h7: dma support

cmake/stm32h7.cmake

@@ -145,7 +145,7 @@ main_sources(STM32H7_SRC
 
 #    drivers/adc_stm32h7xx.c
     drivers/bus_i2c_hal.c
-#    drivers/dma_stm32h7xx.c
+    drivers/dma_stm32h7xx.c
     drivers/bus_spi_hal.c
     drivers/memprot.h
     drivers/memprot_hal.c

src/main/drivers/dma_stm32h7xx.c

@@ -0,0 +1,128 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <platform.h>
+
+#include "common/utils.h"
+#include "drivers/nvic.h"
+#include "drivers/dma.h"
+#include "drivers/rcc.h"
+
+/*
+ * DMA descriptors.
+ */
+static dmaChannelDescriptor_t dmaDescriptors[] = {
+    [0]  = DEFINE_DMA_CHANNEL(1, 0,  0), // DMA1_ST0
+    [1]  = DEFINE_DMA_CHANNEL(1, 1,  6), // DMA1_ST1
+    [2]  = DEFINE_DMA_CHANNEL(1, 2, 16), // DMA1_ST2
+    [3]  = DEFINE_DMA_CHANNEL(1, 3, 22), // DMA1_ST3
+    [4]  = DEFINE_DMA_CHANNEL(1, 4, 32), // DMA1_ST4
+    [5]  = DEFINE_DMA_CHANNEL(1, 5, 38), // DMA1_ST5
+    [6]  = DEFINE_DMA_CHANNEL(1, 6, 48), // DMA1_ST6
+    [7]  = DEFINE_DMA_CHANNEL(1, 7, 54), // DMA1_ST7
+
+    [8]  = DEFINE_DMA_CHANNEL(2, 0,  0), // DMA2_ST0
+    [9]  = DEFINE_DMA_CHANNEL(2, 1,  6), // DMA2_ST1
+    [10] = DEFINE_DMA_CHANNEL(2, 2, 16), // DMA2_ST2
+    [11] = DEFINE_DMA_CHANNEL(2, 3, 22), // DMA2_ST3
+    [12] = DEFINE_DMA_CHANNEL(2, 4, 32), // DMA2_ST4
+    [13] = DEFINE_DMA_CHANNEL(2, 5, 38), // DMA2_ST5
+    [14] = DEFINE_DMA_CHANNEL(2, 6, 48), // DMA2_ST6
+    [15] = DEFINE_DMA_CHANNEL(2, 7, 54), // DMA2_ST7
+};
+
+/*
+ * DMA IRQ Handlers
+ */
+DEFINE_DMA_IRQ_HANDLER(1, 0, 0) // DMA1_ST0
+DEFINE_DMA_IRQ_HANDLER(1, 1, 1) // DMA1_ST1
+DEFINE_DMA_IRQ_HANDLER(1, 2, 2) // DMA1_ST2
+DEFINE_DMA_IRQ_HANDLER(1, 3, 3) // DMA1_ST3
+DEFINE_DMA_IRQ_HANDLER(1, 4, 4) // DMA1_ST4
+DEFINE_DMA_IRQ_HANDLER(1, 5, 5) // DMA1_ST5
+DEFINE_DMA_IRQ_HANDLER(1, 6, 6) // DMA1_ST6
+DEFINE_DMA_IRQ_HANDLER(1, 7, 7) // DMA1_ST7
+DEFINE_DMA_IRQ_HANDLER(2, 0, 8) // DMA2_ST0
+DEFINE_DMA_IRQ_HANDLER(2, 1, 9) // DMA2_ST1
+DEFINE_DMA_IRQ_HANDLER(2, 2, 10) // DMA2_ST2
+DEFINE_DMA_IRQ_HANDLER(2, 3, 11) // DMA2_ST3
+DEFINE_DMA_IRQ_HANDLER(2, 4, 12) // DMA2_ST4
+DEFINE_DMA_IRQ_HANDLER(2, 5, 13) // DMA2_ST5
+DEFINE_DMA_IRQ_HANDLER(2, 6, 14) // DMA2_ST6
+DEFINE_DMA_IRQ_HANDLER(2, 7, 15) // DMA2_ST7
+
+DMA_t dmaGetByTag(dmaTag_t tag)
+{
+    for (unsigned i = 0; i < ARRAYLEN(dmaDescriptors); i++) {
+        if (DMATAG_GET_DMA(dmaDescriptors[i].tag) == DMATAG_GET_DMA(tag) && DMATAG_GET_STREAM(dmaDescriptors[i].tag) == DMATAG_GET_STREAM(tag)) {
+            return (DMA_t)&dmaDescriptors[i];
+        }
+    }
+
+    return (DMA_t) NULL;
+}
+
+void dmaEnableClock(DMA_t dma)
+{
+    if (dma->dma == DMA1) {
+        RCC_ClockCmd(RCC_AHB1(DMA1), ENABLE);
+    }
+    else {
+        RCC_ClockCmd(RCC_AHB1(DMA2), ENABLE);
+    }
+}
+
+resourceOwner_e dmaGetOwner(DMA_t dma)
+{
+    return dma->owner;
+}
+
+void dmaInit(DMA_t dma, resourceOwner_e owner, uint8_t resourceIndex)
+{
+    dmaEnableClock(dma);
+    dma->owner = owner;
+    dma->resourceIndex = resourceIndex;
+}
+
+void dmaSetHandler(DMA_t dma, dmaCallbackHandlerFuncPtr callback, uint32_t priority, uint32_t userParam)
+{
+    dmaEnableClock(dma);
+
+    dma->irqHandlerCallback = callback;
+    dma->userParam = userParam;
+
+    HAL_NVIC_SetPriority(dma->irqNumber, priority, 0);
+    HAL_NVIC_EnableIRQ(dma->irqNumber);
+}
+
+DMA_t dmaGetByRef(const DMA_Stream_TypeDef* ref)
+{
+    for (unsigned i = 0; i < (sizeof(dmaDescriptors) / sizeof(dmaDescriptors[0])); i++) {
+        if (ref == dmaDescriptors[i].ref) {
+            return &dmaDescriptors[i];
+        }
+    }
+
+    return NULL;
+}

src/main/target/MATEKH743/target.h

@@ -27,9 +27,6 @@
 #define BEEPER                  PA15
 #define BEEPER_INVERTED
 
-
-
-
 // *************** UART *****************************
 #define USE_VCP
 
@@ -67,19 +64,6 @@
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
 #define SERIALRX_UART           SERIAL_PORT_USART6
 
-
-
-#define MAX_PWM_OUTPUT_PORTS        15
-
-
-
-
-#define TARGET_IO_PORTA 0xffff
-#define TARGET_IO_PORTB 0xffff
-#define TARGET_IO_PORTC 0xffff
-#define TARGET_IO_PORTD 0xffff
-#define TARGET_IO_PORTE 0xffff
-
 // *************** IMU generic ***********************
 #define USE_DUAL_GYRO
 #define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
@@ -163,7 +147,18 @@
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
 
+#define MAX_PWM_OUTPUT_PORTS        15
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIALSHOT
 
 #if 0
 #define USE_EXTI
@@ -196,9 +191,4 @@
 #define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
 #define CURRENT_METER_SCALE         250
 
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-#define USE_DSHOT
-#define USE_ESC_SENSOR
-#define USE_SERIALSHOT
 #endif