[参考译文] TM4C1294NCPDT：如何在 UART4上使用 UDMA？

#include <stdint.h>
#include <stdbool.h>
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_uart.h"
#include "driverlib/fpu.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/rom_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/systick.h"
#include "driverlib/uart.h"
#include "driverlib/udma.h"
#include "utils/cpu_usage.h"
#include "utils/uartstdio.h"
#include "utils/ustdlib.h"

//*****************************************************************************
//
//! \addtogroup example_list
//! <h1>uDMA (udma_demo)</h1>
//!
//! This example application demonstrates the use of the uDMA controller to
//! transfer data between memory buffers, and to transfer data to and from a
//! UART.  The test runs for 10 seconds before exiting.
//!
//! UART0, connected to the ICDI virtual COM port and running at 115,200,
//! 8-N-1, is used to display messages from this application.
//
//*****************************************************************************

//****************************************************************************
//
// System clock rate in Hz.
//
//****************************************************************************
uint32_t g_ui32SysClock;

//*****************************************************************************
//
// The number of SysTick ticks per second used for the SysTick interrupt.
//
//*****************************************************************************
#define SYSTICKS_PER_SECOND     100

//*****************************************************************************
//
// The size of the memory transfer source and destination buffers (in words).
//
//*****************************************************************************
#define MEM_BUFFER_SIZE         1024

//*****************************************************************************
//
// The size of the UART transmit and receive buffers.  They do not need to be
// the same size.
//
//*****************************************************************************
#define UART_TXBUF_SIZE         65536
#define UART_RXBUF_SIZE         256

//*****************************************************************************
//
// The source and destination buffers used for memory transfers.
//
//*****************************************************************************
static uint32_t g_ui32SrcBuf[MEM_BUFFER_SIZE];
static uint32_t g_ui32DstBuf[MEM_BUFFER_SIZE];

//*****************************************************************************
//
// The transmit  buffers used for the UART transfers.
//
//*****************************************************************************
static uint8_t g_ui8TxBuf[UART_TXBUF_SIZE];

//*****************************************************************************
//
// The count of uDMA errors.  This value is incremented by the uDMA error
// handler.
//
//*****************************************************************************
static uint32_t g_ui32uDMAErrCount = 0;

//*****************************************************************************
//
// The count of times the uDMA interrupt occurred but the uDMA transfer was not
// complete.  This should remain 0.
//
//*****************************************************************************
static uint32_t g_ui32BadISR = 0;


//*****************************************************************************
//
// The count of memory uDMA transfer blocks.  This value is incremented by the
// uDMA interrupt handler whenever a memory block transfer is completed.
//
//*****************************************************************************
static uint32_t g_ui32MemXferCount = 0;


//*****************************************************************************
//
// The number of seconds elapsed since the start of the program.  This value is
// maintained by the SysTick interrupt handler.
//
//*****************************************************************************
static uint32_t g_ui32Seconds = 0;

//*****************************************************************************
//
// The control table used by the uDMA controller.  This table must be aligned
// to a 1024 byte boundary.
//
//*****************************************************************************
#if defined(ewarm)
#pragma data_alignment=1024
uint8_t pui8ControlTable[1024];
#elif defined(ccs)
#pragma DATA_ALIGN(pui8ControlTable, 1024)
uint8_t pui8ControlTable[1024];
#else
uint8_t pui8ControlTable[1024] __attribute__ ((aligned(1024)));
#endif

//*****************************************************************************
//
// The error routine that is called if the driver library encounters an error.
//
//*****************************************************************************
#ifdef DEBUG
void
__error__(char *pcFilename, uint32_t ui32Line)
{
}
#endif

//*****************************************************************************
//
// The interrupt handler for the SysTick timer.  This handler will increment a
// seconds counter whenever the appropriate number of ticks has occurred.  It
// will also call the CPU usage tick function to find the CPU usage percent.
//
//*****************************************************************************
void
SysTickHandler(void)
{
    static uint32_t ui32TickCount = 0;

    //
    // Increment the tick counter.
    //
    ui32TickCount++;

    //
    // If the number of ticks per second has occurred, then increment the
    // seconds counter.
    //
    if(!(ui32TickCount % SYSTICKS_PER_SECOND))
    {
        g_ui32Seconds++;
    }
}

//*****************************************************************************
//
// The interrupt handler for uDMA errors.  This interrupt will occur if the
// uDMA encounters a bus error while trying to perform a transfer.  This
// handler just increments a counter if an error occurs.
//
//*****************************************************************************
void
uDMAErrorHandler(void)
{
    uint32_t ui32Status;

    //
    // Check for uDMA error bit
    //
    ui32Status = ROM_uDMAErrorStatusGet();

    //
    // If there is a uDMA error, then clear the error and increment
    // the error counter.
    //
    if(ui32Status)
    {
        ROM_uDMAErrorStatusClear();
        g_ui32uDMAErrCount++;
    }
}

//*****************************************************************************
//
// The interrupt handler for uDMA interrupts from the memory channel.  This
// interrupt will increment a counter, and then restart another memory
// transfer.
//
//*****************************************************************************
void
uDMAIntHandler(void)
{
    uint32_t ui32Mode;

    //
    // Check for the primary control structure to indicate complete.
    //
    ui32Mode = ROM_uDMAChannelModeGet(UDMA_CH19_UART4TX);
    if(ui32Mode == UDMA_MODE_STOP)
    {
        //
        // Increment the count of completed transfers.
        //
        g_ui32MemXferCount++;

        //
        // Configure it for another transfer.
        //
        ROM_uDMAChannelTransferSet(UDMA_CH19_UART4TX, UDMA_MODE_AUTO,
                                     g_ui32SrcBuf, g_ui32DstBuf,
                                     MEM_BUFFER_SIZE);

        //
        // Initiate another transfer.
        //
        ROM_uDMAChannelEnable(UDMA_CH19_UART4TX);
        ROM_uDMAChannelRequest(UDMA_CH19_UART4TX);
    }

    //
    // If the channel is not stopped, then something is wrong.
    //
    else
    {
        g_ui32BadISR++;
    }
}

//*****************************************************************************
//
// The interrupt handler for UART4.  This interrupt will occur when a DMA
// transfer is complete using the UART4 uDMA channel.  It will also be
// triggered if the peripheral signals an error.  This interrupt handler will
// switch between receive ping-pong buffers A and B.  It will also restart a TX
// uDMA transfer if the prior transfer is complete.  This will keep the UART
// running continuously (looping TX data back to RX).
//
//*****************************************************************************
uint32_t uart_interrupt_enterred = 0;
uint32_t uart_dma_done = 0;

void
UART4IntHandler(void)
{

    uint32_t ui32Status;
    uint32_t ui32Mode;

    uart_interrupt_enterred++;

    //
    // Read the interrupt status of the UART.
    //

    ui32Status = ROM_UARTIntStatus(UART4_BASE, 1);

    //
    // Clear any pending status, even though there should be none since no UART
    // interrupts were enabled.  If UART error interrupts were enabled, then
    // those interrupts could occur here and should be handled.  Since uDMA is
    // used for both the RX and TX, then neither of those interrupts should be
    // enabled.
    //
    ROM_UARTIntClear(UART4_BASE, ui32Status);

    //
    // Check the DMA control table to see if the ping-pong "A" transfer is
    // complete.  The "A" transfer uses receive buffer "A", and the primary
    // control structure.
    //

    //
    ui32Mode = ROM_uDMAChannelModeGet(UDMA_CH19_UART4TX | UDMA_PRI_SELECT);



    //
    // If the UART4 DMA TX channel is disabled, that means the TX DMA transfer
    // is done.
    //


    if(!ROM_uDMAChannelIsEnabled(UDMA_CH19_UART4TX))
    {
    	uart_dma_done++;

        //
        // Start another DMA transfer to UART4 TX.
        //
        ROM_uDMAChannelTransferSet(UDMA_CH19_UART4TX | UDMA_PRI_SELECT,
                                   UDMA_MODE_BASIC, g_ui8TxBuf,
                                   (void *)(UART4_BASE + UART_O_DR),
                                   sizeof(g_ui8TxBuf));

        //
        // The uDMA TX channel must be re-enabled.
        //
        ROM_uDMAChannelEnable(UDMA_CH19_UART4TX);
    }
}

//*****************************************************************************
//
// Initializes the UART4 peripheral and sets up the TX and RX uDMA channels.
// The UART is configured for loopback mode so that any data sent on TX will be
// received on RX.  The uDMA channels are configured so that the TX channel
// will copy data from a buffer to the UART TX output.  And the uDMA RX channel
// will receive any incoming data into a pair of buffers in ping-pong mode.
//
//*****************************************************************************
void
InitUART4Transfer(void)
{
    uint_fast16_t ui16Idx;

    //
    // Enable the peripherals used by this example.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

    //
    // Set GPIO A0 and A1 as UART pins.
    //
    GPIOPinConfigure(GPIO_PA3_U4TX);
    ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_3);

    //
    // Fill the TX buffer with a simple data pattern.
    //
    for(ui16Idx = 0; ui16Idx < UART_TXBUF_SIZE; ui16Idx++)
    {
        g_ui8TxBuf[ui16Idx] = ui16Idx;
    }

    //
    // Enable the UART peripheral, and configure it to operate even if the CPU
    // is in sleep.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART4);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART4);

    //
    // Configure the UART communication parameters.
    //
    ROM_UARTConfigSetExpClk(UART4_BASE, g_ui32SysClock, 115200,
                            UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
                            UART_CONFIG_PAR_NONE);

    //
    // Set both the TX and RX trigger thresholds to 4.  This will be used by
    // the uDMA controller to signal when more data should be transferred.  The
    // uDMA TX and RX channels will be configured so that it can transfer 4
    // bytes in a burst when the UART is ready to transfer more data.
    //
    ROM_UARTFIFOLevelSet(UART4_BASE, UART_FIFO_TX4_8, UART_FIFO_RX4_8);

    //
    // Enable the UART for operation, and enable the uDMA interface for both TX
    // and RX channels.
    //
    ROM_UARTEnable(UART4_BASE);
    ROM_UARTDMAEnable(UART4_BASE, UART_DMA_TX);


    //
    // Put the attributes in a known state for the uDMA UART4TX channel.  These
    // should already be disabled by default.
    //

    uDMAChannelAssign(UDMA_CH19_UART4TX);
    ROM_uDMAChannelAttributeDisable(UDMA_CH19_UART4TX,
                                    UDMA_ATTR_ALTSELECT |
                                    UDMA_ATTR_HIGH_PRIORITY |
                                    UDMA_ATTR_REQMASK);

    //
    // Set the USEBURST attribute for the uDMA UART TX channel.  This will
    // force the controller to always use a burst when transferring data from
    // the TX buffer to the UART.  This is somewhat more efficient bus usage
    // than the default which allows single or burst transfers.
    //
    ROM_uDMAChannelAttributeEnable(UDMA_CH19_UART4TX, UDMA_ATTR_USEBURST);

    //
    // Configure the control parameters for the UART TX.  The uDMA UART TX
    // channel is used to transfer a block of data from a buffer to the UART.
    // The data size is 8 bits.  The source address increment is 8-bit bytes
    // since the data is coming from a buffer.  The destination increment is
    // none since the data is to be written to the UART data register.  The
    // arbitration size is set to 4, which matches the UART TX FIFO trigger
    // threshold.
    //
    ROM_uDMAChannelControlSet(UDMA_CH19_UART4TX | UDMA_PRI_SELECT,
                              UDMA_SIZE_8 | UDMA_SRC_INC_8 |
                              UDMA_DST_INC_NONE |
                              UDMA_ARB_4);

    //
    // Set up the transfer parameters for the uDMA UART TX channel.  This will
    // configure the transfer source and destination and the transfer size.
    // Basic mode is used because the peripheral is making the uDMA transfer
    // request.  The source is the TX buffer and the destination is the UART
    // data register.
    //
    //
    ROM_uDMAChannelTransferSet(UDMA_CH19_UART4TX | UDMA_PRI_SELECT,
                               UDMA_MODE_BASIC, g_ui8TxBuf,
                               (void *)(UART4_BASE + UART_O_DR),
                               sizeof(g_ui8TxBuf));

    //
    // Now both the uDMA UART TX and RX channels are primed to start a
    // transfer.  As soon as the channels are enabled, the peripheral will
    // issue a transfer request and the data transfers will begin.
    //
    ROM_uDMAChannelEnable(UDMA_CH19_UART4TX);

    //
    // Enable the UART DMA TX/RX interrupts.
    //
    ROM_UARTIntEnable(UART4_BASE, UART_INT_DMATX);

    //
    // Enable the UART peripheral interrupts.
    //
    ROM_IntEnable(INT_UART4);
}



//*****************************************************************************
//
// Configure the UART and its pins.  This must be called before UARTprintf().
//
//*****************************************************************************
void
ConfigureUART(void)
{
    //
    // Enable the GPIO Peripheral used by the UART.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);

    //
    // Enable UART0
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UART0);

    //
    // Configure GPIO Pins for UART mode.
    //
    ROM_GPIOPinConfigure(GPIO_PA0_U0RX);
    ROM_GPIOPinConfigure(GPIO_PA1_U0TX);
    ROM_GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);

    //
    // Initialize the UART for console I/O.
    //
    UARTStdioConfig(0, 115200, g_ui32SysClock);
}

//*****************************************************************************
//
// This example demonstrates how to use the uDMA controller to transfer data
// between memory buffers and to and from a peripheral, in this case a UART.
// The uDMA controller is configured to repeatedly transfer a block of data
// from one memory buffer to another.  It is also set up to repeatedly copy a
// block of data from a buffer to the UART output.  The UART data is looped
// back so the same data is received, and the uDMA controlled is configured to
// continuously receive the UART data using ping-pong buffers.
//
// The processor is put to sleep when it is not doing anything, and this allows
// collection of CPU usage data to see how much CPU is being used while the
// data transfers are ongoing.
//
//*****************************************************************************
int
main(void)
{

    //
    // Set the clocking to run directly from the crystal at 120MHz.
    //
    g_ui32SysClock = MAP_SysCtlClockFreqSet((SYSCTL_XTAL_25MHZ |
                                             SYSCTL_OSC_MAIN |
                                             SYSCTL_USE_PLL |
                                             SYSCTL_CFG_VCO_480), 120000000);

    //
    // Enable peripherals to operate when CPU is in sleep.
    //
    ROM_SysCtlPeripheralClockGating(true);

    //
    // Enable the GPIO port that is used for the on-board LED.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPION);

    //
    // Enable the GPIO pins for the LED (PN0).
    //
    ROM_GPIOPinTypeGPIOOutput(GPIO_PORTN_BASE, GPIO_PIN_0);

    //
    // Initialize the UART.
    //
    ConfigureUART();
	UARTprintf("\033[2J\033[H");
    UARTprintf("uDMA for UART4TX Example \n");

    //
    // Enable the uDMA controller at the system level.  Enable it to continue
    // to run while the processor is in sleep.
    //
    ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_UDMA);
    ROM_SysCtlPeripheralSleepEnable(SYSCTL_PERIPH_UDMA);

    //
    // Enable the uDMA controller error interrupt.  This interrupt will occur
    // if there is a bus error during a transfer.
    //
    ROM_IntEnable(INT_UDMAERR);

    //
    // Enable the uDMA controller.
    //
    ROM_uDMAEnable();

    //
    // Point at the control table to use for channel control structures.
    //
    ROM_uDMAControlBaseSet(pui8ControlTable);


    //
    // Initialize the uDMA UART transfers.
    //
    InitUART4Transfer();

    //
    // Loop forever with the CPU not sleeping, so the debugger can connect.
    //
    while(1)
    {
			  //
        // Turn on the LED.
        //
        GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, GPIO_PIN_0);

        //
        // Delay for a bit.
        //
        SysCtlDelay(g_ui32SysClock / 20 / 3);

        //
        // Turn off the LED.
        //
        GPIOPinWrite(GPIO_PORTN_BASE, GPIO_PIN_0, 0);

        //
        // Delay for a bit.
        //
        SysCtlDelay(g_ui32SysClock / 20 / 3);
    }
}