Trinity Devboard PCB V1.0 Firmware. FreeRTOS is setup and the MCU reads IMU data over SPI fand Magnetometer data over I2C, each with a seperate task. Sensordata is then run though MadgwickAHRS and send over USB as serial packet data to use in trinity visualizer. Bare minimum functionality works and is replicated from the first prototype.
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/**
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******************************************************************************
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* @file stm32wbxx_hal_dma_ex.c
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* @author MCD Application Team
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* @brief DMA Extension HAL module driver
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* This file provides firmware functions to manage the following
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* functionalities of the DMA Extension peripheral:
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* + Extended features functions
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*
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2019 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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@verbatim
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==============================================================================
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##### How to use this driver #####
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==============================================================================
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[..]
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The DMA Extension HAL driver can be used as follows:
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(+) Configure the DMA_MUX Synchronization Block using HAL_DMAEx_ConfigMuxSync function.
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(+) Configure the DMA_MUX Request Generator Block using HAL_DMAEx_ConfigMuxRequestGenerator function.
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Functions HAL_DMAEx_EnableMuxRequestGenerator and HAL_DMAEx_DisableMuxRequestGenerator can then be used
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to respectively enable/disable the request generator.
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(+) To handle the DMAMUX Interrupts, the function HAL_DMAEx_MUX_IRQHandler should be called from
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the DMAMUX IRQ handler i.e DMAMUX1_OVR_IRQHandler.
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As only one interrupt line is available for all DMAMUX channels and request generators , HAL_DMAEx_MUX_IRQHandler should be
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called with, as parameter, the appropriate DMA handle as many as used DMAs in the user project
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(exception done if a given DMA is not using the DMAMUX SYNC block neither a request generator)
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@endverbatim
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******************************************************************************
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "stm32wbxx_hal.h"
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/** @addtogroup STM32WBxx_HAL_Driver
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* @{
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*/
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/** @defgroup DMAEx DMAEx
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* @brief DMA Extended HAL module driver
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* @{
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*/
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#ifdef HAL_DMA_MODULE_ENABLED
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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/* Private macro -------------------------------------------------------------*/
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/* Private variables ---------------------------------------------------------*/
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/* Private Constants ---------------------------------------------------------*/
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/* Private function prototypes -----------------------------------------------*/
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/* Private functions ---------------------------------------------------------*/
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/** @defgroup DMAEx_Exported_Functions DMAEx Exported Functions
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* @{
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*/
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/** @defgroup DMAEx_Exported_Functions_Group1 DMAEx Extended features functions
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* @brief Extended features functions
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*
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@verbatim
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===============================================================================
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##### Extended features functions #####
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===============================================================================
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[..] This section provides functions allowing to:
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(+) Configure the DMAMUX Synchronization Block using HAL_DMAEx_ConfigMuxSync function.
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(+) Configure the DMAMUX Request Generator Block using HAL_DMAEx_ConfigMuxRequestGenerator function.
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Functions HAL_DMAEx_EnableMuxRequestGenerator and HAL_DMAEx_DisableMuxRequestGenerator can then be used
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to respectively enable/disable the request generator.
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@endverbatim
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* @{
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*/
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/**
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* @brief Configure the DMAMUX synchronization parameters for a given DMA channel (instance).
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* @param hdma Pointer to a DMA_HandleTypeDef structure that contains
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* the configuration information for the specified DMA channel.
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* @param pSyncConfig Pointer to HAL_DMA_MuxSyncConfigTypeDef : contains the DMAMUX synchronization parameters
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* @retval HAL status
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*/
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HAL_StatusTypeDef HAL_DMAEx_ConfigMuxSync(DMA_HandleTypeDef *hdma, HAL_DMA_MuxSyncConfigTypeDef *pSyncConfig)
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{
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/* Check the parameters */
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assert_param(IS_DMA_ALL_INSTANCE(hdma->Instance));
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assert_param(IS_DMAMUX_SYNC_SIGNAL_ID(pSyncConfig->SyncSignalID));
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assert_param(IS_DMAMUX_SYNC_POLARITY(pSyncConfig-> SyncPolarity));
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assert_param(IS_DMAMUX_SYNC_STATE(pSyncConfig->SyncEnable));
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assert_param(IS_DMAMUX_SYNC_EVENT(pSyncConfig->EventEnable));
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assert_param(IS_DMAMUX_SYNC_REQUEST_NUMBER(pSyncConfig->RequestNumber));
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/*Check if the DMA state is ready */
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if (hdma->State == HAL_DMA_STATE_READY)
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{
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/* Process Locked */
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__HAL_LOCK(hdma);
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/* Set the new synchronization parameters (and keep the request ID filled during the Init)*/
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MODIFY_REG(hdma->DMAmuxChannel->CCR, \
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(DMAMUX_CxCR_SYNC_ID | DMAMUX_CxCR_NBREQ | DMAMUX_CxCR_SPOL | DMAMUX_CxCR_SE | DMAMUX_CxCR_EGE), \
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(pSyncConfig->SyncSignalID | \
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((pSyncConfig->RequestNumber - 1U) << DMAMUX_CxCR_NBREQ_Pos) | \
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pSyncConfig->SyncPolarity | \
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((uint32_t)pSyncConfig->SyncEnable << DMAMUX_CxCR_SE_Pos) | \
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((uint32_t)pSyncConfig->EventEnable << DMAMUX_CxCR_EGE_Pos)));
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/* Process UnLocked */
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__HAL_UNLOCK(hdma);
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return HAL_OK;
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}
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else
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{
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/*DMA State not Ready*/
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return HAL_ERROR;
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}
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}
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/**
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* @brief Configure the DMAMUX request generator block used by the given DMA channel (instance).
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* @param hdma Pointer to a DMA_HandleTypeDef structure that contains
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* the configuration information for the specified DMA channel.
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* @param pRequestGeneratorConfig Pointer to HAL_DMA_MuxRequestGeneratorConfigTypeDef :
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* contains the request generator parameters.
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*
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* @retval HAL status
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*/
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HAL_StatusTypeDef HAL_DMAEx_ConfigMuxRequestGenerator(DMA_HandleTypeDef *hdma,
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const HAL_DMA_MuxRequestGeneratorConfigTypeDef *pRequestGeneratorConfig)
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{
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/* Check the parameters */
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assert_param(IS_DMA_ALL_INSTANCE(hdma->Instance));
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assert_param(IS_DMAMUX_REQUEST_GEN_SIGNAL_ID(pRequestGeneratorConfig->SignalID));
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assert_param(IS_DMAMUX_REQUEST_GEN_POLARITY(pRequestGeneratorConfig->Polarity));
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assert_param(IS_DMAMUX_REQUEST_GEN_REQUEST_NUMBER(pRequestGeneratorConfig->RequestNumber));
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/* check if the DMA state is ready
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and DMA is using a DMAMUX request generator block
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*/
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if ((hdma->State == HAL_DMA_STATE_READY) && (hdma->DMAmuxRequestGen != 0U))
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{
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/* Process Locked */
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__HAL_LOCK(hdma);
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/* Set the request generator new parameters*/
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WRITE_REG(hdma->DMAmuxRequestGen->RGCR, (pRequestGeneratorConfig->SignalID | \
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pRequestGeneratorConfig->Polarity | \
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((pRequestGeneratorConfig->RequestNumber - 1U) << DMAMUX_RGxCR_GNBREQ_Pos)));
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/* Process UnLocked */
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__HAL_UNLOCK(hdma);
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return HAL_OK;
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}
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else
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{
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return HAL_ERROR;
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}
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}
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/**
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* @brief Enable the DMAMUX request generator block used by the given DMA channel (instance).
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* @param hdma Pointer to a DMA_HandleTypeDef structure that contains
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* the configuration information for the specified DMA channel.
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* @retval HAL status
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*/
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HAL_StatusTypeDef HAL_DMAEx_EnableMuxRequestGenerator(DMA_HandleTypeDef *hdma)
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{
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/* Check the parameters */
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assert_param(IS_DMA_ALL_INSTANCE(hdma->Instance));
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/* check if the DMA state is ready
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and DMA is using a DMAMUX request generator block
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*/
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if ((hdma->State != HAL_DMA_STATE_RESET) && (hdma->DMAmuxRequestGen != 0U))
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{
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/* Enable the request generator*/
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SET_BIT(hdma->DMAmuxRequestGen->RGCR, DMAMUX_RGxCR_GE);
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return HAL_OK;
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}
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else
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{
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return HAL_ERROR;
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}
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}
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/**
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* @brief Disable the DMAMUX request generator block used by the given DMA channel (instance).
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* @param hdma Pointer to a DMA_HandleTypeDef structure that contains
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* the configuration information for the specified DMA channel.
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* @retval HAL status
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*/
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HAL_StatusTypeDef HAL_DMAEx_DisableMuxRequestGenerator(DMA_HandleTypeDef *hdma)
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{
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/* Check the parameters */
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assert_param(IS_DMA_ALL_INSTANCE(hdma->Instance));
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/* check if the DMA state is ready
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and DMA is using a DMAMUX request generator block
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*/
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if ((hdma->State != HAL_DMA_STATE_RESET) && (hdma->DMAmuxRequestGen != 0))
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{
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/* Disable the request generator*/
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CLEAR_BIT(hdma->DMAmuxRequestGen->RGCR, DMAMUX_RGxCR_GE);
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return HAL_OK;
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}
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else
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{
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return HAL_ERROR;
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}
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}
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/**
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* @brief Handles DMAMUX interrupt request.
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* @param hdma Pointer to a DMA_HandleTypeDef structure that contains
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* the configuration information for the specified DMA channel.
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* @retval None
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*/
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void HAL_DMAEx_MUX_IRQHandler(DMA_HandleTypeDef *hdma)
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{
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/* Check for DMAMUX Synchronization overrun */
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if ((hdma->DMAmuxChannelStatus->CSR & hdma->DMAmuxChannelStatusMask) != 0U)
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{
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/* Disable the synchro overrun interrupt */
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CLEAR_BIT(hdma->DMAmuxChannel->CCR, DMAMUX_CxCR_SOIE);
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/* Clear the DMAMUX synchro overrun flag */
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WRITE_REG(hdma->DMAmuxChannelStatus->CFR, hdma->DMAmuxChannelStatusMask);
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/* Update error code */
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hdma->ErrorCode |= HAL_DMA_ERROR_SYNC;
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if (hdma->XferErrorCallback != NULL)
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{
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/* Transfer error callback */
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hdma->XferErrorCallback(hdma);
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}
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}
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if (hdma->DMAmuxRequestGen != 0U)
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{
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/* if using a DMAMUX request generator block Check for DMAMUX request generator overrun */
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if ((hdma->DMAmuxRequestGenStatus->RGSR & hdma->DMAmuxRequestGenStatusMask) != 0U)
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{
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/* Disable the request gen overrun interrupt */
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CLEAR_BIT(hdma->DMAmuxRequestGen->RGCR, DMAMUX_RGxCR_OIE);
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/* Clear the DMAMUX request generator overrun flag */
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WRITE_REG(hdma->DMAmuxRequestGenStatus->RGCFR, hdma->DMAmuxRequestGenStatusMask);
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/* Update error code */
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hdma->ErrorCode |= HAL_DMA_ERROR_REQGEN;
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if (hdma->XferErrorCallback != NULL)
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{
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/* Transfer error callback */
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hdma->XferErrorCallback(hdma);
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}
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}
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}
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}
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/**
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* @}
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*/
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/**
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* @}
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*/
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#endif /* HAL_DMA_MODULE_ENABLED */
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/**
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* @}
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*/
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/**
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* @}
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*/
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