tuber/robot/libs/stm32/hal/Src/stm32g0xx_hal_dma.c

/**
  ******************************************************************************
  * @file    stm32g0xx_hal_dma.c
  * @author  MCD Application Team
  * @brief   DMA HAL module driver.
  *          This file provides firmware functions to manage the following
  *          functionalities of the Direct Memory Access (DMA) peripheral:
  *           + Initialization and de-initialization functions
  *           + IO operation functions
  *           + Peripheral State and errors functions
  *
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2018 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  @verbatim
  ==============================================================================
                        ##### How to use this driver #####
  ==============================================================================
  [..]
   (#) Enable and configure the peripheral to be connected to the DMA Channel
       (except for internal SRAM / FLASH memories: no initialization is
       necessary). Please refer to the Reference manual for connection between peripherals
       and DMA requests.

   (#) For a given Channel, program the required configuration through the following parameters:
       Channel request, Transfer Direction, Source and Destination data formats,
       Circular or Normal mode, Channel Priority level, Source and Destination Increment mode
       using HAL_DMA_Init() function.

       Prior to HAL_DMA_Init the peripheral clock shall be enabled for both DMA & DMAMUX
       thanks to:
      (##) DMA1 or DMA2: __HAL_RCC_DMA1_CLK_ENABLE() or  __HAL_RCC_DMA2_CLK_ENABLE();

   (#) Use HAL_DMA_GetState() function to return the DMA state and HAL_DMA_GetError() in case of error
       detection.

   (#) Use HAL_DMA_Abort() function to abort the current transfer

     -@-   In Memory-to-Memory transfer mode, Circular mode is not allowed.

     *** Polling mode IO operation ***
     =================================
     [..]
       (+) Use HAL_DMA_Start() to start DMA transfer after the configuration of Source
           address and destination address and the Length of data to be transferred
       (+) Use HAL_DMA_PollForTransfer() to poll for the end of current transfer, in this
           case a fixed Timeout can be configured by User depending from his application.

     *** Interrupt mode IO operation ***
     ===================================
     [..]
       (+) Configure the DMA interrupt priority using HAL_NVIC_SetPriority()
       (+) Enable the DMA IRQ handler using HAL_NVIC_EnableIRQ()
       (+) Use HAL_DMA_Start_IT() to start DMA transfer after the configuration of
           Source address and destination address and the Length of data to be transferred.
           In this case the DMA interrupt is configured
       (+) Use HAL_DMA_IRQHandler() called under DMA_IRQHandler() Interrupt subroutine
       (+) At the end of data transfer HAL_DMA_IRQHandler() function is executed and user can
              add his own function to register callbacks with HAL_DMA_RegisterCallback().

     *** DMA HAL driver macros list ***
     =============================================
     [..]
       Below the list of macros in DMA HAL driver.

       (+) __HAL_DMA_ENABLE: Enable the specified DMA Channel.
       (+) __HAL_DMA_DISABLE: Disable the specified DMA Channel.
       (+) __HAL_DMA_GET_FLAG: Get the DMA Channel pending flags.
       (+) __HAL_DMA_CLEAR_FLAG: Clear the DMA Channel pending flags.
       (+) __HAL_DMA_ENABLE_IT: Enable the specified DMA Channel interrupts.
       (+) __HAL_DMA_DISABLE_IT: Disable the specified DMA Channel interrupts.
       (+) __HAL_DMA_GET_IT_SOURCE: Check whether the specified DMA Channel interrupt is enabled or not.

     [..]
      (@) You can refer to the DMA HAL driver header file for more useful macros

  @endverbatim
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32g0xx_hal.h"

/** @addtogroup STM32G0xx_HAL_Driver
  * @{
  */

/** @defgroup DMA DMA
  * @brief DMA HAL module driver
  * @{
  */

#ifdef HAL_DMA_MODULE_ENABLED

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
/* Private function prototypes -----------------------------------------------*/

/** @defgroup DMA_Private_Functions DMA Private Functions
  * @{
  */
static void DMA_SetConfig(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength);
static void DMA_CalcDMAMUXChannelBaseAndMask(DMA_HandleTypeDef *hdma);
static void DMA_CalcDMAMUXRequestGenBaseAndMask(DMA_HandleTypeDef *hdma);

/**
  * @}
  */

/* Exported functions ---------------------------------------------------------*/

/** @defgroup DMA_Exported_Functions DMA Exported Functions
  * @{
  */

/** @defgroup DMA_Exported_Functions_Group1 Initialization and de-initialization functions
  *  @brief   Initialization and de-initialization functions
  *
@verbatim
 ===============================================================================
             ##### Initialization and de-initialization functions  #####
 ===============================================================================
    [..]
    This section provides functions allowing to initialize the DMA Channel source
    and destination addresses, incrementation and data sizes, transfer direction,
    circular/normal mode selection, memory-to-memory mode selection and Channel priority value.
    [..]
    The HAL_DMA_Init() function follows the DMA configuration procedures as described in
    reference manual.

@endverbatim
  * @{
  */

/**
  * @brief Initialize the DMA according to the specified
  *        parameters in the DMA_InitTypeDef and initialize the associated handle.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_Init(DMA_HandleTypeDef *hdma)
{
  /* Check the DMA handle allocation */
  if (hdma == NULL)
  {
    return HAL_ERROR;
  }

  /* Check the parameters */
  assert_param(IS_DMA_ALL_INSTANCE(hdma->Instance));
  assert_param(IS_DMA_DIRECTION(hdma->Init.Direction));
  assert_param(IS_DMA_PERIPHERAL_INC_STATE(hdma->Init.PeriphInc));
  assert_param(IS_DMA_MEMORY_INC_STATE(hdma->Init.MemInc));
  assert_param(IS_DMA_PERIPHERAL_DATA_SIZE(hdma->Init.PeriphDataAlignment));
  assert_param(IS_DMA_MEMORY_DATA_SIZE(hdma->Init.MemDataAlignment));
  assert_param(IS_DMA_MODE(hdma->Init.Mode));
  assert_param(IS_DMA_PRIORITY(hdma->Init.Priority));

  assert_param(IS_DMA_ALL_REQUEST(hdma->Init.Request));

  /* Compute the channel index */
#if defined(DMA2)
  if ((uint32_t)(hdma->Instance) < (uint32_t)(DMA2_Channel1))
  {
    /* DMA1 */
    hdma->ChannelIndex = (((uint32_t)hdma->Instance - (uint32_t)DMA1_Channel1) / ((uint32_t)DMA1_Channel2 - (uint32_t)DMA1_Channel1)) << 2U;
    hdma->DmaBaseAddress = DMA1;
  }
  else
  {
    /* DMA2 */
    hdma->ChannelIndex = (((uint32_t)hdma->Instance - (uint32_t)DMA2_Channel1) / ((uint32_t)DMA2_Channel2 - (uint32_t)DMA2_Channel1)) << 2U;
    hdma->DmaBaseAddress = DMA2;
  }
#else
  hdma->ChannelIndex = (((uint32_t)hdma->Instance - (uint32_t)DMA1_Channel1) / ((uint32_t)DMA1_Channel2 - (uint32_t)DMA1_Channel1)) << 2U;
#endif /* DMA2 */

  /* Change DMA peripheral state */
  hdma->State = HAL_DMA_STATE_BUSY;

  /* Clear PL, MSIZE, PSIZE, MINC, PINC, CIRC, DIR and MEM2MEM bits */
  CLEAR_BIT(hdma->Instance->CCR, (DMA_CCR_PL    | DMA_CCR_MSIZE  | DMA_CCR_PSIZE  | \
                                  DMA_CCR_MINC  | DMA_CCR_PINC   | DMA_CCR_CIRC   | \
                                  DMA_CCR_DIR   | DMA_CCR_MEM2MEM));

  /* Set the DMA Channel configuration */
  SET_BIT(hdma->Instance->CCR, (hdma->Init.Direction           |                               \
                                hdma->Init.PeriphInc           | hdma->Init.MemInc           | \
                                hdma->Init.PeriphDataAlignment | hdma->Init.MemDataAlignment | \
                                hdma->Init.Mode                | hdma->Init.Priority));

  /* Initialize parameters for DMAMUX channel :
     DMAmuxChannel, DMAmuxChannelStatus and DMAmuxChannelStatusMask
  */
  DMA_CalcDMAMUXChannelBaseAndMask(hdma);

  if (hdma->Init.Direction == DMA_MEMORY_TO_MEMORY)
  {
    /* if memory to memory force the request to 0*/
    hdma->Init.Request = DMA_REQUEST_MEM2MEM;
  }

  /* Set peripheral request  to DMAMUX channel */
  hdma->DMAmuxChannel->CCR = (hdma->Init.Request & DMAMUX_CxCR_DMAREQ_ID);

  /* Clear the DMAMUX synchro overrun flag */
  hdma->DMAmuxChannelStatus->CFR = hdma->DMAmuxChannelStatusMask;

  if (((hdma->Init.Request >  0UL) && (hdma->Init.Request <= DMA_REQUEST_GENERATOR3)))
  {
    /* Initialize parameters for DMAMUX request generator :
       DMAmuxRequestGen, DMAmuxRequestGenStatus and DMAmuxRequestGenStatusMask
    */
    DMA_CalcDMAMUXRequestGenBaseAndMask(hdma);

    /* Reset the DMAMUX request generator register*/
    hdma->DMAmuxRequestGen->RGCR = 0U;

    /* Clear the DMAMUX request generator overrun flag */
    hdma->DMAmuxRequestGenStatus->RGCFR = hdma->DMAmuxRequestGenStatusMask;
  }
  else
  {
    hdma->DMAmuxRequestGen = 0U;
    hdma->DMAmuxRequestGenStatus = 0U;
    hdma->DMAmuxRequestGenStatusMask = 0U;
  }

  /* Initialize the error code */
  hdma->ErrorCode = HAL_DMA_ERROR_NONE;

  /* Initialize the DMA state*/
  hdma->State = HAL_DMA_STATE_READY;

  /* Release Lock */
  __HAL_UNLOCK(hdma);

  return HAL_OK;
}

/**
  * @brief DeInitialize the DMA peripheral.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_DeInit(DMA_HandleTypeDef *hdma)
{
  /* Check the DMA handle allocation */
  if (NULL == hdma)
  {
    return HAL_ERROR;
  }

  /* Check the parameters */
  assert_param(IS_DMA_ALL_INSTANCE(hdma->Instance));

  /* Disable the selected DMA Channelx */
  __HAL_DMA_DISABLE(hdma);

  /* Compute the channel index */
#if defined(DMA2)
  if ((uint32_t)(hdma->Instance) < (uint32_t)(DMA2_Channel1))
  {
    /* DMA1 */
    hdma->ChannelIndex = (((uint32_t)hdma->Instance - (uint32_t)DMA1_Channel1) / ((uint32_t)DMA1_Channel2 - (uint32_t)DMA1_Channel1)) << 2U;
    hdma->DmaBaseAddress = DMA1;
  }
  else
  {
    /* DMA2 */
    hdma->ChannelIndex = (((uint32_t)hdma->Instance - (uint32_t)DMA2_Channel1) / ((uint32_t)DMA2_Channel2 - (uint32_t)DMA2_Channel1)) << 2U;
    hdma->DmaBaseAddress = DMA2;
  }
#else
  hdma->ChannelIndex = (((uint32_t)hdma->Instance - (uint32_t)DMA1_Channel1) / ((uint32_t)DMA1_Channel2 - (uint32_t)DMA1_Channel1)) << 2U;
#endif /* DMA2 */

  /* Reset DMA Channel control register */
  hdma->Instance->CCR = 0U;

  /* Clear all flags */
#if defined(DMA2)
  hdma->DmaBaseAddress->IFCR = (DMA_ISR_GIF1 << (hdma->ChannelIndex & 0x1CU));
#else
  __HAL_DMA_CLEAR_FLAG(hdma, (DMA_FLAG_GI1 << (hdma->ChannelIndex & 0x1CU)));
#endif /* DMA2 */

  /* Initialize parameters for DMAMUX channel :
     DMAmuxChannel, DMAmuxChannelStatus and DMAmuxChannelStatusMask */

  DMA_CalcDMAMUXChannelBaseAndMask(hdma);

  /* Reset the DMAMUX channel that corresponds to the DMA channel */
  hdma->DMAmuxChannel->CCR = 0U;

  /* Clear the DMAMUX synchro overrun flag */
  hdma->DMAmuxChannelStatus->CFR = hdma->DMAmuxChannelStatusMask;

  /* Reset Request generator parameters if any */
  if (((hdma->Init.Request >  0UL) && (hdma->Init.Request <= DMA_REQUEST_GENERATOR3)))
  {
    /* Initialize parameters for DMAMUX request generator :
       DMAmuxRequestGen, DMAmuxRequestGenStatus and DMAmuxRequestGenStatusMask
    */
    DMA_CalcDMAMUXRequestGenBaseAndMask(hdma);

    /* Reset the DMAMUX request generator register*/
    hdma->DMAmuxRequestGen->RGCR = 0U;

    /* Clear the DMAMUX request generator overrun flag */
    hdma->DMAmuxRequestGenStatus->RGCFR = hdma->DMAmuxRequestGenStatusMask;
  }

  hdma->DMAmuxRequestGen = 0U;
  hdma->DMAmuxRequestGenStatus = 0U;
  hdma->DMAmuxRequestGenStatusMask = 0U;

  /* Clean callbacks */
  hdma->XferCpltCallback = NULL;
  hdma->XferHalfCpltCallback = NULL;
  hdma->XferErrorCallback = NULL;
  hdma->XferAbortCallback = NULL;

  /* Initialize the error code */
  hdma->ErrorCode = HAL_DMA_ERROR_NONE;

  /* Initialize the DMA state */
  hdma->State = HAL_DMA_STATE_RESET;

  /* Release Lock */
  __HAL_UNLOCK(hdma);

  return HAL_OK;
}

/**
  * @}
  */

/** @defgroup DMA_Exported_Functions_Group2 Input and Output operation functions
  *  @brief   Input and Output operation functions
  *
@verbatim
 ===============================================================================
                      #####  IO operation functions  #####
 ===============================================================================
    [..]  This section provides functions allowing to:
      (+) Configure the source, destination address and data length and Start DMA transfer
      (+) Configure the source, destination address and data length and
          Start DMA transfer with interrupt
      (+) Abort DMA transfer
      (+) Poll for transfer complete
      (+) Handle DMA interrupt request
      (+) Register and Unregister DMA callbacks

@endverbatim
  * @{
  */

/**
  * @brief Start the DMA Transfer.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @param SrcAddress The source memory Buffer address
  * @param DstAddress The destination memory Buffer address
  * @param DataLength The length of data to be transferred from source to destination
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_Start(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength)
{
  HAL_StatusTypeDef status = HAL_OK;

  /* Check the parameters */
  assert_param(IS_DMA_BUFFER_SIZE(DataLength));

  /* Process locked */
  __HAL_LOCK(hdma);

  if (hdma->State == HAL_DMA_STATE_READY)
  {
    /* Change DMA peripheral state */
    hdma->State = HAL_DMA_STATE_BUSY;

    /* Initialize the error code */
    hdma->ErrorCode = HAL_DMA_ERROR_NONE;

    /* Disable the peripheral */
    __HAL_DMA_DISABLE(hdma);

    /* Configure the source, destination address and the data length & clear flags*/
    DMA_SetConfig(hdma, SrcAddress, DstAddress, DataLength);

    /* Enable the Peripheral */
    __HAL_DMA_ENABLE(hdma);
  }
  else
  {
    /* Change the error code */
    hdma->ErrorCode = HAL_DMA_ERROR_BUSY;

    /* Process Unlocked */
    __HAL_UNLOCK(hdma);

    /* Return error status */
    status = HAL_ERROR;
  }

  return status;
}

/**
  * @brief Start the DMA Transfer with interrupt enabled.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @param SrcAddress The source memory Buffer address
  * @param DstAddress The destination memory Buffer address
  * @param DataLength The length of data to be transferred from source to destination
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_Start_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress,
                                   uint32_t DataLength)
{
  HAL_StatusTypeDef status = HAL_OK;

  /* Check the parameters */
  assert_param(IS_DMA_BUFFER_SIZE(DataLength));

  /* Process locked */
  __HAL_LOCK(hdma);

  if (hdma->State == HAL_DMA_STATE_READY)
  {
    /* Change DMA peripheral state */
    hdma->State = HAL_DMA_STATE_BUSY;
    hdma->ErrorCode = HAL_DMA_ERROR_NONE;

    /* Disable the peripheral */
    __HAL_DMA_DISABLE(hdma);

    /* Configure the source, destination address and the data length & clear flags*/
    DMA_SetConfig(hdma, SrcAddress, DstAddress, DataLength);

    /* Enable the transfer complete interrupt */
    /* Enable the transfer Error interrupt */
    if (NULL != hdma->XferHalfCpltCallback)
    {
      /* Enable the Half transfer complete interrupt as well */
      __HAL_DMA_ENABLE_IT(hdma, (DMA_IT_TC | DMA_IT_HT | DMA_IT_TE));
    }
    else
    {
      __HAL_DMA_DISABLE_IT(hdma, DMA_IT_HT);
      __HAL_DMA_ENABLE_IT(hdma, (DMA_IT_TC | DMA_IT_TE));
    }

    /* Check if DMAMUX Synchronization is enabled*/
    if ((hdma->DMAmuxChannel->CCR & DMAMUX_CxCR_SE) != 0U)
    {
      /* Enable DMAMUX sync overrun IT*/
      hdma->DMAmuxChannel->CCR |= DMAMUX_CxCR_SOIE;
    }

    if (hdma->DMAmuxRequestGen != 0U)
    {
      /* if using DMAMUX request generator, enable the DMAMUX request generator overrun IT*/
      /* enable the request gen overrun IT*/
      hdma->DMAmuxRequestGen->RGCR |= DMAMUX_RGxCR_OIE;
    }

    /* Enable the Peripheral */
    __HAL_DMA_ENABLE(hdma);
  }
  else
  {
    /* Change the error code */
    hdma->ErrorCode = HAL_DMA_ERROR_BUSY;

    /* Process Unlocked */
    __HAL_UNLOCK(hdma);

    /* Return error status */
    status = HAL_ERROR;
  }

  return status;
}

/**
  * @brief Abort the DMA Transfer.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_Abort(DMA_HandleTypeDef *hdma)
{
  /* Check the DMA peripheral handle */
  if (NULL == hdma)
  {
    return HAL_ERROR;
  }

  /* Check the DMA peripheral state */
  if (hdma->State != HAL_DMA_STATE_BUSY)
  {
    hdma->ErrorCode = HAL_DMA_ERROR_NO_XFER;

    /* Process Unlocked */
    __HAL_UNLOCK(hdma);

    return HAL_ERROR;
  }
  else
  {
    /* Disable DMA IT */
    __HAL_DMA_DISABLE_IT(hdma, (DMA_IT_TC | DMA_IT_HT | DMA_IT_TE));

    /* disable the DMAMUX sync overrun IT*/
    hdma->DMAmuxChannel->CCR &= ~DMAMUX_CxCR_SOIE;

    /* Disable the channel */
    __HAL_DMA_DISABLE(hdma);

    /* Clear all flags */
#if defined(DMA2)
    hdma->DmaBaseAddress->IFCR = (DMA_ISR_GIF1 << (hdma->ChannelIndex & 0x1CU));
#else
    __HAL_DMA_CLEAR_FLAG(hdma, ((DMA_FLAG_GI1) << (hdma->ChannelIndex  & 0x1CU)));
#endif /* DMA2 */

    /* Clear the DMAMUX synchro overrun flag */
    hdma->DMAmuxChannelStatus->CFR = hdma->DMAmuxChannelStatusMask;

    if (hdma->DMAmuxRequestGen != 0U)
    {
      /* if using DMAMUX request generator, disable the DMAMUX request generator overrun IT*/
      /* disable the request gen overrun IT*/
      hdma->DMAmuxRequestGen->RGCR &= ~DMAMUX_RGxCR_OIE;

      /* Clear the DMAMUX request generator overrun flag */
      hdma->DMAmuxRequestGenStatus->RGCFR = hdma->DMAmuxRequestGenStatusMask;
    }

    /* Change the DMA state */
    hdma->State = HAL_DMA_STATE_READY;

    /* Process Unlocked */
    __HAL_UNLOCK(hdma);
  }

  return HAL_OK;
}

/**
  * @brief Aborts the DMA Transfer in Interrupt mode.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_Abort_IT(DMA_HandleTypeDef *hdma)
{
  HAL_StatusTypeDef status = HAL_OK;

  if (hdma->State != HAL_DMA_STATE_BUSY)
  {
    /* no transfer ongoing */
    hdma->ErrorCode = HAL_DMA_ERROR_NO_XFER;

    status = HAL_ERROR;
  }
  else
  {
    /* Disable DMA IT */
    __HAL_DMA_DISABLE_IT(hdma, (DMA_IT_TC | DMA_IT_HT | DMA_IT_TE));

    /* Disable the channel */
    __HAL_DMA_DISABLE(hdma);

    /* disable the DMAMUX sync overrun IT*/
    hdma->DMAmuxChannel->CCR &= ~DMAMUX_CxCR_SOIE;

    /* Clear all flags */
#if defined(DMA2)
    hdma->DmaBaseAddress->IFCR = (DMA_ISR_GIF1 << (hdma->ChannelIndex & 0x1CU));
#else
    __HAL_DMA_CLEAR_FLAG(hdma, ((DMA_FLAG_GI1) << (hdma->ChannelIndex & 0x1CU)));
#endif /* DMA2 */

    /* Clear the DMAMUX synchro overrun flag */
    hdma->DMAmuxChannelStatus->CFR = hdma->DMAmuxChannelStatusMask;

    if (hdma->DMAmuxRequestGen != 0U)
    {
      /* if using DMAMUX request generator, disable the DMAMUX request generator overrun IT*/
      /* disable the request gen overrun IT*/
      hdma->DMAmuxRequestGen->RGCR &= ~DMAMUX_RGxCR_OIE;

      /* Clear the DMAMUX request generator overrun flag */
      hdma->DMAmuxRequestGenStatus->RGCFR = hdma->DMAmuxRequestGenStatusMask;
    }

    /* Change the DMA state */
    hdma->State = HAL_DMA_STATE_READY;

    /* Process Unlocked */
    __HAL_UNLOCK(hdma);

    /* Call User Abort callback */
    if (hdma->XferAbortCallback != NULL)
    {
      hdma->XferAbortCallback(hdma);
    }
  }
  return status;
}

/**
  * @brief Polling for transfer complete.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @param CompleteLevel Specifies the DMA level complete.
  * @param Timeout Timeout duration.
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_PollForTransfer(DMA_HandleTypeDef *hdma, HAL_DMA_LevelCompleteTypeDef CompleteLevel,
                                          uint32_t Timeout)
{
  uint32_t temp;
  uint32_t tickstart;

  if (hdma->State != HAL_DMA_STATE_BUSY)
  {
    /* no transfer ongoing */
    hdma->ErrorCode = HAL_DMA_ERROR_NO_XFER;
    __HAL_UNLOCK(hdma);
    return HAL_ERROR;
  }

  /* Polling mode not supported in circular mode */
  if ((hdma->Instance->CCR & DMA_CCR_CIRC) != 0U)
  {
    hdma->ErrorCode = HAL_DMA_ERROR_NOT_SUPPORTED;
    return HAL_ERROR;
  }

  /* Get the level transfer complete flag */
  if (HAL_DMA_FULL_TRANSFER == CompleteLevel)
  {
    /* Transfer Complete flag */
    temp = DMA_FLAG_TC1 << (hdma->ChannelIndex & 0x1CU);
  }
  else
  {
    /* Half Transfer Complete flag */
    temp = DMA_FLAG_HT1 << (hdma->ChannelIndex & 0x1CU);
  }

  /* Get tick */
  tickstart = HAL_GetTick();

#if defined(DMA2)
  while ((hdma->DmaBaseAddress->ISR & temp) == 0U)
  {
    if ((hdma->DmaBaseAddress->ISR & (DMA_FLAG_TE1 << (hdma->ChannelIndex & 0x1CU))) != 0U)
    {
      /* When a DMA transfer error occurs */
      /* A hardware clear of its EN bits is performed */
      /* Clear all flags */
      hdma->DmaBaseAddress->IFCR = (DMA_ISR_GIF1 << (hdma->ChannelIndex & 0x1CU));

      /* Update error code */
      hdma->ErrorCode = HAL_DMA_ERROR_TE;

      /* Change the DMA state */
      hdma->State = HAL_DMA_STATE_READY;

      /* Process Unlocked */
      __HAL_UNLOCK(hdma);

      return HAL_ERROR;
    }
#else
  while (0U == __HAL_DMA_GET_FLAG(hdma, temp))
  {
    if (0U != __HAL_DMA_GET_FLAG(hdma, (DMA_FLAG_TE1 << (hdma->ChannelIndex & 0x1CU))))
    {
      /* When a DMA transfer error occurs */
      /* A hardware clear of its EN bits is performed */
      /* Clear all flags */
      __HAL_DMA_CLEAR_FLAG(hdma, ((DMA_FLAG_GI1) << (hdma->ChannelIndex & 0x1CU)));

      /* Update error code */
      hdma->ErrorCode = HAL_DMA_ERROR_TE;

      /* Change the DMA state */
      hdma->State = HAL_DMA_STATE_READY;

      /* Process Unlocked */
      __HAL_UNLOCK(hdma);

      return HAL_ERROR;
    }
#endif /* DMA2 */
    /* Check for the Timeout */
    if (Timeout != HAL_MAX_DELAY)
    {
      if (((HAL_GetTick() - tickstart) > Timeout) || (Timeout == 0U))
      {
        /* Update error code */
        hdma->ErrorCode = HAL_DMA_ERROR_TIMEOUT;

        /* Change the DMA state */
        hdma->State = HAL_DMA_STATE_READY;

        /* Process Unlocked */
        __HAL_UNLOCK(hdma);

        return HAL_ERROR;
      }
    }
  }

  /*Check for DMAMUX Request generator (if used) overrun status */
  if (hdma->DMAmuxRequestGen != 0U)
  {
    /* if using DMAMUX request generator Check for DMAMUX request generator overrun */
    if ((hdma->DMAmuxRequestGenStatus->RGSR & hdma->DMAmuxRequestGenStatusMask) != 0U)
    {
      /* Disable the request gen overrun interrupt */
      hdma->DMAmuxRequestGen->RGCR |= DMAMUX_RGxCR_OIE;

      /* Clear the DMAMUX request generator overrun flag */
      hdma->DMAmuxRequestGenStatus->RGCFR = hdma->DMAmuxRequestGenStatusMask;

      /* Update error code */
      hdma->ErrorCode |= HAL_DMA_ERROR_REQGEN;
    }
  }

  /* Check for DMAMUX Synchronization overrun */
  if ((hdma->DMAmuxChannelStatus->CSR & hdma->DMAmuxChannelStatusMask) != 0U)
  {
    /* Clear the DMAMUX synchro overrun flag */
    hdma->DMAmuxChannelStatus->CFR = hdma->DMAmuxChannelStatusMask;

    /* Update error code */
    hdma->ErrorCode |= HAL_DMA_ERROR_SYNC;
  }

  if (HAL_DMA_FULL_TRANSFER == CompleteLevel)
  {
    /* Clear the transfer complete flag */
#if defined(DMA2)
    hdma->DmaBaseAddress->IFCR = (DMA_FLAG_TC1 << (hdma->ChannelIndex & 0x1CU));
#else
    __HAL_DMA_CLEAR_FLAG(hdma, (DMA_FLAG_TC1 << (hdma->ChannelIndex & 0x1CU)));
#endif /* DMA2 */

    /* Process unlocked */
    __HAL_UNLOCK(hdma);

    /* The selected Channelx EN bit is cleared (DMA is disabled and
    all transfers are complete) */
    hdma->State = HAL_DMA_STATE_READY;
  }
  else
  {
    /* Clear the half transfer complete flag */
#if defined(DMA2)
    hdma->DmaBaseAddress->IFCR = (DMA_FLAG_HT1 << (hdma->ChannelIndex & 0x1CU));
#else
    __HAL_DMA_CLEAR_FLAG(hdma, (DMA_FLAG_HT1 << (hdma->ChannelIndex & 0x1CU)));
#endif /* DMA2 */
  }

  return HAL_OK;
}

/**
  * @brief Handle DMA interrupt request.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval None
  */
void HAL_DMA_IRQHandler(DMA_HandleTypeDef *hdma)
{
#if defined(DMA2)
  uint32_t flag_it = hdma->DmaBaseAddress->ISR;
#else
  uint32_t flag_it = DMA1->ISR;
#endif /* DMA2 */
  uint32_t source_it = hdma->Instance->CCR;

  /* Half Transfer Complete Interrupt management ******************************/
  if (((flag_it & (DMA_FLAG_HT1 << (hdma->ChannelIndex & 0x1CU))) != 0U) && ((source_it & DMA_IT_HT) != 0U))
  {
      /* Disable the half transfer interrupt if the DMA mode is not CIRCULAR */
      if ((hdma->Instance->CCR & DMA_CCR_CIRC) == 0U)
      {
        /* Disable the half transfer interrupt */
        __HAL_DMA_DISABLE_IT(hdma, DMA_IT_HT);
      }
      /* Clear the half transfer complete flag */
#if defined(DMA2)
      hdma->DmaBaseAddress->IFCR = DMA_ISR_HTIF1 << (hdma->ChannelIndex & 0x1CU);
#else
      __HAL_DMA_CLEAR_FLAG(hdma, (DMA_FLAG_HT1 << (hdma->ChannelIndex & 0x1CU)));
#endif /* DMA2 */

      /* DMA peripheral state is not updated in Half Transfer */
      /* but in Transfer Complete case */

      if (hdma->XferHalfCpltCallback != NULL)
      {
        /* Half transfer callback */
        hdma->XferHalfCpltCallback(hdma);
      }
  }

  /* Transfer Complete Interrupt management ***********************************/
  else if ((0U != (flag_it & (DMA_FLAG_TC1 << (hdma->ChannelIndex & 0x1CU)))) && (0U != (source_it & DMA_IT_TC)))
  {
      if ((hdma->Instance->CCR & DMA_CCR_CIRC) == 0U)
      {
        /* Disable the transfer complete and error interrupt */
        __HAL_DMA_DISABLE_IT(hdma, DMA_IT_TE | DMA_IT_TC);

        /* Change the DMA state */
        hdma->State = HAL_DMA_STATE_READY;
      }
      /* Clear the transfer complete flag */
      __HAL_DMA_CLEAR_FLAG(hdma, (DMA_FLAG_TC1 << (hdma->ChannelIndex & 0x1CU)));

      /* Process Unlocked */
      __HAL_UNLOCK(hdma);

      if (hdma->XferCpltCallback != NULL)
      {
        /* Transfer complete callback */
        hdma->XferCpltCallback(hdma);
      }
  }

  /* Transfer Error Interrupt management **************************************/
  else if (((flag_it & (DMA_FLAG_TE1 << (hdma->ChannelIndex & 0x1CU))) != 0U) && ((source_it & DMA_IT_TE) != 0U))
  {
    /* When a DMA transfer error occurs */
    /* A hardware clear of its EN bits is performed */
    /* Disable ALL DMA IT */
    __HAL_DMA_DISABLE_IT(hdma, (DMA_IT_TC | DMA_IT_HT | DMA_IT_TE));

    /* Clear all flags */
#if defined(DMA2)
    hdma->DmaBaseAddress->IFCR = (DMA_ISR_GIF1 << (hdma->ChannelIndex & 0x1CU));
#else
    __HAL_DMA_CLEAR_FLAG(hdma, (DMA_FLAG_GI1 << (hdma->ChannelIndex & 0x1CU)));
#endif /* DMA2 */

    /* Update error code */
    hdma->ErrorCode = HAL_DMA_ERROR_TE;

    /* Change the DMA state */
    hdma->State = HAL_DMA_STATE_READY;

    /* Process Unlocked */
    __HAL_UNLOCK(hdma);

    if (hdma->XferErrorCallback != NULL)
    {
      /* Transfer error callback */
      hdma->XferErrorCallback(hdma);
    }
  }
  else
  {
    /* Nothing To Do */
  }
  return;
}

/**
  * @brief Register callbacks
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @param CallbackID User Callback identifier
  *                   a HAL_DMA_CallbackIDTypeDef ENUM as parameter.
  * @param pCallback Pointer to private callback function which has pointer to
  *                  a DMA_HandleTypeDef structure as parameter.
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_RegisterCallback(DMA_HandleTypeDef *hdma, HAL_DMA_CallbackIDTypeDef CallbackID, void (* pCallback)(DMA_HandleTypeDef *_hdma))
{
  HAL_StatusTypeDef status = HAL_OK;

  /* Process locked */
  __HAL_LOCK(hdma);

  if (hdma->State == HAL_DMA_STATE_READY)
  {
    switch (CallbackID)
    {
      case  HAL_DMA_XFER_CPLT_CB_ID:
        hdma->XferCpltCallback = pCallback;
        break;

      case  HAL_DMA_XFER_HALFCPLT_CB_ID:
        hdma->XferHalfCpltCallback = pCallback;
        break;

      case  HAL_DMA_XFER_ERROR_CB_ID:
        hdma->XferErrorCallback = pCallback;
        break;

      case  HAL_DMA_XFER_ABORT_CB_ID:
        hdma->XferAbortCallback = pCallback;
        break;

      default:
        status = HAL_ERROR;
        break;
    }
  }
  else
  {
    status = HAL_ERROR;
  }

  /* Release Lock */
  __HAL_UNLOCK(hdma);

  return status;
}

/**
  * @brief UnRegister callbacks
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @param CallbackID User Callback identifier
  *                   a HAL_DMA_CallbackIDTypeDef ENUM as parameter.
  * @retval HAL status
  */
HAL_StatusTypeDef HAL_DMA_UnRegisterCallback(DMA_HandleTypeDef *hdma, HAL_DMA_CallbackIDTypeDef CallbackID)
{
  HAL_StatusTypeDef status = HAL_OK;

  /* Process locked */
  __HAL_LOCK(hdma);

  if (hdma->State == HAL_DMA_STATE_READY)
  {
    switch (CallbackID)
    {
      case  HAL_DMA_XFER_CPLT_CB_ID:
        hdma->XferCpltCallback = NULL;
        break;

      case  HAL_DMA_XFER_HALFCPLT_CB_ID:
        hdma->XferHalfCpltCallback = NULL;
        break;

      case  HAL_DMA_XFER_ERROR_CB_ID:
        hdma->XferErrorCallback = NULL;
        break;

      case  HAL_DMA_XFER_ABORT_CB_ID:
        hdma->XferAbortCallback = NULL;
        break;

      case   HAL_DMA_XFER_ALL_CB_ID:
        hdma->XferCpltCallback = NULL;
        hdma->XferHalfCpltCallback = NULL;
        hdma->XferErrorCallback = NULL;
        hdma->XferAbortCallback = NULL;
        break;

      default:
        status = HAL_ERROR;
        break;
    }
  }
  else
  {
    status = HAL_ERROR;
  }

  /* Release Lock */
  __HAL_UNLOCK(hdma);

  return status;
}

/**
  * @}
  */



/** @defgroup DMA_Exported_Functions_Group3 Peripheral State and Errors functions
  *  @brief    Peripheral State and Errors functions
  *
@verbatim
 ===============================================================================
            ##### Peripheral State and Errors functions #####
 ===============================================================================
    [..]
    This subsection provides functions allowing to
      (+) Check the DMA state
      (+) Get error code

@endverbatim
  * @{
  */

/**
  * @brief Return the DMA handle state.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval HAL state
  */
HAL_DMA_StateTypeDef HAL_DMA_GetState(DMA_HandleTypeDef *hdma)
{
  /* Return DMA handle state */
  return hdma->State;
}

/**
  * @brief Return the DMA error code.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval DMA Error Code
  */
uint32_t HAL_DMA_GetError(DMA_HandleTypeDef *hdma)
{
  /* Return the DMA error code */
  return hdma->ErrorCode;
}

/**
  * @}
  */

/**
  * @}
  */

/** @addtogroup DMA_Private_Functions
  * @{
  */

/**
  * @brief Sets the DMA Transfer parameter.
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @param SrcAddress The source memory Buffer address
  * @param DstAddress The destination memory Buffer address
  * @param DataLength The length of data to be transferred from source to destination
  * @retval HAL status
  */
static void DMA_SetConfig(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength)
{
  /* Clear the DMAMUX synchro overrun flag */
  hdma->DMAmuxChannelStatus->CFR = hdma->DMAmuxChannelStatusMask;

  if (hdma->DMAmuxRequestGen != 0U)
  {
    /* Clear the DMAMUX request generator overrun flag */
    hdma->DMAmuxRequestGenStatus->RGCFR = hdma->DMAmuxRequestGenStatusMask;
  }

  /* Clear all flags */
#if defined(DMA2)
  hdma->DmaBaseAddress->IFCR = (DMA_ISR_GIF1 << (hdma->ChannelIndex & 0x1CU));
#else
  __HAL_DMA_CLEAR_FLAG(hdma, (DMA_FLAG_GI1 << (hdma->ChannelIndex & 0x1CU)));
#endif /* DMA2 */

  /* Configure DMA Channel data length */
  hdma->Instance->CNDTR = DataLength;

  /* Memory to Peripheral */
  if ((hdma->Init.Direction) == DMA_MEMORY_TO_PERIPH)
  {
    /* Configure DMA Channel destination address */
    hdma->Instance->CPAR = DstAddress;

    /* Configure DMA Channel source address */
    hdma->Instance->CMAR = SrcAddress;
  }
  /* Peripheral to Memory */
  else
  {
    /* Configure DMA Channel source address */
    hdma->Instance->CPAR = SrcAddress;

    /* Configure DMA Channel destination address */
    hdma->Instance->CMAR = DstAddress;
  }
}

/**
  * @brief Updates the DMA handle with the DMAMUX  channel and status mask depending on channel number
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval None
  */
static void DMA_CalcDMAMUXChannelBaseAndMask(DMA_HandleTypeDef *hdma)
{
  uint32_t channel_number;

#if defined(DMA2)
  /* check if instance is not outside the DMA channel range */
  if ((uint32_t)hdma->Instance < (uint32_t)DMA2_Channel1)
  {
    /* DMA1 */
    /* Associate a DMA Channel to a DMAMUX channel */
    hdma->DMAmuxChannel = (DMAMUX1_Channel0 + (hdma->ChannelIndex >> 2U));

    /* Prepare channel_number used for DMAmuxChannelStatusMask computation */
    channel_number = (((uint32_t)hdma->Instance & 0xFFU) - 8U) / 20U;
  }
  else
  {
    /* DMA2 */
    /* Associate a DMA Channel to a DMAMUX channel */
    hdma->DMAmuxChannel = (DMAMUX1_Channel7 + (hdma->ChannelIndex >> 2U));

    /* Prepare channel_number used for DMAmuxChannelStatusMask computation */
    channel_number = (((((uint32_t)hdma->Instance & 0xFFU) - 8U) / 20U) + 7U);
  }
#else
  /* Associate a DMA Channel to a DMAMUX channel */
  hdma->DMAmuxChannel = (DMAMUX_Channel_TypeDef *)(uint32_t)((uint32_t)DMAMUX1_Channel0 + ((hdma->ChannelIndex >> 2U) * ((uint32_t)DMAMUX1_Channel1 - (uint32_t)DMAMUX1_Channel0)));

  /* Prepare channel_number used for DMAmuxChannelStatusMask computation */
  channel_number = (((uint32_t)hdma->Instance & 0xFFU) - 8U) / 20U;
#endif /* DMA2 */

  /* Initialize the field DMAmuxChannelStatus to DMAMUX1_ChannelStatus base */
  hdma->DMAmuxChannelStatus = DMAMUX1_ChannelStatus;

  /* Initialize the field DMAmuxChannelStatusMask with the corresponding index of the DMAMUX channel selected for the current ChannelIndex */
  hdma->DMAmuxChannelStatusMask = 1UL << (channel_number & 0x1FU);
}

/**
  * @brief Updates the DMA handle with the DMAMUX  request generator params
  * @param hdma Pointer to a DMA_HandleTypeDef structure that contains
  *             the configuration information for the specified DMA Channel.
  * @retval None
  */

static void DMA_CalcDMAMUXRequestGenBaseAndMask(DMA_HandleTypeDef *hdma)
{
  uint32_t request =  hdma->Init.Request & DMAMUX_CxCR_DMAREQ_ID;

  /* DMA Channels are connected to DMAMUX1 request generator blocks*/
  hdma->DMAmuxRequestGen = (DMAMUX_RequestGen_TypeDef *)((uint32_t)(((uint32_t)DMAMUX1_RequestGenerator0) + ((request - 1U) * 4U)));

  hdma->DMAmuxRequestGenStatus = DMAMUX1_RequestGenStatus;

  /* here "Request" is either DMA_REQUEST_GENERATOR0 to DMA_REQUEST_GENERATOR3, i.e. <= 4*/
  hdma->DMAmuxRequestGenStatusMask = 1UL << ((request - 1U) & 0x3U);
}

/**
  * @}
  */

/**
  * @}
  */

#endif /* HAL_DMA_MODULE_ENABLED */
/**
  * @}
  */

/**
  * @}
  */