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zephyr/drivers/dma/dma_esp32_gdma.c

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/*
* Copyright (c) 2022 Espressif Systems (Shanghai) Co., Ltd.
*
* SPDX-License-Identifier: Apache-2.0
*/
#define DT_DRV_COMPAT espressif_esp32_gdma
#include <zephyr/logging/log.h>
LOG_MODULE_REGISTER(dma_esp32_gdma, CONFIG_DMA_LOG_LEVEL);
#include <hal/gdma_hal.h>
#include <hal/gdma_ll.h>
#include <soc/gdma_channel.h>
#include <hal/dma_types.h>
#include <soc.h>
#include <esp_memory_utils.h>
#include <errno.h>
#include <zephyr/kernel.h>
#include <zephyr/drivers/dma.h>
#include <zephyr/drivers/dma/dma_esp32.h>
#include <zephyr/drivers/clock_control.h>
#ifndef CONFIG_SOC_SERIES_ESP32C3
#include <zephyr/drivers/interrupt_controller/intc_esp32.h>
#else
#include <zephyr/drivers/interrupt_controller/intc_esp32c3.h>
#endif
#ifdef CONFIG_SOC_SERIES_ESP32C3
#define ISR_HANDLER isr_handler_t
#else
#define ISR_HANDLER intr_handler_t
#endif
#define DMA_MAX_CHANNEL SOC_GDMA_PAIRS_PER_GROUP
#define ESP_DMA_M2M_ON 0
#define ESP_DMA_M2M_OFF 1
struct dma_esp32_data {
gdma_hal_context_t hal;
};
enum dma_channel_dir {
DMA_RX,
DMA_TX,
DMA_UNCONFIGURED
};
struct dma_esp32_channel {
uint8_t dir;
uint8_t channel_id;
int host_id;
int periph_id;
dma_callback_t cb;
void *user_data;
dma_descriptor_t desc;
#if defined(CONFIG_SOC_SERIES_ESP32S3)
struct intr_handle_data_t *intr_handle;
#endif
};
struct dma_esp32_config {
int *irq_src;
uint8_t irq_size;
void **irq_handlers;
uint8_t dma_channel_max;
uint8_t sram_alignment;
struct dma_esp32_channel dma_channel[DMA_MAX_CHANNEL * 2];
void (*config_irq)(const struct device *dev);
struct device *src_dev;
const struct device *clock_dev;
clock_control_subsys_t clock_subsys;
};
static void IRAM_ATTR dma_esp32_isr_handle_rx(const struct device *dev,
struct dma_esp32_channel *rx, uint32_t intr_status)
{
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
gdma_ll_rx_clear_interrupt_status(data->hal.dev, rx->channel_id, intr_status);
if (intr_status & (GDMA_LL_EVENT_RX_SUC_EOF | GDMA_LL_EVENT_RX_DONE)) {
intr_status &= ~(GDMA_LL_EVENT_RX_SUC_EOF | GDMA_LL_EVENT_RX_DONE);
}
if (rx->cb) {
rx->cb(dev, rx->user_data, rx->channel_id*2, -intr_status);
}
}
static void IRAM_ATTR dma_esp32_isr_handle_tx(const struct device *dev,
struct dma_esp32_channel *tx, uint32_t intr_status)
{
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
gdma_ll_tx_clear_interrupt_status(data->hal.dev, tx->channel_id, intr_status);
intr_status &= ~(GDMA_LL_EVENT_TX_TOTAL_EOF | GDMA_LL_EVENT_TX_DONE | GDMA_LL_EVENT_TX_EOF);
if (tx->cb) {
tx->cb(dev, tx->user_data, tx->channel_id*2 + 1, -intr_status);
}
}
static void IRAM_ATTR dma_esp32_isr_handle(const struct device *dev, uint8_t rx_id, uint8_t tx_id)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
struct dma_esp32_channel *dma_channel_rx = &config->dma_channel[rx_id];
struct dma_esp32_channel *dma_channel_tx = &config->dma_channel[tx_id];
uint32_t intr_status = 0;
intr_status = gdma_ll_rx_get_interrupt_status(data->hal.dev, dma_channel_rx->channel_id);
if (intr_status) {
dma_esp32_isr_handle_rx(dev, dma_channel_rx, intr_status);
}
intr_status = gdma_ll_tx_get_interrupt_status(data->hal.dev, dma_channel_tx->channel_id);
if (intr_status) {
dma_esp32_isr_handle_tx(dev, dma_channel_tx, intr_status);
}
}
#if defined(CONFIG_SOC_SERIES_ESP32C3)
static int dma_esp32_enable_interrupt(const struct device *dev,
struct dma_esp32_channel *dma_channel)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
return esp_intr_enable(config->irq_src[dma_channel->channel_id]);
}
static int dma_esp32_disable_interrupt(const struct device *dev,
struct dma_esp32_channel *dma_channel)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
return esp_intr_disable(config->irq_src[dma_channel->channel_id]);
}
#else
static int dma_esp32_enable_interrupt(const struct device *dev,
struct dma_esp32_channel *dma_channel)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
return esp_intr_enable(dma_channel->intr_handle);
}
static int dma_esp32_disable_interrupt(const struct device *dev,
struct dma_esp32_channel *dma_channel)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
return esp_intr_disable(dma_channel->intr_handle);
}
#endif
static int dma_esp32_config_rx_descriptor(struct dma_esp32_channel *dma_channel,
struct dma_block_config *block)
{
if (!esp_ptr_dma_capable((uint32_t *)block->dest_address)) {
LOG_ERR("Rx buffer not in DMA capable memory: %p", (uint32_t *)block->dest_address);
return -EINVAL;
}
memset(&dma_channel->desc, 0, sizeof(dma_channel->desc));
dma_channel->desc.buffer = (void *)block->dest_address;
dma_channel->desc.dw0.size = block->block_size;
dma_channel->desc.dw0.owner = DMA_DESCRIPTOR_BUFFER_OWNER_DMA;
return 0;
}
static int dma_esp32_config_rx(const struct device *dev, struct dma_esp32_channel *dma_channel,
struct dma_config *config_dma)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
struct dma_block_config *block = config_dma->head_block;
dma_channel->dir = DMA_RX;
gdma_ll_rx_reset_channel(data->hal.dev, dma_channel->channel_id);
gdma_ll_rx_connect_to_periph(
data->hal.dev, dma_channel->channel_id,
dma_channel->periph_id == SOC_GDMA_TRIG_PERIPH_M2M0 ? ESP_DMA_M2M_ON
: ESP_DMA_M2M_OFF,
dma_channel->periph_id == SOC_GDMA_TRIG_PERIPH_M2M0 ? ESP_DMA_M2M_ON
: dma_channel->periph_id);
if (config_dma->dest_burst_length) {
/*
* RX channel burst mode depends on specific data alignment
*/
gdma_ll_rx_enable_data_burst(data->hal.dev, dma_channel->channel_id,
config->sram_alignment >= 4);
gdma_ll_rx_enable_descriptor_burst(data->hal.dev, dma_channel->channel_id,
config->sram_alignment >= 4);
}
dma_channel->cb = config_dma->dma_callback;
dma_channel->user_data = config_dma->user_data;
gdma_ll_rx_clear_interrupt_status(data->hal.dev, dma_channel->channel_id, UINT32_MAX);
gdma_ll_rx_enable_interrupt(data->hal.dev, dma_channel->channel_id, UINT32_MAX,
config_dma->dma_callback != NULL);
return dma_esp32_config_rx_descriptor(dma_channel, config_dma->head_block);
}
static int dma_esp32_config_tx_descriptor(struct dma_esp32_channel *dma_channel,
struct dma_block_config *block)
{
if (!esp_ptr_dma_capable((uint32_t *)block->source_address)) {
LOG_ERR("Tx buffer not in DMA capable memory: %p",
(uint32_t *)block->source_address);
return -EINVAL;
}
memset(&dma_channel->desc, 0, sizeof(dma_channel->desc));
dma_channel->desc.buffer = (void *)block->source_address;
dma_channel->desc.dw0.size = block->block_size;
dma_channel->desc.dw0.length = block->block_size;
dma_channel->desc.dw0.suc_eof = 1;
dma_channel->desc.dw0.owner = DMA_DESCRIPTOR_BUFFER_OWNER_DMA;
return 0;
}
static int dma_esp32_config_tx(const struct device *dev, struct dma_esp32_channel *dma_channel,
struct dma_config *config_dma)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
struct dma_block_config *block = config_dma->head_block;
dma_channel->dir = DMA_TX;
gdma_ll_tx_reset_channel(data->hal.dev, dma_channel->channel_id);
gdma_ll_tx_connect_to_periph(
data->hal.dev, dma_channel->channel_id,
dma_channel->periph_id == SOC_GDMA_TRIG_PERIPH_M2M0 ? ESP_DMA_M2M_ON
: ESP_DMA_M2M_OFF,
dma_channel->periph_id == SOC_GDMA_TRIG_PERIPH_M2M0 ? ESP_DMA_M2M_ON
: dma_channel->periph_id);
/*
* TX channel can always enable burst mode, no matter data alignment
*/
if (config_dma->source_burst_length) {
gdma_ll_tx_enable_data_burst(data->hal.dev, dma_channel->channel_id, true);
gdma_ll_tx_enable_descriptor_burst(data->hal.dev, dma_channel->channel_id, true);
}
dma_channel->cb = config_dma->dma_callback;
dma_channel->user_data = config_dma->user_data;
gdma_ll_tx_clear_interrupt_status(data->hal.dev, dma_channel->channel_id, UINT32_MAX);
gdma_ll_tx_enable_interrupt(data->hal.dev, dma_channel->channel_id, GDMA_LL_EVENT_TX_EOF,
config_dma->dma_callback != NULL);
return dma_esp32_config_tx_descriptor(dma_channel, config_dma->head_block);
}
static int dma_esp32_config(const struct device *dev, uint32_t channel,
struct dma_config *config_dma)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
struct dma_esp32_channel *dma_channel = &config->dma_channel[channel];
int ret = 0;
if (channel >= config->dma_channel_max) {
LOG_ERR("Unsupported channel");
return -EINVAL;
}
if (!config_dma) {
return -EINVAL;
}
if (config_dma->source_burst_length != config_dma->dest_burst_length) {
LOG_ERR("Source and destination burst lengths must be equal");
return -EINVAL;
}
dma_channel->periph_id = config_dma->channel_direction == MEMORY_TO_MEMORY
? SOC_GDMA_TRIG_PERIPH_M2M0
: config_dma->dma_slot;
dma_channel->channel_id = channel / 2;
switch (config_dma->channel_direction) {
case MEMORY_TO_MEMORY:
/*
* Create both Tx and Rx stream on the same channel_id
*/
struct dma_esp32_channel *dma_channel_rx =
&config->dma_channel[dma_channel->channel_id * 2];
struct dma_esp32_channel *dma_channel_tx =
&config->dma_channel[(dma_channel->channel_id * 2) + 1];
dma_channel_rx->channel_id = dma_channel->channel_id;
dma_channel_tx->channel_id = dma_channel->channel_id;
dma_channel_rx->periph_id = dma_channel->periph_id;
dma_channel_tx->periph_id = dma_channel->periph_id;
ret = dma_esp32_config_rx(dev, dma_channel_rx, config_dma);
ret = dma_esp32_config_tx(dev, dma_channel_tx, config_dma);
break;
case PERIPHERAL_TO_MEMORY:
ret = dma_esp32_config_rx(dev, dma_channel, config_dma);
break;
case MEMORY_TO_PERIPHERAL:
ret = dma_esp32_config_tx(dev, dma_channel, config_dma);
break;
default:
LOG_ERR("Invalid Channel direction");
return -EINVAL;
}
return ret;
}
static int dma_esp32_start(const struct device *dev, uint32_t channel)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
struct dma_esp32_channel *dma_channel = &config->dma_channel[channel];
if (channel >= config->dma_channel_max) {
LOG_ERR("Unsupported channel");
return -EINVAL;
}
if (dma_esp32_enable_interrupt(dev, dma_channel)) {
return -EINVAL;
}
if (dma_channel->periph_id == SOC_GDMA_TRIG_PERIPH_M2M0) {
struct dma_esp32_channel *dma_channel_rx =
&config->dma_channel[dma_channel->channel_id * 2];
struct dma_esp32_channel *dma_channel_tx =
&config->dma_channel[(dma_channel->channel_id * 2) + 1];
gdma_ll_rx_set_desc_addr(data->hal.dev, dma_channel->channel_id,
(int32_t)&dma_channel_rx->desc);
gdma_ll_rx_start(data->hal.dev, dma_channel->channel_id);
gdma_ll_tx_set_desc_addr(data->hal.dev, dma_channel->channel_id,
(int32_t)&dma_channel_tx->desc);
gdma_ll_tx_start(data->hal.dev, dma_channel->channel_id);
} else {
if (dma_channel->dir == DMA_RX) {
gdma_ll_rx_set_desc_addr(data->hal.dev, dma_channel->channel_id,
(int32_t)&dma_channel->desc);
gdma_ll_rx_start(data->hal.dev, dma_channel->channel_id);
} else if (dma_channel->dir == DMA_TX) {
gdma_ll_tx_set_desc_addr(data->hal.dev, dma_channel->channel_id,
(int32_t)&dma_channel->desc);
gdma_ll_tx_start(data->hal.dev, dma_channel->channel_id);
} else {
LOG_ERR("Channel %d is not configured", channel);
return -EINVAL;
}
}
return 0;
}
static int dma_esp32_stop(const struct device *dev, uint32_t channel)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
struct dma_esp32_channel *dma_channel = &config->dma_channel[channel];
if (channel >= config->dma_channel_max) {
LOG_ERR("Unsupported channel");
return -EINVAL;
}
if (dma_esp32_disable_interrupt(dev, dma_channel)) {
return -EINVAL;
}
if (dma_channel->periph_id == SOC_GDMA_TRIG_PERIPH_M2M0) {
gdma_ll_rx_stop(data->hal.dev, dma_channel->channel_id);
gdma_ll_tx_stop(data->hal.dev, dma_channel->channel_id);
}
if (dma_channel->dir == DMA_RX) {
gdma_ll_rx_stop(data->hal.dev, dma_channel->channel_id);
} else if (dma_channel->dir == DMA_TX) {
gdma_ll_tx_stop(data->hal.dev, dma_channel->channel_id);
}
return 0;
}
static int dma_esp32_get_status(const struct device *dev, uint32_t channel,
struct dma_status *status)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
struct dma_esp32_channel *dma_channel = &config->dma_channel[channel];
if (channel >= config->dma_channel_max) {
LOG_ERR("Unsupported channel");
return -EINVAL;
}
if (!status) {
return -EINVAL;
}
if (dma_channel->dir == DMA_RX) {
status->busy = !gdma_ll_rx_is_fsm_idle(data->hal.dev, dma_channel->channel_id);
status->dir = PERIPHERAL_TO_MEMORY;
status->read_position = dma_channel->desc.dw0.length;
} else if (dma_channel->dir == DMA_TX) {
status->busy = !gdma_ll_tx_is_fsm_idle(data->hal.dev, dma_channel->channel_id);
status->dir = MEMORY_TO_PERIPHERAL;
status->write_position = dma_channel->desc.dw0.length;
status->total_copied = dma_channel->desc.dw0.length;
status->pending_length = dma_channel->desc.dw0.size - dma_channel->desc.dw0.length;
}
return 0;
}
static int dma_esp32_reload(const struct device *dev, uint32_t channel, uint32_t src, uint32_t dst,
size_t size)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *const)(dev)->data;
struct dma_esp32_channel *dma_channel = &config->dma_channel[channel];
struct dma_block_config block = {0};
int err = 0;
if (channel >= config->dma_channel_max) {
LOG_ERR("Unsupported channel");
return -EINVAL;
}
if (dma_channel->dir == DMA_RX) {
gdma_ll_rx_reset_channel(data->hal.dev, dma_channel->channel_id);
block.block_size = size;
block.dest_address = dst;
err = dma_esp32_config_rx_descriptor(dma_channel, &block);
if (err) {
LOG_ERR("Error reloading RX channel (%d)", err);
return err;
}
} else if (dma_channel->dir == DMA_TX) {
gdma_ll_tx_reset_channel(data->hal.dev, dma_channel->channel_id);
block.block_size = size;
block.source_address = src;
err = dma_esp32_config_tx_descriptor(dma_channel, &block);
if (err) {
LOG_ERR("Error reloading TX channel (%d)", err);
return err;
}
}
return 0;
}
#if defined(CONFIG_SOC_SERIES_ESP32C3)
static int dma_esp32_configure_irq(const struct device *dev)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
for (uint8_t i = 0; i < config->irq_size; i++) {
int ret = esp_intr_alloc(config->irq_src[i],
0,
(ISR_HANDLER)config->irq_handlers[i],
(void *)dev,
NULL);
if (ret != 0) {
LOG_ERR("Could not allocate interrupt handler");
return ret;
}
}
return 0;
}
#else
static int dma_esp32_configure_irq(const struct device *dev)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *)dev->data;
struct dma_esp32_channel *dma_channel;
for (uint8_t i = 0; i < config->irq_size; i++) {
dma_channel = &config->dma_channel[i];
int ret = esp_intr_alloc(config->irq_src[i],
0,
(ISR_HANDLER)config->irq_handlers[i / 2],
(void *)dev,
&dma_channel->intr_handle);
if (ret != 0) {
LOG_ERR("Could not allocate interrupt handler");
return ret;
}
}
return 0;
}
#endif
static int dma_esp32_init(const struct device *dev)
{
struct dma_esp32_config *config = (struct dma_esp32_config *)dev->config;
struct dma_esp32_data *data = (struct dma_esp32_data *)dev->data;
struct dma_esp32_channel *dma_channel;
int ret = 0;
if (!device_is_ready(config->clock_dev)) {
LOG_ERR("clock control device not ready");
return -ENODEV;
}
ret = clock_control_on(config->clock_dev, config->clock_subsys);
if (ret < 0) {
LOG_ERR("Could not initialize clock (%d)", ret);
return ret;
}
ret = dma_esp32_configure_irq(dev);
if (ret < 0) {
LOG_ERR("Could not configure IRQ (%d)", ret);
return ret;
}
for (uint8_t i = 0; i < DMA_MAX_CHANNEL * 2; i++) {
dma_channel = &config->dma_channel[i];
dma_channel->cb = NULL;
dma_channel->dir = DMA_UNCONFIGURED;
dma_channel->periph_id = ESP_GDMA_TRIG_PERIPH_INVALID;
memset(&dma_channel->desc, 0, sizeof(dma_descriptor_t));
}
gdma_hal_init(&data->hal, 0);
gdma_ll_enable_clock(data->hal.dev, true);
return 0;
}
static const struct dma_driver_api dma_esp32_api = {
.config = dma_esp32_config,
.start = dma_esp32_start,
.stop = dma_esp32_stop,
.get_status = dma_esp32_get_status,
.reload = dma_esp32_reload,
};
#define DMA_ESP32_DEFINE_IRQ_HANDLER(channel) \
__attribute__((unused)) static void IRAM_ATTR dma_esp32_isr_##channel( \
const struct device *dev) \
{ \
dma_esp32_isr_handle(dev, channel * 2, channel * 2 + 1); \
}
#define ESP32_DMA_HANDLER(channel) dma_esp32_isr_##channel
DMA_ESP32_DEFINE_IRQ_HANDLER(0)
DMA_ESP32_DEFINE_IRQ_HANDLER(1)
DMA_ESP32_DEFINE_IRQ_HANDLER(2)
#if DMA_MAX_CHANNEL >= 5
DMA_ESP32_DEFINE_IRQ_HANDLER(3)
DMA_ESP32_DEFINE_IRQ_HANDLER(4)
#endif
static void *irq_handlers[] = {
ESP32_DMA_HANDLER(0),
ESP32_DMA_HANDLER(1),
ESP32_DMA_HANDLER(2),
#if DMA_MAX_CHANNEL >= 5
ESP32_DMA_HANDLER(3),
ESP32_DMA_HANDLER(4),
#endif
};
#define DMA_ESP32_INIT(idx) \
static int irq_numbers[] = DT_INST_PROP(idx, interrupts); \
static struct dma_esp32_config dma_config_##idx = { \
.irq_src = irq_numbers, \
.irq_size = ARRAY_SIZE(irq_numbers), \
.irq_handlers = irq_handlers, \
.dma_channel_max = DT_INST_PROP(idx, dma_channels), \
.sram_alignment = DT_INST_PROP(idx, dma_buf_addr_alignment), \
.clock_dev = DEVICE_DT_GET(DT_INST_CLOCKS_CTLR(idx)), \
.clock_subsys = (void *)DT_INST_CLOCKS_CELL(idx, offset), \
}; \
static struct dma_esp32_data dma_data_##idx = { \
.hal = \
{ \
.dev = (gdma_dev_t *)DT_INST_REG_ADDR(idx), \
}, \
}; \
\
DEVICE_DT_INST_DEFINE(idx, &dma_esp32_init, NULL, &dma_data_##idx, &dma_config_##idx, \
PRE_KERNEL_1, CONFIG_DMA_INIT_PRIORITY, &dma_esp32_api);
DT_INST_FOREACH_STATUS_OKAY(DMA_ESP32_INIT)
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