DRA787: Does the UART driver support DMA mode

/*
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/**
 *  \file  uart_test.c
 *
 *  \brief  Example application main file. This application will demonstrate
 *          UART RTOS driver for interrupt mode.
 *   This file performs as mentioned below:
 *
 *      1. Configure UART using structure UART_Params where user can configure
 *         readmode writemode etc. different parameters.
 *      2. First call UART_init()
 *      3. Call UART_open with UART_Params structure to get UART instance handle.
 *      4. Then user is expected to input some data(can be upto max 1000 chars)
 *         and it is printed back on console using UART RTOS API's
 *         UART_read() and UART_write() respectively.
 *   Note
 *      1. The sample application is written for TDAXX EVM, DRA75X EVM and AM57XX.
 *      2. The UART instance used is UART1 for TDA2XX,AM57XX,DRA75X and
 *         UART3 for TDA3XX,DRA78X
 *
**/

/* ========================================================================== */
/*                             Include Files                                  */
/* ========================================================================== */
/* XDCtools Header files */
#include <xdc/std.h>
#include <xdc/cfg/global.h>
#include <xdc/runtime/Error.h>
#include <xdc/runtime/System.h>

/* BIOS Header files */
#include <ti/sysbios/BIOS.h>
#include <ti/sysbios/knl/Task.h>

#include "stdio.h"
#include "stdint.h"
#include "stdlib.h"
#include "string.h"

/* UART Header files */
#include <ti/drv/uart/UART.h>
#include <ti/drv/uart/src/UART_osal.h>
#include <ti/drv/uart/soc/UART_soc.h>
#include <ti/csl/hw_types.h>
#include <ti/csl/soc.h>
#include "protocol/dsp2mcu.h"

#define UART_DMA_MODE
#ifdef UART_DMA_MODE
#include <ti/sdo/edma3/drv/edma3_drv.h>
#include <ti/sdo/edma3/rm/edma3_rm.h>
#include <ti/sdo/edma3/rm/sample/bios6_edma3_rm_sample.h>

static EDMA3_RM_Handle UartApp_edmaInit(void);

extern EDMA3_RM_InstanceInitConfig sampleInstInitConfig[][EDMA3_MAX_REGIONS];
extern EDMA3_RM_GblConfigParams sampleEdma3GblCfgParams[];
#endif

#if 1
#pragma DATA_ALIGN (buffPointer, 128)
char buffPointer[1024];
#else
char buffPointer[1024] __attribute__ ((aligned (128)));
#endif


/* ========================================================================== */
/*                           Macros & Typedefs                                */
/* ========================================================================== */
#define UART_INSTANCE 1

/* ========================================================================== */
/*                          Internal Function Declarations                    */
/* ========================================================================== */
/* None */

/* ========================================================================== */
/*                            Global Variables                                */
/* ========================================================================== */
UART_Handle uart_handle;

/* UART parameters structure polled mode*/
const UART_Params user_params = {
    UART_MODE_BLOCKING,     /* readMode */
    UART_MODE_BLOCKING,     /* writeMode */
    SemaphoreP_WAIT_FOREVER,                     /* readTimeout */
    SemaphoreP_WAIT_FOREVER,                     /* writeTimeout */
    NULL,                  /* readCallback */
    NULL,                 /* writeCallback */
    UART_RETURN_FULL,  /* readReturnMode */
    UART_DATA_BINARY,       /* readDataMode */
    UART_DATA_BINARY,       /* writeDataMode */
    UART_ECHO_OFF,         /* readEcho */
    460800,               /* baudRate */
    UART_LEN_8,           /* dataLength */
    UART_STOP_ONE,        /* stopBits */
    UART_PAR_NONE,         /* parityType */
	NULL,				   /* readCallback2 */
	NULL				  /* writeCallback2 */
};

/* ========================================================================== */
/*                          Function Definitions                              */
/* ========================================================================== */
extern UInt32 ParseRxHead(UInt32* pHeader);

void UART2PadConfig()
{
	HW_WR_REG32(SOC_CORE_PAD_IO_REGISTERS_BASE+CTRL_CORE_PAD_IO_UART2_RXD,0x00040000);
    HW_WR_REG32(SOC_CORE_PAD_IO_REGISTERS_BASE+CTRL_CORE_PAD_IO_UART2_TXD,0x00000000);
    //HW_WR_REG32(SOC_CORE_PAD_IO_REGISTERS_BASE+CTRL_CORE_PAD_IO_UART2_CTSN,0x00060000);
    //HW_WR_REG32(SOC_CORE_PAD_IO_REGISTERS_BASE+CTRL_CORE_PAD_IO_UART2_RTSN,0x00060000);
	
	CSL_xbarIrqConfigure(CSL_XBAR_IRQ_CPU_ID_IPU1, CSL_XBAR_INST_IPU1_IRQ_43, CSL_XBAR_UART2_IRQ);
}

EDMA3_RM_Handle gEdmaHandle = NULL;

static EDMA3_RM_Handle UartApp_edmaInit(void)
{
    EDMA3_DRV_Result edmaResult = EDMA3_DRV_E_INVALID_PARAM;
    uint32_t edma3Id;

    if (gEdmaHandle != NULL)
    {
        return(gEdmaHandle);
    }

    edma3Id = 0;
    gEdmaHandle = (EDMA3_RM_Handle)edma3init(edma3Id, &edmaResult);
    if (edmaResult != EDMA3_DRV_SOK)
    {
        /* Report EDMA Error */
        System_printf("\nEDMA driver initialization FAIL\n");
    }
    else
    {
        System_printf("\nEDMA driver initialization PASS.\n");
    }
    return(gEdmaHandle);
}

static void UART_initConfig(bool dmaMode)
{
    UART_HwAttrs uart_cfg;

    /* Get the default UART init configurations */
    UART_socGetInitCfg(UART_INSTANCE, &uart_cfg);
    {
        uart_cfg.edmaHandle = UartApp_edmaInit();
        uart_cfg.dmaMode    = true;
		uart_cfg.txDmaEventNumber = 50;
		uart_cfg.rxDmaEventNumber = 51;
    }

    UART_socSetInitCfg(UART_INSTANCE, &uart_cfg);
}

void EcarxDSP2MCUUartComm_Task(UArg arg0, UArg arg1)
{
    UART_Params      params;
    int32_t count;
	int32_t fori;

    UART2PadConfig();

    UART_init();
#ifdef UART_DMA_MODE
	UART_initConfig(true);
#endif
    params = user_params;
    uart_handle = UART_open(UART_INSTANCE, &params);

	ecarx_GPIO_init();
	DSPInited();

    while(1)
    {  
#ifdef UART_DMA_MODE
		//CacheP_wbInv((void*)buffPointer, 4, (unsigned short)Cache_Type_ALL, true);
		CacheP_wbInv((void*)buffPointer, 4);//, (unsigned short)Cache_Type_ALL, true);
#endif
        count = UART_read(uart_handle,buffPointer,4);

		if(count == 4)
		{
			ParseRxHead((UInt32*)buffPointer);
		}
    }
}

void EcarxDSP2MCUUartComm_SendBuf(UInt8* pBuf, UInt32 pLen)
{
	UART_write(uart_handle,pBuf,pLen);
}

void EcarxDSP2MCUUartComm_RecvBuf(UInt8* pBuf, UInt32 pLen)
{
#ifdef UART_DMA_MODE
	//CacheP_wbInv((void *)pBuf, pLen, (unsigned short)Cache_Type_ALL, true);
	CacheP_wbInv((void *)pBuf, pLen);//, (unsigned short)Cache_Type_ALL, true);
#endif
	UART_read(uart_handle,pBuf,pLen);
}


int EcarxDSP2MCUUartCommInit(void)
{
    Task_Handle task;
    Error_Block eb;
	Task_Params taskParams;

    Error_init(&eb);

	Task_Params_init (&taskParams);
	taskParams.instance->name = "DSP2MCU_Comm_uart";
	taskParams.arg0 = (UArg) NULL;
	taskParams.arg1 = (UArg) NULL;
	taskParams.stackSize = 0x4000;
	taskParams.priority = 1;

	task = Task_create (EcarxDSP2MCUUartComm_Task, &taskParams, &eb);

    if (task == NULL) {
        printf("EcarxStartDSP2MCUUartComm create failed!\n");
    }
	else
	{
        printf("EcarxStartDSP2MCUUartComm create success!\n");
	}
    return (0);
}
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