[Horus / Taranis] S.PORT telemetry now uses the DMA. I think the buffer could be reduced, 512bytes seems really big

radio/src/definitions.h

@@ -0,0 +1,50 @@
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef _DEFINITIONS_H_
+#define _DEFINITIONS_H_
+
+#if defined(SIMU)
+  #define __ALIGNED
+#else
+  #define __ALIGNED __attribute__((aligned(32)))
+#endif
+
+#if defined(SIMU)
+  #define __DMA
+#elif defined(STM32F4) && !defined(BOOT)
+  #define __DMA __attribute__((section(".ram"), aligned(32)))
+#else
+  #define __DMA __ALIGNED
+#endif
+
+#if defined(PCBHORUS) && !defined(SIMU)
+  #define __SDRAM __attribute__((section(".sdram"), aligned(32)))
+#else
+  #define __SDRAM __DMA
+#endif
+
+#if defined(SIMU) || defined(CPUARM) || GCC_VERSION < 472
+  typedef int32_t int24_t;
+#else
+  typedef __int24 int24_t;
+#endif
+
+#endif // _DEFINITIONS_H_

radio/src/dmafifo.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#ifndef _DMA_FIFO_H_
+#define _DMA_FIFO_H_
+
+#include "definitions.h"
+
+template <int N>
+class DMAFifo
+{
+  public:
+    DMAFifo(DMA_Stream_TypeDef * stream):
+      stream(stream),
+      ridx(0)
+    {
+    }
+
+    void clear()
+    {
+      ridx = 0;
+    }
+
+    uint32_t size()
+    {
+      return N;
+    }
+
+    bool isEmpty()
+    {
+      return (ridx == N - stream->NDTR);
+    }
+
+    bool pop(uint8_t & element)
+    {
+      if (isEmpty()) {
+        return false;
+      }
+      else {
+        element = fifo[ridx];
+        ridx = (ridx+1) & (N-1);
+        return true;
+      }
+    }
+
+    uint8_t * buffer()
+    {
+      return fifo;
+    }
+
+  protected:
+    uint8_t fifo[N];
+    DMA_Stream_TypeDef * stream;
+    volatile uint32_t ridx;
+};
+
+#endif // _DMA_FIFO_H_

radio/src/fifo.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -36,7 +36,8 @@ class Fifo
       widx = ridx = 0;
     }
 
-    void push(T element) {
+    void push(T element)
+    {
       uint32_t next = (widx+1) & (N-1);
       if (next != ridx) {
         fifo[widx] = element;
@@ -44,7 +45,8 @@ class Fifo
       }
     }
 
-    bool pop(T & element) {
+    bool pop(T & element)
+    {
       if (isEmpty()) {
         return false;
       }
@@ -55,16 +57,19 @@ class Fifo
       }
     }
 
-    bool isEmpty() {
+    bool isEmpty()
+    {
       return (ridx == widx);
     }
 
-    bool isFull() {
+    bool isFull()
+    {
       uint32_t next = (widx+1) & (N-1);
       return (next == ridx);
     }
 
-    void flush() {
+    void flush()
+    {
       while (!isEmpty()) {};
     }
 

radio/src/opentx.h

@@ -25,6 +25,7 @@
 #include <string.h>
 #include <stddef.h>
 #include <stdlib.h>
+#include "definitions.h"
 
 #if defined(SIMU)
   #define SWITCH_SIMU(a, b)  (a)
@@ -203,32 +204,6 @@
   #define ROTARY_ENCODER_NAVIGATION
 #endif
 
-#if defined(SIMU)
-  #define __ALIGNED
-#else
-  #define __ALIGNED __attribute__((aligned(32)))
-#endif
-
-#if defined(SIMU)
-  #define __DMA
-#elif defined(STM32F4) && !defined(BOOT)
-  #define __DMA __attribute__((section(".ram"), aligned(32)))
-#else
-  #define __DMA __ALIGNED
-#endif
-
-#if defined(PCBHORUS) && !defined(SIMU)
-  #define __SDRAM __attribute__((section(".sdram"), aligned(32)))
-#else
-  #define __SDRAM __DMA
-#endif
-
-#if defined(SIMU) || defined(CPUARM) || GCC_VERSION < 472
-  typedef int32_t int24_t;
-#else
-  typedef __int24 int24_t;
-#endif
-
 #if defined(FAI)
   #define IS_FAI_ENABLED() true
   #define IF_FAI_CHOICE(x)

radio/src/sbus.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -33,7 +33,6 @@
 
 #define SBUS_CH_CENTER        0x3E0
 
-Fifo<uint8_t, 32> sbusFifo;
 uint8_t SbusFrame[SBUS_MAX_FRAME_SIZE];
 uint16_t SbusTimer ;
 uint8_t SbusIndex = 0 ;
@@ -76,7 +75,7 @@ void processSbusInput()
 {
   uint8_t rxchar;
   uint32_t active = 0;
-  while (sbusFifo.pop(rxchar)) {
+  while (sbusGetByte(&rxchar)) {
     active = 1;
     SbusFrame[SbusIndex++] = rxchar;
     if (SbusIndex > SBUS_MAX_FRAME_SIZE-1) {

radio/src/targets/horus/board_horus.h

@@ -308,6 +308,7 @@ int32_t getVolume(void);
 void telemetryPortInit(uint32_t baudrate);
 void telemetryPortSetDirectionOutput(void);
 void sportSendBuffer(uint8_t * buffer, uint32_t count);
+int telemetryGetByte(uint8_t * byte);
 
 // Haptic driver
 void hapticInit(void);
@@ -318,12 +319,14 @@ void hapticOn(uint32_t pwmPercent);
 
 // Second serial port driver
 #define DEBUG_BAUDRATE                 115200
+extern uint8_t serial2Mode;
 void serial2Init(unsigned int mode, unsigned int protocol);
 void serial2Putc(char c);
 #define serial2TelemetryInit(protocol) serial2Init(UART_MODE_TELEMETRY, protocol)
 void serial2SbusInit(void);
 void serial2Stop(void);
 #define USART_FLAG_ERRORS              (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
+int sbusGetByte(uint8_t * byte);
 
 #if defined(USB_JOYSTICK) && !defined(SIMU)
 void usbJoystickUpdate(void);
@@ -332,4 +335,12 @@ void usbJoystickUpdate(void);
 extern uint8_t currentTrainerMode;
 void checkTrainerSettings(void);
 
+#if defined(__cplusplus)
+#include "fifo.h"
+#include "dmafifo.h"
+extern DMAFifo<512> telemetryFifo;
+extern DMAFifo<32> serial2RxFifo;
+extern Fifo<uint8_t, 32> sbusFifo;
+#endif
+
 #endif // _BOARD_HORUS_H_

radio/src/targets/horus/hal.h

@@ -151,9 +151,11 @@
 #define SERIAL_USART                    USART3
 #define SERIAL_USART_IRQHandler         USART3_IRQHandler
 #define SERIAL_USART_IRQn               USART3_IRQn
+#define SERIAL_DMA_Stream_RX            DMA1_Stream1
+#define SERIAL_DMA_Channel_RX           DMA_Channel_4
 
 // Telemetry
-#define TELEMETRY_RCC_AHB1Periph        RCC_AHB1Periph_GPIOD
+#define TELEMETRY_RCC_AHB1Periph        (RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_DMA1)
 #define TELEMETRY_RCC_APB1Periph        RCC_APB1Periph_USART2
 #define TELEMETRY_GPIO_DIR              GPIOD
 #define TELEMETRY_DIR_GPIO_PIN          GPIO_Pin_4  // PD.04
@@ -164,8 +166,13 @@
 #define TELEMETRY_GPIO_PinSource_RX     GPIO_PinSource6
 #define TELEMETRY_GPIO_AF               GPIO_AF_USART2
 #define TELEMETRY_USART                 USART2
-#define TELEMETRY_USART_IRQHandler      USART2_IRQHandler
-#define TELEMETRY_USART_IRQn            USART2_IRQn
+#define TELEMETRY_DMA_Stream_RX         DMA1_Stream5
+#define TELEMETRY_DMA_Channel_RX        DMA_Channel_4
+#define TELEMETRY_DMA_Stream_TX         DMA1_Stream6
+#define TELEMETRY_DMA_Channel_TX        DMA_Channel_4
+#define TELEMETRY_DMA_TX_Stream_IRQ     DMA1_Stream6_IRQn
+#define TELEMETRY_DMA_TX_IRQHandler     DMA1_Stream6_IRQHandler
+#define TELEMETRY_DMA_TX_FLAG_TC        DMA_IT_TCIF6
 
 // Heartbeat
 #define HEARTBEAT_RCC_AHB1Periph        RCC_AHB1Periph_GPIOD

radio/src/targets/horus/serial2_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -22,10 +22,9 @@
 
 uint8_t serial2Mode = 0;
 Fifo<uint8_t, 512> serial2TxFifo;
-extern Fifo<uint8_t, 512> telemetryFifo;
-extern Fifo<uint8_t, 32> sbusFifo;
+DMAFifo<32> serial2RxFifo __DMA (SERIAL_DMA_Stream_RX);
 
-void uart3Setup(unsigned int baudrate)
+void uart3Setup(unsigned int baudrate, bool dma)
 {
   USART_InitTypeDef USART_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
@@ -39,42 +38,70 @@ void uart3Setup(unsigned int baudrate)
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(SERIAL_GPIO, &GPIO_InitStructure);
-  
+
   USART_InitStructure.USART_BaudRate = baudrate;
   USART_InitStructure.USART_WordLength = USART_WordLength_8b;
   USART_InitStructure.USART_StopBits = USART_StopBits_1;
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
-  
+
   USART_Init(SERIAL_USART, &USART_InitStructure);
-  USART_Cmd(SERIAL_USART, ENABLE);
 
-  USART_ITConfig(SERIAL_USART, USART_IT_RXNE, ENABLE);
-  USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
-
-  NVIC_SetPriority(SERIAL_USART_IRQn, 7);
-  NVIC_EnableIRQ(SERIAL_USART_IRQn);
+  if (dma) {
+    DMA_InitTypeDef DMA_InitStructure;
+    serial2RxFifo.clear();
+    USART_ITConfig(SERIAL_USART, USART_IT_RXNE, DISABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    DMA_InitStructure.DMA_Channel = SERIAL_DMA_Channel_RX;
+    DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&SERIAL_USART->DR);
+    DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(serial2RxFifo.buffer());
+    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+    DMA_InitStructure.DMA_BufferSize = serial2RxFifo.size();
+    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+    DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
+    DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
+    DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+    DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+    DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+    DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+    DMA_Init(SERIAL_DMA_Stream_RX, &DMA_InitStructure);
+    USART_DMACmd(SERIAL_USART, USART_DMAReq_Rx, ENABLE);
+    USART_Cmd(SERIAL_USART, ENABLE);
+    DMA_Cmd(SERIAL_DMA_Stream_RX, ENABLE);
+  }
+  else {
+#if !defined(USB_SERIAL) && defined(CLI)
+    USART_Cmd(SERIAL_USART, ENABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_RXNE, ENABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    NVIC_SetPriority(SERIAL_USART_IRQn, 7);
+    NVIC_EnableIRQ(SERIAL_USART_IRQn);
+#endif
+  }
 }
 
 void serial2Init(unsigned int mode, unsigned int protocol)
 {
-  USART_DeInit(SERIAL_USART);
+  serial2Stop();
 
   serial2Mode = mode;
 
   switch (mode) {
     case UART_MODE_TELEMETRY_MIRROR:
-      uart3Setup(FRSKY_SPORT_BAUDRATE);
+      uart3Setup(FRSKY_SPORT_BAUDRATE, false);
       break;
 #if !defined(USB_SERIAL) && (defined(DEBUG) || defined(CLI))
     case UART_MODE_DEBUG:
-      uart3Setup(DEBUG_BAUDRATE);
+      uart3Setup(DEBUG_BAUDRATE, false);
       break;
 #endif
     case UART_MODE_TELEMETRY:
       if (protocol == PROTOCOL_FRSKY_D_SECONDARY) {
-        uart3Setup(FRSKY_D_BAUDRATE);
+        uart3Setup(FRSKY_D_BAUDRATE, true);
       }
       break;
   }
@@ -89,18 +116,20 @@ void serial2Putc(char c)
 
 void serial2SbusInit()
 {
-  uart3Setup(100000);
+  // TODO is it possible on Horus?
+  uart3Setup(SBUS_BAUDRATE, true);
   SERIAL_USART->CR1 |= USART_CR1_M | USART_CR1_PCE ;
 }
 
 void serial2Stop()
 {
+  DMA_DeInit(SERIAL_DMA_Stream_RX);
   USART_DeInit(SERIAL_USART);
 }
 
 uint8_t serial2TracesEnabled()
 {
-  return 1; // (serial2Mode == 0);
+  return 1; // TODO (serial2Mode == 0);
 }
 
 #if !defined(SIMU)
@@ -118,29 +147,21 @@ extern "C" void SERIAL_USART_IRQHandler(void)
     }
   }
 
+#if !defined(USB_SERIAL) && defined(CLI)
   // Receive
   uint32_t status = SERIAL_USART->SR;
   while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
     uint8_t data = SERIAL_USART->DR;
-
     if (!(status & USART_FLAG_ERRORS)) {
       switch (serial2Mode) {
-        case UART_MODE_TELEMETRY:
-          telemetryFifo.push(data);
-          break;
-        case UART_MODE_SBUS_TRAINER:
-          sbusFifo.push(data);
-          break;
-#if defined(CLI)
         case UART_MODE_DEBUG:
           cliRxFifo.push(data);
           break;
-#endif
       }
     }
-
     status = SERIAL_USART->SR;
   }
-}
 #endif
 
+}
+#endif

radio/src/targets/horus/telemetry_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,9 +18,9 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
-extern Fifo<uint8_t, 512> telemetryFifo;
+DMAFifo<512> telemetryFifo __DMA (TELEMETRY_DMA_Stream_RX);
 
 void telemetryPortInit(uint32_t baudrate)
 {
@@ -29,6 +29,13 @@ void telemetryPortInit(uint32_t baudrate)
     return;
   }
 
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = TELEMETRY_DMA_TX_Stream_IRQ;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; /* Not used as 4 bits are used for the pre-emption priority. */;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&NVIC_InitStructure);
+
   USART_InitTypeDef USART_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
 
@@ -47,32 +54,45 @@ void telemetryPortInit(uint32_t baudrate)
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
   GPIO_Init(TELEMETRY_GPIO_DIR, &GPIO_InitStructure);
   GPIO_ResetBits(TELEMETRY_GPIO_DIR, TELEMETRY_DIR_GPIO_PIN);
-  
+
   USART_InitStructure.USART_BaudRate = baudrate;
   USART_InitStructure.USART_WordLength = USART_WordLength_8b;
   USART_InitStructure.USART_StopBits = USART_StopBits_1;
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
-  
+
   USART_Init(TELEMETRY_USART, &USART_InitStructure);
+
+  DMA_InitTypeDef DMA_InitStructure;
+  telemetryFifo.clear();
+  USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, DISABLE);
+  USART_ITConfig(TELEMETRY_USART, USART_IT_TXE, DISABLE);
+  DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_RX;
+  DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
+  DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(telemetryFifo.buffer());
+  DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+  DMA_InitStructure.DMA_BufferSize = telemetryFifo.size();
+  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
+  DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
+  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+  DMA_Init(TELEMETRY_DMA_Stream_RX, &DMA_InitStructure);
+  USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Rx, ENABLE);
   USART_Cmd(TELEMETRY_USART, ENABLE);
-  USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, ENABLE);
-
-  NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
-  NVIC_EnableIRQ(TELEMETRY_USART_IRQn);
+  DMA_Cmd(TELEMETRY_DMA_Stream_RX, ENABLE);
 }
 
-struct SportTxBuffer
-{
-  uint8_t *ptr;
-  uint32_t count;
-} sportTxBuffer;
-
 void telemetryPortSetDirectionOutput()
 {
   TELEMETRY_GPIO_DIR->BSRRL = TELEMETRY_DIR_GPIO_PIN;     // output enable
-  TELEMETRY_USART->CR1 &= ~USART_CR1_RE;           // turn off receiver
+  TELEMETRY_USART->CR1 &= ~USART_CR1_RE;                  // turn off receiver
 }
 
 void telemetryPortSetDirectionInput()
@@ -81,49 +101,64 @@ void telemetryPortSetDirectionInput()
   TELEMETRY_USART->CR1 |= USART_CR1_RE;                   // turn on receiver
 }
 
-void sportSendBuffer(uint8_t *buffer, uint32_t count)
+void sportSendBuffer(uint8_t * buffer, uint32_t count)
 {
-  sportTxBuffer.ptr = buffer ;
-  sportTxBuffer.count = count ;
+  #if 0
   telemetryPortSetDirectionOutput();
-  TELEMETRY_USART->CR1 |= USART_CR1_TXEIE ;
+
+  DMA_InitTypeDef DMA_InitStructure;
+  DMA_DeInit(TELEMETRY_DMA_Stream_TX);
+  DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_TX;
+  DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
+  DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
+  DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(buffer);
+  DMA_InitStructure.DMA_BufferSize = count;
+  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+  DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
+  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+  DMA_Init(TELEMETRY_DMA_Stream_TX, &DMA_InitStructure);
+  DMA_Cmd(TELEMETRY_DMA_Stream_TX, ENABLE);
+  USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Tx, ENABLE);
+  DMA_ITConfig(TELEMETRY_DMA_Stream_TX, DMA_IT_TC, ENABLE);
+
+  // enable interrupt and set it's priority
+  NVIC_EnableIRQ(TELEMETRY_DMA_TX_Stream_IRQ) ;
+  NVIC_SetPriority(TELEMETRY_DMA_TX_Stream_IRQ, 7);
+    #endif
 }
 
-#if !defined(SIMU)
-#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
-
-extern "C" void TELEMETRY_USART_IRQHandler()
+extern "C" void TELEMETRY_DMA_TX_IRQHandler(void)
 {
-  uint32_t status;
-  uint8_t data;
-
-  status = TELEMETRY_USART->SR;
-
-  if (status & USART_SR_TXE) {
-    if (sportTxBuffer.count) {
-      TELEMETRY_USART->DR = *sportTxBuffer.ptr++;
-      if (--sportTxBuffer.count == 0) {
-        TELEMETRY_USART->CR1 &= ~USART_CR1_TXEIE;   // stop Tx interrupt
-        TELEMETRY_USART->CR1 |= USART_CR1_TCIE;     // enable complete interrupt
-      }
-    }
-  }
-	
-  if ((status & USART_SR_TC) && (TELEMETRY_USART->CR1 & USART_CR1_TCIE)) {
-    TELEMETRY_USART->CR1 &= ~USART_CR1_TCIE ;	// stop Complete interrupt
+  if (DMA_GetITStatus(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC)) {
+    DMA_ClearITPendingBit(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC);
     telemetryPortSetDirectionInput();
-    while (status & (USART_FLAG_RXNE)) {
-      status = TELEMETRY_USART->DR;
-      status = TELEMETRY_USART->SR ;
-    }
-  }
-	
-  while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
-    data = TELEMETRY_USART->DR;
-    if (!(status & USART_FLAG_ERRORS)) {
-      telemetryFifo.push(data);
-    }
-    status = TELEMETRY_USART->SR;
   }
 }
+
+// TODO we should have telemetry in an higher layer, functions above should move to a sport_driver.cpp
+int telemetryGetByte(uint8_t * byte)
+{
+  // TODO I am not sure it's possible to have this cable on Horus ...
+#if 0
+  if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
+    if (serial2Mode == UART_MODE_TELEMETRY)
+      return serial2RxFifo.pop(*byte);
+    else
+      return 0;
+  }
+  else {
+    return telemetryFifo.pop(*byte);
+  }
+#else
+  return telemetryFifo.pop(*byte);
 #endif
+
+
+}

radio/src/targets/simu/simpgmspace.cpp

@@ -1297,6 +1297,7 @@ FlagStatus USART_GetFlagStatus(USART_TypeDef* USARTx, uint16_t USART_FLAG) { ret
 void GPIO_PinAFConfig(GPIO_TypeDef* GPIOx, uint16_t GPIO_PinSource, uint8_t GPIO_AF) { }
 void USART_Init(USART_TypeDef* USARTx, USART_InitTypeDef* USART_InitStruct) { }
 void USART_Cmd(USART_TypeDef* USARTx, FunctionalState NewState) { }
+void USART_DMACmd(USART_TypeDef* USARTx, uint16_t USART_DMAReq, FunctionalState NewState) { }
 void USART_ITConfig(USART_TypeDef* USARTx, uint16_t USART_IT, FunctionalState NewState) { }
 void RCC_PLLI2SConfig(uint32_t PLLI2SN, uint32_t PLLI2SR) { }
 void RCC_PLLI2SCmd(FunctionalState NewState) { }

radio/src/targets/simu/simpgmspace.h

@@ -449,6 +449,8 @@ inline void DMA_ITConfig(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT, Func
 inline void DMA_StructInit(DMA_InitTypeDef* DMA_InitStruct) { }
 inline void DMA_Cmd(DMA_Stream_TypeDef* DMAy_Streamx, FunctionalState NewState) { }
 inline FlagStatus DMA_GetFlagStatus(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_FLAG) { return RESET; }
+inline ITStatus DMA_GetITStatus(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT) { return RESET; }
+inline void DMA_ClearITPendingBit(DMA_Stream_TypeDef* DMAy_Streamx, uint32_t DMA_IT) { }
 inline void SPI_I2S_DMACmd(SPI_TypeDef* SPIx, uint16_t SPI_I2S_DMAReq, FunctionalState NewState) { }
 inline void UART3_Configure(uint32_t baudrate, uint32_t masterClock) { }
 inline void NVIC_Init(NVIC_InitTypeDef *) { }

radio/src/targets/taranis/board_taranis.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -212,6 +212,7 @@ void stop_cppm_on_heartbeat_capture(void);
 void init_sbus_on_heartbeat_capture(void);
 void stop_sbus_on_heartbeat_capture(void);
 void set_trainer_ppm_parameters(uint32_t idleTime, uint32_t delay, uint32_t positive);
+int sbusGetByte(uint8_t * byte);
 
 // Keys driver
 void keysInit(void);
@@ -322,7 +323,8 @@ void debugPutc(const char c);
 // Telemetry driver
 void telemetryPortInit(uint32_t baudrate);
 void telemetryPortSetDirectionOutput(void);
-void sportSendBuffer(uint8_t *buffer, uint32_t count);
+void sportSendBuffer(uint8_t * buffer, uint32_t count);
+int telemetryGetByte(uint8_t * byte);
 
 // Audio driver
 void audioInit(void) ;
@@ -348,6 +350,7 @@ void hapticOff(void);
 
 // Second serial port driver
 #define DEBUG_BAUDRATE                 115200
+extern uint8_t serial2Mode;
 void serial2Init(unsigned int mode, unsigned int protocol);
 void serial2Putc(char c);
 #define serial2TelemetryInit(protocol) serial2Init(UART_MODE_TELEMETRY, protocol)
@@ -391,4 +394,12 @@ void usbJoystickUpdate(void);
 extern uint8_t currentTrainerMode;
 void checkTrainerSettings(void);
 
+#if defined(__cplusplus)
+#include "fifo.h"
+#include "dmafifo.h"
+extern DMAFifo<512> telemetryFifo; // TODO I don't think we really need 512bytes here!
+extern DMAFifo<32> serial2RxFifo;
+extern Fifo<uint8_t, 32> sbusFifo;
+#endif
+
 #endif // _BOARD_TARANIS_H_

radio/src/targets/taranis/hal.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -375,12 +375,14 @@
 #define SERIAL_USART                    USART3
 #define SERIAL_USART_IRQHandler         USART3_IRQHandler
 #define SERIAL_USART_IRQn               USART3_IRQn
+#define SERIAL_DMA_Stream_RX            DMA1_Stream1
+#define SERIAL_DMA_Channel_RX           DMA_Channel_4
 
 // Telemetry
-#define TELEMETRY_RCC_AHB1Periph        RCC_AHB1Periph_GPIOD
+#define TELEMETRY_RCC_AHB1Periph        (RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_DMA1)
+#define TELEMETRY_RCC_APB1Periph        RCC_APB1Periph_USART2
 #define TELEMETRY_GPIO_DIR              GPIOD
 #define TELEMETRY_DIR_GPIO_PIN          GPIO_Pin_4  // PD.04
-#define TELEMETRY_RCC_APB1Periph        RCC_APB1Periph_USART2
 #define TELEMETRY_GPIO                  GPIOD
 #define TELEMETRY_TX_GPIO_PIN           GPIO_Pin_5  // PD.05
 #define TELEMETRY_RX_GPIO_PIN           GPIO_Pin_6  // PD.06
@@ -388,8 +390,13 @@
 #define TELEMETRY_GPIO_PinSource_RX     GPIO_PinSource6
 #define TELEMETRY_GPIO_AF               GPIO_AF_USART2
 #define TELEMETRY_USART                 USART2
-#define TELEMETRY_USART_IRQHandler      USART2_IRQHandler
-#define TELEMETRY_USART_IRQn            USART2_IRQn
+#define TELEMETRY_DMA_Stream_RX         DMA1_Stream5
+#define TELEMETRY_DMA_Channel_RX        DMA_Channel_4
+#define TELEMETRY_DMA_Stream_TX         DMA1_Stream6
+#define TELEMETRY_DMA_Channel_TX        DMA_Channel_4
+#define TELEMETRY_DMA_TX_Stream_IRQ     DMA1_Stream6_IRQn
+#define TELEMETRY_DMA_TX_IRQHandler     DMA1_Stream6_IRQHandler
+#define TELEMETRY_DMA_TX_FLAG_TC        DMA_IT_TCIF6
 
 // Heartbeat
 #define HEARTBEAT_RCC_AHB1Periph        RCC_AHB1Periph_GPIOC
@@ -481,7 +488,7 @@
   #define LCD_GPIO_PIN_NCS              GPIO_Pin_14 // PD.14
   #define LCD_GPIO_PIN_A0               GPIO_Pin_13 // PD.13
   #define LCD_GPIO_PIN_RST              GPIO_Pin_12 // PD.12
-#endif 
+#endif
 
 // I2C Bus: EEPROM and CAT5137 digital pot for volume control
 #define I2C_RCC_AHB1Periph              RCC_AHB1Periph_GPIOB

radio/src/targets/taranis/serial2_driver.cpp

@@ -1,31 +1,30 @@
-/*
- * Copyright (C) OpenTX
- *
- * Based on code named
- *   th9x - http://code.google.com/p/th9x 
- *   er9x - http://code.google.com/p/er9x
- *   gruvin9x - http://code.google.com/p/gruvin9x
- *
- * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License version 2 as
- * published by the Free Software Foundation.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- */
-
-#include "../../opentx.h"
+/*
+ * Copyright (C) OpenTX
+ *
+ * Based on code named
+ *   th9x - http://code.google.com/p/th9x
+ *   er9x - http://code.google.com/p/er9x
+ *   gruvin9x - http://code.google.com/p/gruvin9x
+ *
+ * License GPLv2: http://www.gnu.org/licenses/gpl-2.0.html
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+#include "opentx.h"
 
 uint8_t serial2Mode = 0;
 Fifo<uint8_t, 512> serial2TxFifo;
-extern Fifo<uint8_t, 512> telemetryFifo;
-extern Fifo<uint8_t, 32> sbusFifo;
+DMAFifo<32> serial2RxFifo __DMA (SERIAL_DMA_Stream_RX);
 
-void uart3Setup(unsigned int baudrate)
+void uart3Setup(unsigned int baudrate, bool dma)
 {
   USART_InitTypeDef USART_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
@@ -39,42 +38,70 @@ void uart3Setup(unsigned int baudrate)
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(SERIAL_GPIO, &GPIO_InitStructure);
-  
+
   USART_InitStructure.USART_BaudRate = baudrate;
   USART_InitStructure.USART_WordLength = USART_WordLength_8b;
   USART_InitStructure.USART_StopBits = USART_StopBits_1;
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
-  
+
   USART_Init(SERIAL_USART, &USART_InitStructure);
-  USART_Cmd(SERIAL_USART, ENABLE);
 
-  USART_ITConfig(SERIAL_USART, USART_IT_RXNE, ENABLE);
-  USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
-
-  NVIC_SetPriority(SERIAL_USART_IRQn, 7);
-  NVIC_EnableIRQ(SERIAL_USART_IRQn);
+  if (dma) {
+    DMA_InitTypeDef DMA_InitStructure;
+    serial2RxFifo.clear();
+    USART_ITConfig(SERIAL_USART, USART_IT_RXNE, DISABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    DMA_InitStructure.DMA_Channel = SERIAL_DMA_Channel_RX;
+    DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&SERIAL_USART->DR);
+    DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(serial2RxFifo.buffer());
+    DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+    DMA_InitStructure.DMA_BufferSize = serial2RxFifo.size();
+    DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+    DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+    DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+    DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+    DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
+    DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
+    DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+    DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+    DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+    DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+    DMA_Init(SERIAL_DMA_Stream_RX, &DMA_InitStructure);
+    USART_DMACmd(SERIAL_USART, USART_DMAReq_Rx, ENABLE);
+    USART_Cmd(SERIAL_USART, ENABLE);
+    DMA_Cmd(SERIAL_DMA_Stream_RX, ENABLE);
+  }
+  else {
+#if !defined(USB_SERIAL) && defined(CLI)
+    USART_Cmd(SERIAL_USART, ENABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_RXNE, ENABLE);
+    USART_ITConfig(SERIAL_USART, USART_IT_TXE, DISABLE);
+    NVIC_SetPriority(SERIAL_USART_IRQn, 7);
+    NVIC_EnableIRQ(SERIAL_USART_IRQn);
+#endif
+  }
 }
 
 void serial2Init(unsigned int mode, unsigned int protocol)
 {
-  USART_DeInit(SERIAL_USART);
+  serial2Stop();
 
   serial2Mode = mode;
 
   switch (mode) {
     case UART_MODE_TELEMETRY_MIRROR:
-      uart3Setup(FRSKY_SPORT_BAUDRATE);
+      uart3Setup(FRSKY_SPORT_BAUDRATE, false);
       break;
 #if !defined(USB_SERIAL) && (defined(DEBUG) || defined(CLI))
     case UART_MODE_DEBUG:
-      uart3Setup(DEBUG_BAUDRATE);
+      uart3Setup(DEBUG_BAUDRATE, false);
       break;
 #endif
     case UART_MODE_TELEMETRY:
       if (protocol == PROTOCOL_FRSKY_D_SECONDARY) {
-        uart3Setup(FRSKY_D_BAUDRATE);
+        uart3Setup(FRSKY_D_BAUDRATE, true);
       }
       break;
   }
@@ -89,12 +116,13 @@ void serial2Putc(char c)
 
 void serial2SbusInit()
 {
-  uart3Setup(SBUS_BAUDRATE);
+  uart3Setup(SBUS_BAUDRATE, true);
   SERIAL_USART->CR1 |= USART_CR1_M | USART_CR1_PCE ;
 }
 
 void serial2Stop()
 {
+  DMA_DeInit(SERIAL_DMA_Stream_RX);
   USART_DeInit(SERIAL_USART);
 }
 
@@ -122,29 +150,21 @@ extern "C" void SERIAL_USART_IRQHandler(void)
     }
   }
 
+#if !defined(USB_SERIAL) && defined(CLI)
   // Receive
   uint32_t status = SERIAL_USART->SR;
   while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
     uint8_t data = SERIAL_USART->DR;
-
     if (!(status & USART_FLAG_ERRORS)) {
       switch (serial2Mode) {
-        case UART_MODE_TELEMETRY:
-          telemetryFifo.push(data);
-          break;
-        case UART_MODE_SBUS_TRAINER:
-          sbusFifo.push(data);
-          break;
-#if !defined(USB_SERIAL) && defined(CLI)
         case UART_MODE_DEBUG:
           cliRxFifo.push(data);
           break;
-#endif
       }
     }
-
     status = SERIAL_USART->SR;
   }
-}
 #endif
 
+}
+#endif

radio/src/targets/taranis/telemetry_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,9 +18,9 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
-extern Fifo<uint8_t, 512> telemetryFifo;
+DMAFifo<512> telemetryFifo __DMA (TELEMETRY_DMA_Stream_RX);
 
 void telemetryPortInit(uint32_t baudrate)
 {
@@ -29,6 +29,13 @@ void telemetryPortInit(uint32_t baudrate)
     return;
   }
 
+  NVIC_InitTypeDef NVIC_InitStructure;
+  NVIC_InitStructure.NVIC_IRQChannel = TELEMETRY_DMA_TX_Stream_IRQ;
+  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;
+  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; /* Not used as 4 bits are used for the pre-emption priority. */;
+  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+  NVIC_Init(&NVIC_InitStructure);
+
   USART_InitTypeDef USART_InitStructure;
   GPIO_InitTypeDef GPIO_InitStructure;
 
@@ -41,7 +48,7 @@ void telemetryPortInit(uint32_t baudrate)
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_Init(TELEMETRY_GPIO, &GPIO_InitStructure);
-  
+
   GPIO_InitStructure.GPIO_Pin = TELEMETRY_DIR_GPIO_PIN;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
   GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
@@ -54,21 +61,34 @@ void telemetryPortInit(uint32_t baudrate)
   USART_InitStructure.USART_Parity = USART_Parity_No;
   USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
   USART_InitStructure.USART_Mode = USART_Mode_Tx | USART_Mode_Rx;
-  
+
   USART_Init(TELEMETRY_USART, &USART_InitStructure);
+
+  DMA_InitTypeDef DMA_InitStructure;
+  telemetryFifo.clear();
+  USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, DISABLE);
+  USART_ITConfig(TELEMETRY_USART, USART_IT_TXE, DISABLE);
+  DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_RX;
+  DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
+  DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(telemetryFifo.buffer());
+  DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+  DMA_InitStructure.DMA_BufferSize = telemetryFifo.size();
+  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
+  DMA_InitStructure.DMA_Priority = DMA_Priority_Low;
+  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+  DMA_Init(TELEMETRY_DMA_Stream_RX, &DMA_InitStructure);
+  USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Rx, ENABLE);
   USART_Cmd(TELEMETRY_USART, ENABLE);
-  USART_ITConfig(TELEMETRY_USART, USART_IT_RXNE, ENABLE);
-
-  NVIC_SetPriority(TELEMETRY_USART_IRQn, 6);
-  NVIC_EnableIRQ(TELEMETRY_USART_IRQn);
+  DMA_Cmd(TELEMETRY_DMA_Stream_RX, ENABLE);
 }
 
-struct SportTxBuffer
-{
-  uint8_t *ptr;
-  uint32_t count;
-} sportTxBuffer;
-
 void telemetryPortSetDirectionOutput()
 {
   TELEMETRY_GPIO_DIR->BSRRL = TELEMETRY_DIR_GPIO_PIN;     // output enable
@@ -83,47 +103,53 @@ void telemetryPortSetDirectionInput()
 
 void sportSendBuffer(uint8_t * buffer, uint32_t count)
 {
-  sportTxBuffer.ptr = buffer;
-  sportTxBuffer.count = count;
   telemetryPortSetDirectionOutput();
-  TELEMETRY_USART->CR1 |= USART_CR1_TXEIE;
+
+  DMA_InitTypeDef DMA_InitStructure;
+  DMA_DeInit(TELEMETRY_DMA_Stream_TX);
+  DMA_InitStructure.DMA_Channel = TELEMETRY_DMA_Channel_TX;
+  DMA_InitStructure.DMA_PeripheralBaseAddr = CONVERT_PTR_UINT(&TELEMETRY_USART->DR);
+  DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
+  DMA_InitStructure.DMA_Memory0BaseAddr = CONVERT_PTR_UINT(buffer);
+  DMA_InitStructure.DMA_BufferSize = count;
+  DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+  DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+  DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+  DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+  DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+  DMA_InitStructure.DMA_Priority = DMA_Priority_VeryHigh;
+  DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
+  DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_Full;
+  DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
+  DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+  DMA_Init(TELEMETRY_DMA_Stream_TX, &DMA_InitStructure);
+  DMA_Cmd(TELEMETRY_DMA_Stream_TX, ENABLE);
+  USART_DMACmd(TELEMETRY_USART, USART_DMAReq_Tx, ENABLE);
+  DMA_ITConfig(TELEMETRY_DMA_Stream_TX, DMA_IT_TC, ENABLE);
+
+  // enable interrupt and set it's priority
+  NVIC_EnableIRQ(TELEMETRY_DMA_TX_Stream_IRQ) ;
+  NVIC_SetPriority(TELEMETRY_DMA_TX_Stream_IRQ, 7);
 }
 
-#if !defined(SIMU)
-#define USART_FLAG_ERRORS (USART_FLAG_ORE | USART_FLAG_NE | USART_FLAG_FE | USART_FLAG_PE)
-
-extern "C" void TELEMETRY_USART_IRQHandler()
+extern "C" void TELEMETRY_DMA_TX_IRQHandler(void)
 {
-  uint32_t status;
-  uint8_t data;
-
-  status = TELEMETRY_USART->SR;
-
-  if (status & USART_SR_TXE) {
-    if (sportTxBuffer.count) {
-      TELEMETRY_USART->DR = *sportTxBuffer.ptr++;
-      if (--sportTxBuffer.count == 0) {
-        TELEMETRY_USART->CR1 &= ~USART_CR1_TXEIE;   // stop Tx interrupt
-        TELEMETRY_USART->CR1 |= USART_CR1_TCIE;     // enable complete interrupt
-      }
-    }
-  }
-	
-  if ((status & USART_SR_TC) && (TELEMETRY_USART->CR1 & USART_CR1_TCIE)) {
-    TELEMETRY_USART->CR1 &= ~USART_CR1_TCIE ;	// stop Complete interrupt
+  if (DMA_GetITStatus(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC)) {
+    DMA_ClearITPendingBit(TELEMETRY_DMA_Stream_TX, TELEMETRY_DMA_TX_FLAG_TC);
     telemetryPortSetDirectionInput();
-    while (status & (USART_FLAG_RXNE)) {
-      status = TELEMETRY_USART->DR;
-      status = TELEMETRY_USART->SR;
-    }
-  }
-	
-  while (status & (USART_FLAG_RXNE | USART_FLAG_ERRORS)) {
-    data = TELEMETRY_USART->DR;
-    if (!(status & USART_FLAG_ERRORS)) {
-      telemetryFifo.push(data);
-    }
-    status = TELEMETRY_USART->SR;
   }
 }
-#endif
+
+// TODO we should have telemetry in an higher layer, functions above should move to a sport_driver.cpp
+int telemetryGetByte(uint8_t * byte)
+{
+  if (telemetryProtocol == PROTOCOL_FRSKY_D_SECONDARY) {
+    if (serial2Mode == UART_MODE_TELEMETRY)
+      return serial2RxFifo.pop(*byte);
+    else
+      return 0;
+  }
+  else {
+    return telemetryFifo.pop(*byte);
+  }
+}

radio/src/targets/taranis/trainer_driver.cpp

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -18,9 +18,9 @@
  * GNU General Public License for more details.
  */
 
-#include "../../opentx.h"
+#include "opentx.h"
 
-extern Fifo<uint8_t, 32> sbusFifo;
+Fifo<uint8_t, 32> sbusFifo;
 
 #define setupTrainerPulses() setupPulsesPPM(TRAINER_MODULE)
 
@@ -243,3 +243,15 @@ extern "C" void HEARTBEAT_USART_IRQHandler()
   }
 }
 #endif
+
+int sbusGetByte(uint8_t * byte)
+{
+  switch (currentTrainerMode) {
+    case TRAINER_MODE_MASTER_SBUS_EXTERNAL_MODULE:
+      return sbusFifo.pop(*byte);
+    case TRAINER_MODE_MASTER_BATTERY_COMPARTMENT:
+      return serial2RxFifo.pop(*byte);
+    default:
+      return false;
+  }
+}

radio/src/telemetry/frsky.cpp

@@ -43,10 +43,6 @@ uint8_t frskyTxBufferCount = 0;
 uint8_t telemetryState = TELEMETRY_INIT;
 #endif
 
-#if defined(PCBTARANIS) || defined(PCBFLAMENCO) || defined(PCBHORUS)
-Fifo<uint8_t, 512> telemetryFifo; // TODO should be in the driver
-#endif
-
 uint8_t frskyRxBufferCount = 0;
 
 FrskyData frskyData;

radio/src/telemetry/frsky_sport.cpp

@@ -337,9 +337,9 @@ bool sportWaitState(SportUpdateState state, int timeout)
     return true;
 #else
   for (int i=timeout/2; i>=0; i--) {
-    uint8_t data ;
-    while (telemetryFifo.pop(data)) {
-      processSerialData(data);
+    uint8_t byte ;
+    while (telemetryGetByte(&byte)) {
+      processSerialData(byte);
     }
     if (sportUpdateState == state) {
       return true;
@@ -358,7 +358,7 @@ void blankPacket(uint8_t *packet)
   memset(packet+2, 0, 6);
 }
 
-uint8_t sportUpdatePacket[16];
+uint8_t sportUpdatePacket[16] __DMA;
 
 void writePacket(uint8_t * packet)
 {

radio/src/telemetry/telemetry.h

@@ -2,7 +2,7 @@
  * Copyright (C) OpenTX
  *
  * Based on code named
- *   th9x - http://code.google.com/p/th9x 
+ *   th9x - http://code.google.com/p/th9x
  *   er9x - http://code.google.com/p/er9x
  *   gruvin9x - http://code.google.com/p/gruvin9x
  *
@@ -21,8 +21,6 @@
 #ifndef _TELEMETRY_H_
 #define _TELEMETRY_H_
 
-extern Fifo<uint8_t, 512> telemetryFifo;
-
 enum TelemetryProtocol
 {
   TELEM_PROTO_FRSKY_D,

radio/src/tests/lcd.cpp

@@ -194,16 +194,6 @@ TEST(Lcd, vline_x_lt0)
 #endif
 
 #if defined(CPUARM)
-TEST(Lcd, SmlsizeDecimalPoint)
-{
-  lcdClear();
-  lcdDrawNumber(0, 1, 105, PREC1|SMLSIZE|LEFT);
-  lcdDrawNumber(0, LCD_H-7, 105, PREC1|SMLSIZE|LEFT|INVERS);
-  lcdDrawNumber(LCD_W, 1, 105, PREC2|SMLSIZE);
-  lcdDrawNumber(LCD_W, LCD_H-7, 105, PREC2|SMLSIZE|INVERS);
-  EXPECT_TRUE(checkScreenshot("SmlsizeDecimalPoint"));
-}
-
 TEST(Lcd, Smlsize)
 {
   lcdClear();