
+ std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero());
/**
* @brief Try to acquire a stream that is connected to the specified
* peripheral.
* @param peripheral The wanted peripheral.
- * @param timeout The maximum time that will be waited when in blocking
- * mode, 0 to disable the timeout and wait forever.
- * @return The pointer to the allocated stream if successful, nullptr if the
- * timeout expired.
- *
- * TODO: change name
+ * @param timeout The maximum time that will be waited, defaults to waiting
+ * forever.
+ * @return A stream guard that might be valid or not, depending on the
+ * outcome of the request.
*/
- DMAStreamGuard automaticAcquireStreamBlocking(
+ DMAStreamGuard acquireStreamForPeripheral(
DMADefs::Peripherals peripheral,
- const std::chrono::nanoseconds timeout);
+ std::chrono::nanoseconds timeout = std::chrono::nanoseconds::zero());
void releaseStream(DMADefs::DMAStreamId id);
@@ -153,7 +142,7 @@ public:
/**
* @brief Setup the stream with the given configuration.
*/
- void setup(DMATransaction transaction);
+ void setup(DMATransaction& transaction);
/**
* @brief Activate the stream. As soon as the stream is enabled, it
@@ -447,7 +436,7 @@ public:
inline bool isValid() { return pStream != nullptr; }
private:
- DMAStream* pStream = nullptr;
+ DMAStream* const pStream;
};
} // namespace Boardcore
diff --git a/src/shared/drivers/dma/DMADefs.h b/src/shared/drivers/dma/DMADefs.h
index 88797e8abe295b5744dc2c6dc488405a6044f8cf..91426006b19aa57b7db0aa08b88138e3142d34ff 100644
--- a/src/shared/drivers/dma/DMADefs.h
+++ b/src/shared/drivers/dma/DMADefs.h
@@ -30,6 +30,20 @@
namespace Boardcore
{
+// For some reason these defines are missing
+// in the CMSIS STM32F4xx file
+#ifdef STM32F407xx
+
+#ifndef DMA_SxCR_MSIZE_Pos
+#define DMA_SxCR_MSIZE_Pos (13U)
+#endif
+
+#ifndef DMA_SxCR_PSIZE_Pos
+#define DMA_SxCR_PSIZE_Pos (11U)
+#endif
+
+#endif // STM32F407xx
+
namespace DMADefs
{
diff --git a/src/shared/utils/TimedPollingFlag.h b/src/shared/utils/TimedPollingFlag.h
index 4e2dd42d04bff8b98e19eba798b7339266151ffd..44f139767edb63b88131bdfb44dca169e2359434 100644
--- a/src/shared/utils/TimedPollingFlag.h
+++ b/src/shared/utils/TimedPollingFlag.h
@@ -40,12 +40,8 @@ inline bool timedPollingFlag(std::function<bool()> readFlag,
uint64_t start = miosix::getTime();
while (miosix::getTime() - start < timeout_ns)
- {
if (readFlag())
- {
return true;
- }
- }
return false;
}
diff --git a/src/tests/drivers/test-dma-mem-to-mem.cpp b/src/tests/drivers/test-dma-mem-to-mem.cpp
index 7807b8810b09418db111c7a12e3d9f40ad833e70..6eef0b9f22b5d4b13861974cb5865c551bf081df 100644
--- a/src/tests/drivers/test-dma-mem-to-mem.cpp
+++ b/src/tests/drivers/test-dma-mem-to-mem.cpp
@@ -24,8 +24,6 @@
#include <miosix.h>
#include <util/util.h>
-#include <chrono>
-
using namespace miosix;
using namespace Boardcore;
@@ -33,9 +31,8 @@ void printBuffer(uint8_t* buffer, size_t size);
int main()
{
- DMAStreamGuard stream =
- DMADriver::instance().automaticAcquireStreamBlocking(
- DMADefs::Peripherals::PE_MEM_ONLY, std::chrono::seconds::zero());
+ DMAStreamGuard stream = DMADriver::instance().acquireStreamForPeripheral(
+ DMADefs::Peripherals::PE_MEM_ONLY);
if (!stream.isValid())
{
@@ -70,9 +67,7 @@ int main()
stream->setup(trn);
stream->enable();
- auto begin = std::chrono::steady_clock::now();
stream->waitForTransferComplete();
- auto end = std::chrono::steady_clock::now();
printf("After:\n");
printf("Buffer 1:\n");
@@ -80,11 +75,6 @@ int main()
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;
}