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panda
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uart dma in progress

This commit is contained in:
George Hotz 2018-01-25 23:51:52 -08:00
parent 65fb2b26cb
commit fc81fc1118
2 changed files with 52 additions and 4 deletions
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45
board/drivers/uart.h
View File

@ -159,6 +159,36 @@ void uart_set_baud(USART_TypeDef *u, int baud) {
}
}
#define USART1_DMA_LEN 0x40
char usart1_dma[USART1_DMA_LEN];
void DMA2_Stream5_IRQHandler(void) {
set_led(LED_BLUE, 1);
DMA2_Stream5->CR &= DMA_SxCR_EN;
uart_ring *q = &esp_ring;
int i;
for (i = 0; i < USART1_DMA_LEN; i++) {
char c = usart1_dma[i];
uint8_t next_w_ptr = q->w_ptr_rx + 1;
if (next_w_ptr != q->r_ptr_rx) {
q->elems_rx[q->w_ptr_rx] = c;
q->w_ptr_rx = next_w_ptr;
if (q->callback) q->callback(q);
}
}
DMA2_Stream5->M0AR = (uint32_t)usart1_dma;
DMA2_Stream5->NDTR = USART1_DMA_LEN;
DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_EN;
DMA2_Stream5->CR |= DMA_SxCR_TCIE;
DMA2->HIFCR = DMA_HIFCR_CTCIF5;
}
void uart_init(USART_TypeDef *u, int baud) {
// enable uart and tx+rx mode
u->CR1 = USART_CR1_UE;
@ -173,7 +203,20 @@ void uart_init(USART_TypeDef *u, int baud) {
u->CR1 |= USART_CR1_RXNEIE;
if (u == USART1) {
NVIC_EnableIRQ(USART1_IRQn);
// DMA2, stream 2, channel 3
DMA2_Stream5->M0AR = (uint32_t)usart1_dma;
DMA2_Stream5->NDTR = USART1_DMA_LEN;
DMA2_Stream5->PAR = (uint32_t)&(USART1->DR);
// channel4, increment memory, periph -> memory, enable
DMA2_Stream5->CR = DMA_SxCR_CHSEL_2 | DMA_SxCR_MINC | DMA_SxCR_EN;
DMA2_Stream5->CR |= DMA_SxCR_TCIE;
// this one uses DMA receiver
u->CR3 = USART_CR3_DMAR;
NVIC_EnableIRQ(DMA2_Stream5_IRQn);
//NVIC_EnableIRQ(USART1_IRQn);
} else if (u == USART2) {
NVIC_EnableIRQ(USART2_IRQn);
} else if (u == USART3) {

11
board/main.c
View File

@ -508,9 +508,12 @@ int main() {
}
#ifdef PANDA
// enable ESP uart
uart_init(USART1, 115200);
if (is_grey_panda) {
uart_init(USART1, 9600);
} else {
// enable ESP uart
uart_init(USART1, 115200);
}
// enable LIN
uart_init(UART5, 10400);
UART5->CR2 |= USART_CR2_LINEN;
@ -560,6 +563,8 @@ int main() {
for (cnt=0;;cnt++) {
can_live = pending_can_live;
puth(usart1_dma); puts(" "); puth(DMA2_Stream5->M0AR); puts(" "); puth(DMA2_Stream5->NDTR); puts("\n");
#ifdef PANDA
int current = adc_get(ADCCHAN_CURRENT);