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Add DMAChannel for IMXRT

main
PaulStoffregen 5 vuotta sitten
vanhempi
35ddbd7a4f
commit
262f3eaa99
4 muutettua tiedostoa jossa 835 lisäystä ja 0 poistoa
Jaettu näkymä Näytä diff tilastot
  1. +145
    -0
      teensy4/DMAChannel.cpp
  2. +605
    -0
      teensy4/DMAChannel.h
  3. +1
    -0
      teensy4/EventResponder.cpp
  4. +84
    -0
      teensy4/imxrt.h

+ 145
- 0
teensy4/DMAChannel.cpp Näytä tiedosto

@@ -0,0 +1,145 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2017 PJRC.COM, LLC.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* 1. The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* 2. If the Software is incorporated into a build system that allows
* selection among a list of target devices, then similar target
* devices manufactured by PJRC.COM must be included in the list of
* target devices and selectable in the same manner.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/

#include "DMAChannel.h"

// only 16 channels supported, because we don't handle sharing interrupts
#define DMA_MAX_CHANNELS 16

// The channel allocation bitmask is accessible from "C" namespace,
// so C-only code can reserve DMA channels
uint16_t dma_channel_allocated_mask = 0;

#ifdef CR
#warning "CR is defined as something?"
#endif


void DMAChannel::begin(bool force_initialization)
{
uint32_t ch = 0;

__disable_irq();
if (!force_initialization && TCD && channel < DMA_MAX_CHANNELS
&& (dma_channel_allocated_mask & (1 << channel))
&& (uint32_t)TCD == (uint32_t)(0x400E9000 + channel * 32)) {
// DMA channel already allocated
__enable_irq();
return;
}
while (1) {
if (!(dma_channel_allocated_mask & (1 << ch))) {
dma_channel_allocated_mask |= (1 << ch);
__enable_irq();
break;
}
if (++ch >= DMA_MAX_CHANNELS) {
__enable_irq();
TCD = (TCD_t *)0;
channel = DMA_MAX_CHANNELS;
return; // no more channels available
// attempts to use this object will hardfault
}
}
channel = ch;

CCM_CCGR5 |= CCM_CCGR5_DMA(CCM_CCGR_ON);
DMA_CR = DMA_CR_GRP1PRI | DMA_CR_EMLM | DMA_CR_EDBG;
DMA_CERQ = ch;
DMA_CERR = ch;
DMA_CEEI = ch;
DMA_CINT = ch;
TCD = (TCD_t *)(0x400E9000 + ch * 32);
uint32_t *p = (uint32_t *)TCD;
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = 0;
*p++ = 0;
}

void DMAChannel::release(void)
{
if (channel >= DMA_MAX_CHANNELS) return;
DMA_CERQ = channel;
__disable_irq();
dma_channel_allocated_mask &= ~(1 << channel);
__enable_irq();
channel = DMA_MAX_CHANNELS;
TCD = (TCD_t *)0;
}

static uint32_t priority(const DMAChannel &c)
{
uint32_t n;
n = *(uint32_t *)((uint32_t)&DMA_DCHPRI3 + (c.channel & 0xFC));
n = __builtin_bswap32(n);
return (n >> ((c.channel & 0x03) << 3)) & 0x0F;
}

static void swap(DMAChannel &c1, DMAChannel &c2)
{
uint8_t c;
DMABaseClass::TCD_t *t;

c = c1.channel;
c1.channel = c2.channel;
c2.channel = c;
t = c1.TCD;
c1.TCD = c2.TCD;
c2.TCD = t;
}


void DMAPriorityOrder(DMAChannel &ch1, DMAChannel &ch2)
{
if (priority(ch1) < priority(ch2)) swap(ch1, ch2);
}

void DMAPriorityOrder(DMAChannel &ch1, DMAChannel &ch2, DMAChannel &ch3)
{
if (priority(ch2) < priority(ch3)) swap(ch2, ch3);
if (priority(ch1) < priority(ch2)) swap(ch1, ch2);
if (priority(ch2) < priority(ch3)) swap(ch2, ch3);
}

void DMAPriorityOrder(DMAChannel &ch1, DMAChannel &ch2, DMAChannel &ch3, DMAChannel &ch4)
{
if (priority(ch3) < priority(ch4)) swap(ch3, ch4);
if (priority(ch2) < priority(ch3)) swap(ch2, ch3);
if (priority(ch1) < priority(ch2)) swap(ch1, ch2);
if (priority(ch3) < priority(ch4)) swap(ch2, ch3);
if (priority(ch2) < priority(ch3)) swap(ch1, ch2);
if (priority(ch3) < priority(ch4)) swap(ch2, ch3);
}


+ 605
- 0
teensy4/DMAChannel.h Näytä tiedosto

@@ -0,0 +1,605 @@
/* Teensyduino Core Library
* http://www.pjrc.com/teensy/
* Copyright (c) 2017 PJRC.COM, LLC.
*
* Permission is hereby granted, free of charge, to any person obtaining
* a copy of this software and associated documentation files (the
* "Software"), to deal in the Software without restriction, including
* without limitation the rights to use, copy, modify, merge, publish,
* distribute, sublicense, and/or sell copies of the Software, and to
* permit persons to whom the Software is furnished to do so, subject to
* the following conditions:
*
* 1. The above copyright notice and this permission notice shall be
* included in all copies or substantial portions of the Software.
*
* 2. If the Software is incorporated into a build system that allows
* selection among a list of target devices, then similar target
* devices manufactured by PJRC.COM must be included in the list of
* target devices and selectable in the same manner.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
* BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
* ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/

#ifndef DMAChannel_h_
#define DMAChannel_h_

#include "imxrt.h"

// Discussion about DMAChannel is here:
// http://forum.pjrc.com/threads/25778-Could-there-be-something-like-an-ISR-template-function/page3

#define DMACHANNEL_HAS_BEGIN
#define DMACHANNEL_HAS_BOOLEAN_CTOR


// The channel allocation bitmask is accessible from "C" namespace,
// so C-only code can reserve DMA channels
#ifdef __cplusplus
extern "C" {
#endif
extern uint16_t dma_channel_allocated_mask;
#ifdef __cplusplus
}
#endif


#ifdef __cplusplus

// known libraries with DMA usage (in need of porting to this new scheme):
//
// https://github.com/PaulStoffregen/Audio
// https://github.com/PaulStoffregen/OctoWS2811
// https://github.com/pedvide/ADC
// https://github.com/duff2013/SerialEvent
// https://github.com/pixelmatix/SmartMatrix
// https://github.com/crteensy/DmaSpi <-- DmaSpi has adopted this scheme


class DMABaseClass {
public:
typedef struct __attribute__((packed, aligned(4))) {
volatile const void * volatile SADDR;
int16_t SOFF;
union { uint16_t ATTR;
struct { uint8_t ATTR_DST; uint8_t ATTR_SRC; }; };
union { uint32_t NBYTES; uint32_t NBYTES_MLNO;
uint32_t NBYTES_MLOFFNO; uint32_t NBYTES_MLOFFYES; };
int32_t SLAST;
volatile void * volatile DADDR;
int16_t DOFF;
union { volatile uint16_t CITER;
volatile uint16_t CITER_ELINKYES; volatile uint16_t CITER_ELINKNO; };
int32_t DLASTSGA;
volatile uint16_t CSR;
union { volatile uint16_t BITER;
volatile uint16_t BITER_ELINKYES; volatile uint16_t BITER_ELINKNO; };
} TCD_t;
TCD_t *TCD;

/***************************************/
/** Data Transfer **/
/***************************************/

// Use a single variable as the data source. Typically a register
// for receiving data from one of the hardware peripherals is used.
void source(volatile const signed char &p) { source(*(volatile const uint8_t *)&p); }
void source(volatile const unsigned char &p) {
TCD->SADDR = &p;
TCD->SOFF = 0;
TCD->ATTR_SRC = 0;
if ((uint32_t)&p < 0x40000000 || TCD->NBYTES == 0) TCD->NBYTES = 1;
TCD->SLAST = 0;
}
void source(volatile const signed short &p) { source(*(volatile const uint16_t *)&p); }
void source(volatile const unsigned short &p) {
TCD->SADDR = &p;
TCD->SOFF = 0;
TCD->ATTR_SRC = 1;
if ((uint32_t)&p < 0x40000000 || TCD->NBYTES == 0) TCD->NBYTES = 2;
TCD->SLAST = 0;
}
void source(volatile const signed int &p) { source(*(volatile const uint32_t *)&p); }
void source(volatile const unsigned int &p) { source(*(volatile const uint32_t *)&p); }
void source(volatile const signed long &p) { source(*(volatile const uint32_t *)&p); }
void source(volatile const unsigned long &p) {
TCD->SADDR = &p;
TCD->SOFF = 0;
TCD->ATTR_SRC = 2;
if ((uint32_t)&p < 0x40000000 || TCD->NBYTES == 0) TCD->NBYTES = 4;
TCD->SLAST = 0;
}

// Use a buffer (array of data) as the data source. Typically a
// buffer for transmitting data is used.
void sourceBuffer(volatile const signed char p[], unsigned int len) {
sourceBuffer((volatile const uint8_t *)p, len); }
void sourceBuffer(volatile const unsigned char p[], unsigned int len) {
TCD->SADDR = p;
TCD->SOFF = 1;
TCD->ATTR_SRC = 0;
TCD->NBYTES = 1;
TCD->SLAST = -len;
TCD->BITER = len;
TCD->CITER = len;
}
void sourceBuffer(volatile const signed short p[], unsigned int len) {
sourceBuffer((volatile const uint16_t *)p, len); }
void sourceBuffer(volatile const unsigned short p[], unsigned int len) {
TCD->SADDR = p;
TCD->SOFF = 2;
TCD->ATTR_SRC = 1;
TCD->NBYTES = 2;
TCD->SLAST = -len;
TCD->BITER = len / 2;
TCD->CITER = len / 2;
}
void sourceBuffer(volatile const signed int p[], unsigned int len) {
sourceBuffer((volatile const uint32_t *)p, len); }
void sourceBuffer(volatile const unsigned int p[], unsigned int len) {
sourceBuffer((volatile const uint32_t *)p, len); }
void sourceBuffer(volatile const signed long p[], unsigned int len) {
sourceBuffer((volatile const uint32_t *)p, len); }
void sourceBuffer(volatile const unsigned long p[], unsigned int len) {
TCD->SADDR = p;
TCD->SOFF = 4;
TCD->ATTR_SRC = 2;
TCD->NBYTES = 4;
TCD->SLAST = -len;
TCD->BITER = len / 4;
TCD->CITER = len / 4;
}

// Use a circular buffer as the data source
void sourceCircular(volatile const signed char p[], unsigned int len) {
sourceCircular((volatile const uint8_t *)p, len); }
void sourceCircular(volatile const unsigned char p[], unsigned int len) {
TCD->SADDR = p;
TCD->SOFF = 1;
TCD->ATTR_SRC = ((31 - __builtin_clz(len)) << 3);
TCD->NBYTES = 1;
TCD->SLAST = 0;
TCD->BITER = len;
TCD->CITER = len;
}
void sourceCircular(volatile const signed short p[], unsigned int len) {
sourceCircular((volatile const uint16_t *)p, len); }
void sourceCircular(volatile const unsigned short p[], unsigned int len) {
TCD->SADDR = p;
TCD->SOFF = 2;
TCD->ATTR_SRC = ((31 - __builtin_clz(len)) << 3) | 1;
TCD->NBYTES = 2;
TCD->SLAST = 0;
TCD->BITER = len / 2;
TCD->CITER = len / 2;
}
void sourceCircular(volatile const signed int p[], unsigned int len) {
sourceCircular((volatile const uint32_t *)p, len); }
void sourceCircular(volatile const unsigned int p[], unsigned int len) {
sourceCircular((volatile const uint32_t *)p, len); }
void sourceCircular(volatile const signed long p[], unsigned int len) {
sourceCircular((volatile const uint32_t *)p, len); }
void sourceCircular(volatile const unsigned long p[], unsigned int len) {
TCD->SADDR = p;
TCD->SOFF = 4;
TCD->ATTR_SRC = ((31 - __builtin_clz(len)) << 3) | 2;
TCD->NBYTES = 4;
TCD->SLAST = 0;
TCD->BITER = len / 4;
TCD->CITER = len / 4;
}

// Use a single variable as the data destination. Typically a register
// for transmitting data to one of the hardware peripherals is used.
void destination(volatile signed char &p) { destination(*(volatile uint8_t *)&p); }
void destination(volatile unsigned char &p) {
TCD->DADDR = &p;
TCD->DOFF = 0;
TCD->ATTR_DST = 0;
if ((uint32_t)&p < 0x40000000 || TCD->NBYTES == 0) TCD->NBYTES = 1;
TCD->DLASTSGA = 0;
}
void destination(volatile signed short &p) { destination(*(volatile uint16_t *)&p); }
void destination(volatile unsigned short &p) {
TCD->DADDR = &p;
TCD->DOFF = 0;
TCD->ATTR_DST = 1;
if ((uint32_t)&p < 0x40000000 || TCD->NBYTES == 0) TCD->NBYTES = 2;
TCD->DLASTSGA = 0;
}
void destination(volatile signed int &p) { destination(*(volatile uint32_t *)&p); }
void destination(volatile unsigned int &p) { destination(*(volatile uint32_t *)&p); }
void destination(volatile signed long &p) { destination(*(volatile uint32_t *)&p); }
void destination(volatile unsigned long &p) {
TCD->DADDR = &p;
TCD->DOFF = 0;
TCD->ATTR_DST = 2;
if ((uint32_t)&p < 0x40000000 || TCD->NBYTES == 0) TCD->NBYTES = 4;
TCD->DLASTSGA = 0;
}

// Use a buffer (array of data) as the data destination. Typically a
// buffer for receiving data is used.
void destinationBuffer(volatile signed char p[], unsigned int len) {
destinationBuffer((volatile uint8_t *)p, len); }
void destinationBuffer(volatile unsigned char p[], unsigned int len) {
TCD->DADDR = p;
TCD->DOFF = 1;
TCD->ATTR_DST = 0;
TCD->NBYTES = 1;
TCD->DLASTSGA = -len;
TCD->BITER = len;
TCD->CITER = len;
}
void destinationBuffer(volatile signed short p[], unsigned int len) {
destinationBuffer((volatile uint16_t *)p, len); }
void destinationBuffer(volatile unsigned short p[], unsigned int len) {
TCD->DADDR = p;
TCD->DOFF = 2;
TCD->ATTR_DST = 1;
TCD->NBYTES = 2;
TCD->DLASTSGA = -len;
TCD->BITER = len / 2;
TCD->CITER = len / 2;
}
void destinationBuffer(volatile signed int p[], unsigned int len) {
destinationBuffer((volatile uint32_t *)p, len); }
void destinationBuffer(volatile unsigned int p[], unsigned int len) {
destinationBuffer((volatile uint32_t *)p, len); }
void destinationBuffer(volatile signed long p[], unsigned int len) {
destinationBuffer((volatile uint32_t *)p, len); }
void destinationBuffer(volatile unsigned long p[], unsigned int len) {
TCD->DADDR = p;
TCD->DOFF = 4;
TCD->ATTR_DST = 2;
TCD->NBYTES = 4;
TCD->DLASTSGA = -len;
TCD->BITER = len / 4;
TCD->CITER = len / 4;
}

// Use a circular buffer as the data destination
void destinationCircular(volatile signed char p[], unsigned int len) {
destinationCircular((volatile uint8_t *)p, len); }
void destinationCircular(volatile unsigned char p[], unsigned int len) {
TCD->DADDR = p;
TCD->DOFF = 1;
TCD->ATTR_DST = ((31 - __builtin_clz(len)) << 3);
TCD->NBYTES = 1;
TCD->DLASTSGA = 0;
TCD->BITER = len;
TCD->CITER = len;
}
void destinationCircular(volatile signed short p[], unsigned int len) {
destinationCircular((volatile uint16_t *)p, len); }
void destinationCircular(volatile unsigned short p[], unsigned int len) {
TCD->DADDR = p;
TCD->DOFF = 2;
TCD->ATTR_DST = ((31 - __builtin_clz(len)) << 3) | 1;
TCD->NBYTES = 2;
TCD->DLASTSGA = 0;
TCD->BITER = len / 2;
TCD->CITER = len / 2;
}
void destinationCircular(volatile signed int p[], unsigned int len) {
destinationCircular((volatile uint32_t *)p, len); }
void destinationCircular(volatile unsigned int p[], unsigned int len) {
destinationCircular((volatile uint32_t *)p, len); }
void destinationCircular(volatile signed long p[], unsigned int len) {
destinationCircular((volatile uint32_t *)p, len); }
void destinationCircular(volatile unsigned long p[], unsigned int len) {
TCD->DADDR = p;
TCD->DOFF = 4;
TCD->ATTR_DST = ((31 - __builtin_clz(len)) << 3) | 2;
TCD->NBYTES = 4;
TCD->DLASTSGA = 0;
TCD->BITER = len / 4;
TCD->CITER = len / 4;
}

/*************************************************/
/** Quantity of Data to Transfer **/
/*************************************************/

// Set the data size used for each triggered transfer
void transferSize(unsigned int len) {
if (len == 16) {
TCD->NBYTES = 16;
if (TCD->SOFF != 0) TCD->SOFF = 16;
if (TCD->DOFF != 0) TCD->DOFF = 16;
TCD->ATTR = (TCD->ATTR & 0xF8F8) | 0x0404;
} else if (len == 4) {
TCD->NBYTES = 4;
if (TCD->SOFF != 0) TCD->SOFF = 4;
if (TCD->DOFF != 0) TCD->DOFF = 4;
TCD->ATTR = (TCD->ATTR & 0xF8F8) | 0x0202;
} else if (len == 2) {
TCD->NBYTES = 2;
if (TCD->SOFF != 0) TCD->SOFF = 2;
if (TCD->DOFF != 0) TCD->DOFF = 2;
TCD->ATTR = (TCD->ATTR & 0xF8F8) | 0x0101;
} else {
TCD->NBYTES = 1;
if (TCD->SOFF != 0) TCD->SOFF = 1;
if (TCD->DOFF != 0) TCD->DOFF = 1;
TCD->ATTR = TCD->ATTR & 0xF8F8;
}
}

// Set the number of transfers (number of triggers until complete)
void transferCount(unsigned int len) {
if (!(TCD->BITER & DMA_TCD_BITER_ELINK)) {
if (len > 32767) return;
TCD->BITER = len;
TCD->CITER = len;
} else {
if (len > 511) return;
TCD->BITER = (TCD->BITER & 0xFE00) | len;
TCD->CITER = (TCD->CITER & 0xFE00) | len;
}
}

/*************************************************/
/** Special Options / Features **/
/*************************************************/

void interruptAtCompletion(void) {
TCD->CSR |= DMA_TCD_CSR_INTMAJOR;
}

void interruptAtHalf(void) {
TCD->CSR |= DMA_TCD_CSR_INTHALF;
}

void disableOnCompletion(void) {
TCD->CSR |= DMA_TCD_CSR_DREQ;
}

void replaceSettingsOnCompletion(const DMABaseClass &settings) {
TCD->DLASTSGA = (int32_t)(settings.TCD);
TCD->CSR &= ~DMA_TCD_CSR_DONE;
TCD->CSR |= DMA_TCD_CSR_ESG;
}

protected:
// users should not be able to create instances of DMABaseClass, which
// require the inheriting class to initialize the TCD pointer.
DMABaseClass() {}

static inline void copy_tcd(TCD_t *dst, const TCD_t *src) {
const uint32_t *p = (const uint32_t *)src;
uint32_t *q = (uint32_t *)dst;
uint32_t t1, t2, t3, t4;
t1 = *p++; t2 = *p++; t3 = *p++; t4 = *p++;
*q++ = t1; *q++ = t2; *q++ = t3; *q++ = t4;
t1 = *p++; t2 = *p++; t3 = *p++; t4 = *p++;
*q++ = t1; *q++ = t2; *q++ = t3; *q++ = t4;
}
};


// DMASetting represents settings stored only in memory, which can be
// applied to any DMA channel.

class DMASetting : public DMABaseClass {
public:
DMASetting() {
TCD = &tcddata;
}
DMASetting(const DMASetting &c) {
TCD = &tcddata;
*this = c;
}
DMASetting(const DMABaseClass &c) {
TCD = &tcddata;
*this = c;
}
DMASetting & operator = (const DMABaseClass &rhs) {
copy_tcd(TCD, rhs.TCD);
return *this;
}
private:
TCD_t tcddata __attribute__((aligned(32)));
};


// DMAChannel reprents an actual DMA channel and its current settings

class DMAChannel : public DMABaseClass {
public:
/*************************************************/
/** Channel Allocation **/
/*************************************************/

DMAChannel() {
begin();
}
DMAChannel(const DMAChannel &c) {
TCD = c.TCD;
channel = c.channel;
}
DMAChannel(const DMASetting &c) {
begin();
copy_tcd(TCD, c.TCD);
}
DMAChannel(bool allocate) {
if (allocate) begin();
}
DMAChannel & operator = (const DMAChannel &rhs) {
if (channel != rhs.channel) {
release();
TCD = rhs.TCD;
channel = rhs.channel;
}
return *this;
}
DMAChannel & operator = (const DMASetting &rhs) {
copy_tcd(TCD, rhs.TCD);
return *this;
}
~DMAChannel() {
release();
}
void begin(bool force_initialization = false);
private:
void release(void);

public:
/***************************************/
/** Triggering **/
/***************************************/

// Triggers cause the DMA channel to actually move data. Each
// trigger moves a single data unit, which is typically 8, 16 or
// 32 bits. If a channel is configured for 200 transfers

// Use a hardware trigger to make the DMA channel run
void triggerAtHardwareEvent(uint8_t source) {
volatile uint32_t *mux = &DMAMUX_CHCFG0 + channel;
//mux = (volatile uint32_t *)&(DMAMUX_CHCFG0) + channel;
*mux = 0;
*mux = (source & 0x7F) | DMAMUX_CHCFG_ENBL;
}

// Use another DMA channel as the trigger, causing this
// channel to trigger after each transfer is makes, except
// the its last transfer. This effectively makes the 2
// channels run in parallel until the last transfer
void triggerAtTransfersOf(DMABaseClass &ch) {
ch.TCD->BITER = (ch.TCD->BITER & ~DMA_TCD_BITER_ELINKYES_LINKCH_MASK)
| DMA_TCD_BITER_ELINKYES_LINKCH(channel) | DMA_TCD_BITER_ELINKYES_ELINK;
ch.TCD->CITER = ch.TCD->BITER ;
}

// Use another DMA channel as the trigger, causing this
// channel to trigger when the other channel completes.
void triggerAtCompletionOf(DMABaseClass &ch) {
ch.TCD->CSR = (ch.TCD->CSR & ~(DMA_TCD_CSR_MAJORLINKCH_MASK|DMA_TCD_CSR_DONE))
| DMA_TCD_CSR_MAJORLINKCH(channel) | DMA_TCD_CSR_MAJORELINK;
}

// Cause this DMA channel to be continuously triggered, so
// it will move data as rapidly as possible, without waiting.
// Normally this would be used with disableOnCompletion().
void triggerContinuously(void) {
// TODO: update this for IMXRT. On Kinetis, a small handful
// of DMAMUX slots were dedicated to "always on". On IMXRT,
// all of them can work as "always on" by setting their
// DMAMUX_CHCFG_A_ON bit.
#if 0
volatile uint8_t *mux = (volatile uint8_t *)&DMAMUX0_CHCFG0;
mux[channel] = 0;
#if DMAMUX_NUM_SOURCE_ALWAYS >= DMA_NUM_CHANNELS
mux[channel] = DMAMUX_SOURCE_ALWAYS0 + channel;
#else
// search for an unused "always on" source
unsigned int i = DMAMUX_SOURCE_ALWAYS0;
for (i = DMAMUX_SOURCE_ALWAYS0;
i < DMAMUX_SOURCE_ALWAYS0 + DMAMUX_NUM_SOURCE_ALWAYS; i++) {
unsigned int ch;
for (ch=0; ch < DMA_NUM_CHANNELS; ch++) {
if (mux[ch] == i) break;
}
if (ch >= DMA_NUM_CHANNELS) {
mux[channel] = (i | DMAMUX_ENABLE);
return;
}
}
#endif
#endif
}

// Manually trigger the DMA channel.
void triggerManual(void) {
DMA_SSRT = channel;
}


/***************************************/
/** Interrupts **/
/***************************************/

// An interrupt routine can be run when the DMA channel completes
// the entire transfer, and also optionally when half of the
// transfer is completed.
void attachInterrupt(void (*isr)(void)) {
_VectorsRam[channel + IRQ_DMA_CH0 + 16] = isr;
NVIC_ENABLE_IRQ(IRQ_DMA_CH0 + channel);
}

void detachInterrupt(void) {
NVIC_DISABLE_IRQ(IRQ_DMA_CH0 + channel);
}

void clearInterrupt(void) {
DMA_CINT = channel;
}


/***************************************/
/** Enable / Disable **/
/***************************************/

void enable(void) {
DMA_SERQ = channel;
}
void disable(void) {
DMA_CERQ = channel;
}

/***************************************/
/** Status **/
/***************************************/

bool complete(void) {
if (TCD->CSR & DMA_TCD_CSR_DONE) return true;
return false;
}
void clearComplete(void) {
DMA_CDNE = channel;
}
bool error(void) {
if (DMA_ERR & (1<<channel)) return true;
return false;
}
void clearError(void) {
DMA_CERR = channel;
}
void * sourceAddress(void) {
return (void *)(TCD->SADDR);
}
void * destinationAddress(void) {
return (void *)(TCD->DADDR);
}

/***************************************/
/** Direct Hardware Access **/
/***************************************/

// For complex and unusual configurations not possible with the above
// functions, the Transfer Control Descriptor (TCD) and channel number
// can be used directly. This leads to less portable and less readable
// code, but direct control of all parameters is possible.
uint8_t channel;
// TCD is accessible due to inheritance from DMABaseClass
};

// arrange the relative priority of 2 or more DMA channels
void DMAPriorityOrder(DMAChannel &ch1, DMAChannel &ch2);
void DMAPriorityOrder(DMAChannel &ch1, DMAChannel &ch2, DMAChannel &ch3);
void DMAPriorityOrder(DMAChannel &ch1, DMAChannel &ch2, DMAChannel &ch3, DMAChannel &ch4);





#endif // __cplusplus

#endif // DMAChannel_h_

+ 1
- 0
teensy4/EventResponder.cpp Näytä tiedosto

@@ -334,6 +334,7 @@ void MillisTimer::runFromTimer()
// code will run at lower interrupt priority for better compatibility
// with libraries using mid-to-high priority interrupts.

// TODO: this doesn't work for IMXRT - no longer using predefined names
extern "C" volatile uint32_t systick_millis_count;
void systick_isr(void)
{

+ 84
- 0
teensy4/imxrt.h Näytä tiedosto

@@ -1548,6 +1548,9 @@ typedef struct {
#define DMAMUX_CHCFG29 (IMXRT_DMAMUX.offset074)
#define DMAMUX_CHCFG30 (IMXRT_DMAMUX.offset078)
#define DMAMUX_CHCFG31 (IMXRT_DMAMUX.offset07C)
#define DMAMUX_CHCFG_ENBL ((uint32_t)(1<<31))
#define DMAMUX_CHCFG_TRIG ((uint32_t)(1<<30))
#define DMAMUX_CHCFG_A_ON ((uint32_t)(1<<29))

// 22.3.5.1: page 864
typedef struct {
@@ -1609,6 +1612,7 @@ typedef struct {
volatile uint8_t DCHPRI29;
volatile uint8_t DCHPRI28;
} IMXRT_DMA_t;

typedef struct {
volatile const void * volatile SADDR;
int16_t SOFF;
@@ -1691,6 +1695,43 @@ typedef struct {
#define DMA_DCHPRI29 (IMXRT_DMA.DCHPRI29)
#define DMA_DCHPRI28 (IMXRT_DMA.DCHPRI28)

#define DMA_CR_ACTIVE ((uint32_t)(1<<31)) // 1=DMA is executing
#define DMA_CR_CX ((uint32_t)(1<<17)) // Cancel Transfer
#define DMA_CR_ECX ((uint32_t)(1<<16)) // Error Cancel Transfer
#define DMA_CR_GRP1PRI ((uint32_t)(1<<10))
#define DMA_CR_GRP0PRI ((uint32_t)(1<<8))
#define DMA_CR_EMLM ((uint32_t)(1<<7)) // Enable Minor Loop Mapping
#define DMA_CR_CLM ((uint32_t)(1<<6)) // Continuous Link Mode
#define DMA_CR_HALT ((uint32_t)(1<<5)) // Halt DMA Operations
#define DMA_CR_HOE ((uint32_t)(1<<4)) // Halt On Error
#define DMA_CR_ERGA ((uint32_t)(1<<3)) // Enable Round Robin Group Arb
#define DMA_CR_ERCA ((uint32_t)(1<<2)) // Enable Round Robin Channel Arb
#define DMA_CR_EDBG ((uint32_t)(1<<1)) // Enable Debug
#define DMA_CEEI_CEEI(n) ((uint8_t)(n & 0x1F)) // Clear Enable Error Interrupt
#define DMA_CEEI_CAEE ((uint8_t)1<<6) // Clear All Enable Error Interrupts
#define DMA_CEEI_NOP ((uint8_t)1<<7) // NOP
#define DMA_SEEI_SEEI(n) ((uint8_t)(n & 0x1F)) // Set Enable Error Interrupt
#define DMA_SEEI_SAEE ((uint8_t)1<<6) // Set All Enable Error Interrupts
#define DMA_SEEI_NOP ((uint8_t)1<<7) // NOP
#define DMA_CERQ_CERQ(n) ((uint8_t)(n & 0x1F)) // Clear Enable Request
#define DMA_CERQ_CAER ((uint8_t)1<<6) // Clear All Enable Requests
#define DMA_CERQ_NOP ((uint8_t)1<<7) // NOP
#define DMA_SERQ_SERQ(n) ((uint8_t)(n & 0x1F)) // Set Enable Request
#define DMA_SERQ_SAER ((uint8_t)1<<6) // Set All Enable Requests
#define DMA_SERQ_NOP ((uint8_t)1<<7) // NOP
#define DMA_CDNE_CDNE(n) ((uint8_t)(n & 0x1F)) // Clear Done Bit
#define DMA_CDNE_CADN ((uint8_t)1<<6) // Clear All Done Bits
#define DMA_CDNE_NOP ((uint8_t)1<<7) // NOP
#define DMA_SSRT_SSRT(n) ((uint8_t)(n & 0x1F)) // Set Start Bit
#define DMA_SSRT_SAST ((uint8_t)1<<6) // Set All Start Bits
#define DMA_SSRT_NOP ((uint8_t)1<<7) // NOP
#define DMA_CERR_CERR(n) ((uint8_t)(n & 0x1F)) // Clear Error Indicator
#define DMA_CERR_CAEI ((uint8_t)1<<6) // Clear All Error Indicators
#define DMA_CERR_NOP ((uint8_t)1<<7) // NOP
#define DMA_CINT_CINT(n) ((uint8_t)(n & 0x1F)) // Clear Interrupt Request
#define DMA_CINT_CAIR ((uint8_t)1<<6) // Clear All Interrupt Requests
#define DMA_CINT_NOP ((uint8_t)1<<7) // NOP

#define IMXRT_DMA_TCD ((IMXRT_DMA_TCD_t *)0x400E9000)
#define DMA_TCD0_SADDR (IMXRT_DMA_TCD[0].SADDR)
#define DMA_TCD0_SOFF (IMXRT_DMA_TCD[0].SOFF)
@@ -2300,6 +2341,49 @@ typedef struct {
#define DMA_TCD31_BITER_ELINKYES (IMXRT_DMA_TCD[31].BITER_ELINKYES)
#define DMA_TCD31_BITER_ELINKNO (IMXRT_DMA_TCD[31].BITER_ELINKNO)

// TODO: double check these defines from Teensy 3.x are still correct for IMXRT
#define DMA_TCD_ATTR_SMOD(n) (((n) & 0x1F) << 11)
#define DMA_TCD_ATTR_SSIZE(n) (((n) & 0x7) << 8)
#define DMA_TCD_ATTR_DMOD(n) (((n) & 0x1F) << 3)
#define DMA_TCD_ATTR_DSIZE(n) (((n) & 0x7) << 0)
#define DMA_TCD_ATTR_SIZE_8BIT 0
#define DMA_TCD_ATTR_SIZE_16BIT 1
#define DMA_TCD_ATTR_SIZE_32BIT 2
#define DMA_TCD_ATTR_SIZE_16BYTE 4
#define DMA_TCD_ATTR_SIZE_32BYTE 5 // caution: this might not be supported in newer chips?
#define DMA_TCD_CSR_BWC(n) (((n) & 0x3) << 14)
#define DMA_TCD_CSR_BWC_MASK 0xC000
#define DMA_TCD_CSR_MAJORLINKCH(n) (((n) & 0xF) << 8)
#define DMA_TCD_CSR_MAJORLINKCH_MASK 0x0F00
#define DMA_TCD_CSR_DONE 0x0080
#define DMA_TCD_CSR_ACTIVE 0x0040
#define DMA_TCD_CSR_MAJORELINK 0x0020
#define DMA_TCD_CSR_ESG 0x0010
#define DMA_TCD_CSR_DREQ 0x0008
#define DMA_TCD_CSR_INTHALF 0x0004
#define DMA_TCD_CSR_INTMAJOR 0x0002
#define DMA_TCD_CSR_START 0x0001
#define DMA_TCD_CITER_MASK ((uint16_t)0x7FFF) // Loop count mask
#define DMA_TCD_CITER_ELINK ((uint16_t)1<<15) // Enable channel linking on minor-loop complete
#define DMA_TCD_BITER_MASK ((uint16_t)0x7FFF) // Loop count mask
#define DMA_TCD_BITER_ELINK ((uint16_t)1<<15) // Enable channel linking on minor-loop complete
#define DMA_TCD_BITER_ELINKYES_ELINK 0x8000
#define DMA_TCD_BITER_ELINKYES_LINKCH(n) (((n) & 0xF) << 9)
#define DMA_TCD_BITER_ELINKYES_LINKCH_MASK 0x1E00
#define DMA_TCD_BITER_ELINKYES_BITER(n) (((n) & 0x1FF) << 0)
#define DMA_TCD_BITER_ELINKYES_BITER_MASK 0x01FF
#define DMA_TCD_CITER_ELINKYES_ELINK 0x8000
#define DMA_TCD_CITER_ELINKYES_LINKCH(n) (((n) & 0xF) << 9)
#define DMA_TCD_CITER_ELINKYES_LINKCH_MASK 0x1E00
#define DMA_TCD_CITER_ELINKYES_CITER(n) (((n) & 0x1FF) << 0)
#define DMA_TCD_CITER_ELINKYES_CITER_MASK 0x01FF
#define DMA_TCD_NBYTES_SMLOE ((uint32_t)1<<31) // Source Minor Loop Offset Enable
#define DMA_TCD_NBYTES_DMLOE ((uint32_t)1<<30) // Destination Minor Loop Offset Enable
#define DMA_TCD_NBYTES_MLOFFNO_NBYTES(n) ((uint32_t)((n) & 0x3FFFFFFF)) // NBytes transfer count when minor loop disabled
#define DMA_TCD_NBYTES_MLOFFYES_NBYTES(n) ((uint32_t)((n) & 0x3FF)) // NBytes transfer count when minor loop enabled
#define DMA_TCD_NBYTES_MLOFFYES_MLOFF(n) ((uint32_t)((n) & 0xFFFFF)<<10) // Minor loop offset


// 23.7.1: page 1023
#define IMXRT_ENC1 (*(IMXRT_REGISTER16_t *)0x403C8000)
#define ENC1_CTRL (IMXRT_ENC1.offset000)

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