[sam] Add SAMx7x DMA + DAC

README.md

@@ -81,9 +81,9 @@ git clone --recurse-submodules --jobs 8 https://github.com/modm-io/modm.git
 
 ## Microcontrollers
 
-modm can create a HAL for <!--allcount-->3607<!--/allcount--> devices of these vendors:
+modm can create a HAL for <!--allcount-->3628<!--/allcount--> devices of these vendors:
 
-- STMicroelectronics STM32: <!--stmcount-->2802<!--/stmcount--> devices.
+- STMicroelectronics STM32: <!--stmcount-->2823<!--/stmcount--> devices.
 - Microchip SAM: <!--samcount-->416<!--/samcount--> devices.
 - Microchip AVR: <!--avrcount-->388<!--/avrcount--> devices.
 - Raspberry Pi: <!--rpicount-->1<!--/rpicount--> device.
@@ -221,7 +221,7 @@ Please [discover modm's peripheral drivers for your specific device][discover].
 <td align="center">✅</td>
 <td align="center">○</td>
 <td align="center">○</td>
-<td align="center">○</td>
+<td align="center">✅</td>
 <td align="center">✕</td>
 <td align="center">✕</td>
 <td align="center">✕</td>
@@ -245,7 +245,7 @@ Please [discover modm's peripheral drivers for your specific device][discover].
 <td align="center">○</td>
 <td align="center">○</td>
 <td align="center">○</td>
-<td align="center">○</td>
+<td align="center">✅</td>
 <td align="center">✕</td>
 <td align="center">✅</td>
 <td align="center">✕</td>

examples/samv71_xplained_ultra/dac/main.cpp

@@ -0,0 +1,50 @@
+/*
+ * Copyright (c) 2023, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+using namespace Board;
+
+/**
+ * Simple DAC example
+ *
+ * Output sawtooth waveform in free-running mode.
+ *
+ * See DMA examples for use of DAC with DMA.
+ */
+
+using Out0 = GpioB13;
+
+void waitForTxReady()
+{
+	while (!(Dac::readInterruptFlags() & Dac::Interrupt::TxReadyCh0));
+}
+
+int main()
+{
+	Board::initialize();
+
+	Dac::connect<Out0::Ch0>();
+	Dac::initialize<SystemClock, 12_MHz>();
+
+	Dac::enableChannel(Dac::Channel::Channel0);
+
+	while (true)
+	{
+		for (int i = 0; i <= 4095; ++i)
+		{
+			waitForTxReady();
+			Dac::setOutput0(i);
+		}
+	}
+
+	return 0;
+}

examples/samv71_xplained_ultra/dac/project.xml

@@ -0,0 +1,10 @@
+<library>
+  <extends>modm:samv71-xplained-ultra</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/samv71_xplained_ultra/dac</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:dac</module>
+  </modules>
+</library>

examples/samv71_xplained_ultra/dma/block_transfer/main.cpp

@@ -0,0 +1,109 @@
+/*
+ * Copyright (c) 2023, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <cmath>
+#include <numbers>
+
+using namespace Board;
+
+/*
+ * DMA block transfer example
+ *
+ * Output sine signal on DAC output 0
+ */
+
+constexpr auto computeSinTable(float frequency = 1.f)
+{
+	std::array<uint16_t, 50> data{};
+	constexpr auto HalfOutput = Dac::MaxOutput / 2.f;
+	for (size_t i = 0; i < data.size(); ++i) {
+		constexpr auto pi = std::numbers::pi_v<float>;
+		data[i] = HalfOutput * (1 + sin(i * (2 * pi * frequency / data.size())));
+	}
+	return data;
+}
+
+constexpr std::array<uint16_t, 50> sinTable = computeSinTable(1.0f);
+
+using Out0 = GpioB13;
+
+void initializeDac()
+{
+	Dac::connect<Out0::Ch0>();
+	Dac::initialize<SystemClock, 12_MHz>();
+
+	// Max speed mode: DAC runs at DAC clock / 12 and triggers DMA
+	Dac::setChannelMode(Dac::Channel::Channel0, Dac::Mode::MaxSpeed);
+
+	Dac::enableChannel(Dac::Channel::Channel0);
+}
+
+BlockTransfer prepareTransfer()
+{
+	BlockTransfer transfer;
+	transfer.setSourceAddress(sinTable.data());
+	transfer.setDestinationAddress(Dac::channel0DataRegister());
+	transfer.setDataLength(sinTable.size());
+
+	Dma::ChannelConfig_t config;
+	Dma::TransferType_t::set(config, Dma::TransferType::Peripheral);
+	Dma::PeripheralDirection_t::set(config, Dma::PeripheralDirection::MemoryToPeripheral);
+	// 16 bit data size
+	Dma::DataWidth_t::set(config, Dma::DataWidth::HalfWord);
+	// const data in flash, flash is connected to DMA AHB interface 1
+	Dma::SourceBusInterface_t::set(config, Dma::BusInterface::Bus1);
+	// peripherals are connected to DMA AHB interface 1
+	Dma::DestinationBusInterface_t::set(config, Dma::BusInterface::Bus1);
+	// Auto-increment source address after each sample
+	Dma::SourceAddressingMode_t::set(config, Dma::AddressingMode::Incrementing);
+	// Transfer is triggered by DAC channel 0 request
+	Dma::DmaRequest_t::set(config, DmaRequests::Dacc::Ch0Tx);
+	transfer.setConfiguration(config);
+
+	return transfer;
+}
+
+DmaChannel channel = Dma::channel(0);
+const auto transfer = prepareTransfer();
+
+int main()
+{
+	Board::initialize();
+	initializeDac();
+
+	Dma::initialize();
+	const int priority = 5;
+	Dma::enableInterruptVector(priority);
+
+	channel.enableInterrupts();
+	channel.enableInterruptFlag(DmaChannel::Interrupt::EndOfBlock);
+
+	channel.setInterruptHandler([](auto flags) {
+		if (flags & DmaChannel::Interrupt::EndOfBlock) {
+			// transfer completed, restart
+			channel.startTransfer(transfer);
+		}
+	});
+
+	channel.startTransfer(transfer);
+
+	while (true)
+	{
+		Led0::toggle();
+		Led1::toggle();
+		modm::delay(500ms);
+
+		MODM_LOG_INFO << "ping" << modm::endl;
+	}
+
+	return 0;
+}

examples/samv71_xplained_ultra/dma/block_transfer/project.xml

@@ -0,0 +1,11 @@
+<library>
+  <extends>modm:samv71-xplained-ultra</extends>
+  <options>
+    <option name="modm:build:build.path">../../../../build/samv71_xplained_ultra/dma_block_transfer</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:dac</module>
+    <module>modm:platform:dma</module>
+  </modules>
+</library>

examples/samv71_xplained_ultra/dma/linked_list_transfer/main.cpp

@@ -0,0 +1,118 @@
+/*
+ * Copyright (c) 2023, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+#include <cmath>
+#include <numbers>
+
+using namespace Board;
+
+/*
+ * DMA linked list transfer example
+ *
+ * Output two alternating signals on DAC output 0
+ */
+
+constexpr auto computeSinTable(float frequency = 1.f)
+{
+	std::array<uint16_t, 50> data{};
+	constexpr auto HalfOutput = Dac::MaxOutput / 2.f;
+	for (size_t i = 0; i < data.size(); ++i) {
+		constexpr auto pi = std::numbers::pi_v<float>;
+		data[i] = HalfOutput * (1 + sin(i * (2 * pi * frequency / data.size())));
+	}
+	return data;
+}
+
+constexpr std::array<uint16_t, 50> signal0 = computeSinTable(1.0f);
+constexpr std::array<uint16_t, 50> signal1 = computeSinTable(2.0f);
+
+using Out0 = GpioB13;
+
+void initializeDac()
+{
+	Dac::connect<Out0::Ch0>();
+	Dac::initialize<SystemClock, 12_MHz>();
+
+	// Max speed mode: DAC runs at DAC clock / 12 and triggers DMA
+	Dac::setChannelMode(Dac::Channel::Channel0, Dac::Mode::MaxSpeed);
+
+	Dac::enableChannel(Dac::Channel::Channel0);
+}
+
+using ListTransfer = LinkedListTransfer<Dma::View2, Dma::View0Src>;
+
+ListTransfer prepareTransfer()
+{
+	ListTransfer transfer;
+
+	// Transfer configuration, set by first descriptor.
+	// It is not overwritten by the second View0 descriptor.
+	Dma::ChannelConfig_t config;
+	Dma::TransferType_t::set(config, Dma::TransferType::Peripheral);
+	Dma::PeripheralDirection_t::set(config, Dma::PeripheralDirection::MemoryToPeripheral);
+	// 16 bit data size
+	Dma::DataWidth_t::set(config, Dma::DataWidth::HalfWord);
+	// const data in flash, flash is connected to DMA AHB interface 1
+	Dma::SourceBusInterface_t::set(config, Dma::BusInterface::Bus1);
+	// peripherals are connected to DMA AHB interface 1
+	Dma::DestinationBusInterface_t::set(config, Dma::BusInterface::Bus1);
+	// Auto-increment source address after each sample
+	Dma::SourceAddressingMode_t::set(config, Dma::AddressingMode::Incrementing);
+	// Transfer is triggered by DAC channel 0 request
+	Dma::DmaRequest_t::set(config, DmaRequests::Dacc::Ch0Tx);
+
+	auto [d0, d1] = transfer.descriptors();
+
+	// Configure first descriptor (type 2)
+	// Set: configuration, source, destination, size
+	d0.setConfiguration(config);
+	d0.setSourceAddress(signal0.data());
+	d0.setDestinationAddress(Dac::channel0DataRegister());
+	d0.setDataLength(signal0.size());
+
+	// Configure first descriptor (type 0)
+	// Update source and size, other parameters remain unchanged
+	d1.setSourceAddress(signal1.data());
+	d1.setDataLength(signal1.size());
+
+	// Circular mode
+	// After the second transfer has finished, the sequence automatically starts
+	// again with the first descriptor.
+	transfer.setCircularMode(true);
+
+	return transfer;
+}
+
+DmaChannel channel = Dma::channel(0);
+// Transfer object must remain valid while transfer is active
+auto transfer = prepareTransfer();
+
+int main()
+{
+	Board::initialize();
+	initializeDac();
+
+	Dma::initialize();
+
+	channel.startTransfer(transfer);
+
+	while (true)
+	{
+		Led0::toggle();
+		Led1::toggle();
+		modm::delay(500ms);
+
+		MODM_LOG_INFO << "ping" << modm::endl;
+	}
+
+	return 0;
+}

examples/samv71_xplained_ultra/dma/linked_list_transfer/project.xml

@@ -0,0 +1,11 @@
+<library>
+  <extends>modm:samv71-xplained-ultra</extends>
+  <options>
+    <option name="modm:build:build.path">../../../../build/samv71_xplained_ultra/dma_linked_list_transfer</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:dac</module>
+    <module>modm:platform:dma</module>
+  </modules>
+</library>

src/modm/architecture/interface/register.hpp

@@ -17,6 +17,7 @@
 #include <stdint.h>
 #include <modm/math/utils/bit_constants.hpp>
 #include <modm/architecture/detect.hpp>
+#include <modm/architecture/utils.hpp>
 #if MODM_HAS_IOSTREAM
 #include <modm/io/iostream.hpp>
 #endif

src/modm/board/samv71_xplained_ultra/board.hpp

@@ -32,6 +32,7 @@ struct SystemClock
 	static constexpr uint32_t Usart1 = Mck;
 	static constexpr uint32_t Spi0 = Mck;
 	static constexpr uint32_t Twihs0 = Mck;
+	static constexpr uint32_t Dacc = Mck;
 //	static constexpr uint32_t Usb = 48_MHz;
 
 	static bool inline