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SAMA5D4: XDMAC driver now compiles error/warning free (still untested)

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This commit is contained in:
Gregory Nutt 2014-06-17 16:31:09 -06:00
parent 4b3342fd96
commit e2ede42d14
3 changed files with 164 additions and 205 deletions
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9
arch/arm/src/sama5/chip/sam_xdmac.h
View File

@ -289,9 +289,12 @@
#define XDMAC_CHINT_ERRORS (0x00000070)
#define XDMAC_CHINT_ALL (0x0000007f)
/* Channel Source Address Register (32-bit address) */
/* Channel Destination Address Register (32-bit address) */
/* Channel Next Descriptor Address Register (32-bit address) */
/* Channel Source Address (SA) Register (aligned 32-bit address) */
/* Channel Destination Address (DA) Register (aligned 32-bit address) */
/* Channel Next Descriptor Address (CNDA) Register (aligned 32-bit address) */
#define XDMACH_CNDA_NDAIF (1 << 0) /* Bit 0: Channel Next Descriptor Interface */
/* Channel Next Descriptor Control Register */

2
arch/arm/src/sama5/sam_dmac.c
View File

@ -1426,7 +1426,7 @@ sam_allocdesc(struct sam_dmach_s *dmach, struct dma_linklist_s *prev,
* via AHB IF0.
*/
prev->dscr = (uint32_t)desc;
prev->dscr = (uint32_t)sam_physramaddr((uintptr_t)descr);
}
/* In any event, this is the new tail of the list. The source

356
arch/arm/src/sama5/sam_xdmac.c
View File

@ -132,13 +132,13 @@ struct sam_xdmach_s
bool rx; /* TRUE: Peripheral to memory transfer */
uint32_t flags; /* DMA channel flags */
uint32_t base; /* DMA register channel base address */
uint32_t cfg; /* Pre-calculated CFG register for transfer */
uint32_t cc; /* Pre-calculated CC register for transfer */
dma_callback_t callback; /* Callback invoked when the DMA completes */
void *arg; /* Argument passed to callback function */
uint32_t rxaddr; /* RX memory address */
size_t rxsize; /* Size of RX memory region */
struct dma_linklist_s *llhead; /* DMA link list head */
struct dma_linklist_s *lltail; /* DMA link list head */
struct chnext_view1_s *llhead; /* DMA link list head */
struct chnext_view1_s *lltail; /* DMA link list head */
};
/* This structure describes the stae of one DMA controller */
@ -153,7 +153,7 @@ struct sam_xdmac_s
/* This array describes the available link list descriptors */
struct dma_linklist_s *desc;
struct chnext_view1_s *descr;
/* This array describes each DMA channel */
@ -302,7 +302,7 @@ static const struct sam_pidmap_s g_xdmac1_txchan[] =
/* This array describes the available link list descriptors */
struct dma_linklist_s g_desc0[CONFIG_SAMA5_NLLDESC];
struct chnext_view1_s g_desc0[CONFIG_SAMA5_NLLDESC];
/* This array describes the state of each XDMAC0 channel 0 */
@ -464,7 +464,7 @@ static struct sam_xdmac_s g_xdmac0 =
/* This array describes the available link list descriptors */
.desc = g_desc0,
.descr = g_desc0,
/* This array describes each DMA channel */
@ -478,7 +478,7 @@ static struct sam_xdmac_s g_xdmac0 =
#ifdef CONFIG_SAMA5_XDMAC1
/* This array describes the available link list descriptors */
struct dma_linklist_s g_desc1[CONFIG_SAMA5_NLLDESC];
struct chnext_view1_s g_desc1[CONFIG_SAMA5_NLLDESC];
static struct sam_xdmach_s g_xdmach1[SAM_NDMACHAN] =
{
@ -638,7 +638,7 @@ static struct sam_xdmac_s g_xdmac1 =
/* This array describes the available link list descriptors */
.desc = g_desc1,
.descr = g_desc1,
/* This array describes each DMA channel */
@ -968,15 +968,15 @@ static uint32_t sam_ntxtransfers(struct sam_xdmach_s *xdmach, uint32_t dmasize)
}
/****************************************************************************
* Name: sam_txcubc
* Name: sam_cubc
*
* Description:
* 'OR' in the variable CUBC bits
* Calculate the CUBC transfer size
*
****************************************************************************/
static inline uint32_t sam_txcubc(struct sam_xdmach_s *xdmach,
uint32_t cubc, uint32_t dmasize)
static inline uint32_t sam_cubc(struct sam_xdmach_s *xdmach,
uint32_t dmasize)
{
uint32_t ntransfers;
@ -987,76 +987,7 @@ static inline uint32_t sam_txcubc(struct sam_xdmach_s *xdmach,
ntransfers = sam_ntxtransfers(xdmach, dmasize);
DEBUGASSERT(ntransfers <= XDMACH_CUBC_UBLEN_MAX);
return (cubc & ~XDMACH_CUBC_UBLEN_MASK) |
(ntransfers << XDMACH_CUBC_UBLEN_SHIFT);
}
/****************************************************************************
* Name: sam_nrxtransfers
*
* Description:
* Number of RX transfers via DMA
*
****************************************************************************/
static uint32_t sam_nrxtransfers(struct sam_xdmach_s *xdmach, uint32_t dmasize)
{
unsigned int srcwidth;
/* Adjust the source transfer size for the source chunk size (peripheral
* chunk size). BTSIZE is "the number of transfers to be performed, that
* is, for writes it refers to the number of source width transfers
* to perform when XDMAC is flow controller. For Reads, BTSIZE refers to
* the number of transfers completed on the Source Interface. ..."
*/
srcwidth = (xdmach->flags & DMACH_FLAG_PERIPHWIDTH_MASK)
>> DMACH_FLAG_PERIPHWIDTH_SHIFT;
switch (srcwidth)
{
default:
case 0: /* 8 bits, 1 byte */
break;
case 1: /* 16 bits, 2 bytes */
dmasize = (dmasize + 1) >> 1;
break;
case 2: /* 32 bits, 4 bytes */
dmasize = (dmasize + 3) >> 2;
break;
case 3: /* 64 bits, 8 bytes */
dmasize = (dmasize + 7) >> 3;
break;
}
return dmasize;
}
/****************************************************************************
* Name: sam_rxcubc
*
* Description:
* 'OR' in the variable CUBC bits
*
****************************************************************************/
static inline uint32_t sam_rxcubc(struct sam_xdmach_s *xdmach,
uint32_t cubc, uint32_t dmasize)
{
uint32_t ntransfers;
/* Set the buffer transfer size field. This is the number of transfers to
* be performed, that is, the number of source width transfers to perform.
*/
ntransfers = sam_nrxtransfers(xdmach, dmasize);
DEBUGASSERT(ntransfers <= XDMACH_CUBC_UBLEN_MAX);
return (cubc & ~XDMACH_CUBC_UBLEN_MASK) |
(ntransfers << XDMACH_CUBC_UBLEN_SHIFT);
return (ntransfers << XDMACH_CUBC_UBLEN_SHIFT);
}
/****************************************************************************
@ -1087,11 +1018,9 @@ static inline uint32_t sam_rxcubc(struct sam_xdmach_s *xdmach,
static inline uint32_t sam_txcc(struct sam_xdmach_s *xdmach)
{
uint32_t regval;
uint32_t regval = 0;
uint32_t field;
regval = 0;
/* 1. Clear TYPE for a memory to memory transfer, otherwise set
* this bit for memory to/from peripheral transfer.
*
@ -1245,7 +1174,7 @@ static inline uint32_t sam_txcc(struct sam_xdmach_s *xdmach)
static inline uint32_t sam_rxcc(struct sam_xdmach_s *xdmach)
{
uint32_t regval;
uint32_t regval = 0;
uint32_t field;
/* 1. Clear TYPE for a memory to memory transfer, otherwise set
@ -1386,12 +1315,12 @@ static inline uint32_t sam_rxcc(struct sam_xdmach_s *xdmach)
*
****************************************************************************/
static struct dma_linklist_s *
sam_allocdesc(struct sam_xdmach_s *xdmach, struct dma_linklist_s *prev,
uint32_t csa, uint32_t cda, uint32_t cubc, uint32_t cc)
static struct chnext_view1_s *
sam_allocdesc(struct sam_xdmach_s *xdmach, struct chnext_view1_s *prev,
uint32_t csa, uint32_t cda, uint32_t cubc)
{
struct sam_xdmac_s *xdmac = sam_controller(xdmach);
struct dma_linklist_s *desc = NULL;
struct chnext_view1_s *descr = NULL;
int i;
/* Sanity check -- csa == 0 is the indication that the link is unused.
@ -1417,16 +1346,15 @@ sam_allocdesc(struct sam_xdmach_s *xdmach, struct dma_linklist_s *prev,
sam_takechsem(xdmac);
for (i = 0; i < CONFIG_SAMA5_NLLDESC; i++)
{
if (xdmac->desc[i].csa == 0)
if (xdmac->descr[i].csa == 0)
{
/* We have it. Initialize the new link list entry */
desc = &xdmac->desc[i];
desc->csa = csa; /* Source address */
desc->cda = cda; /* Destination address */
desc->cubc = cubc; /* Control A value */
desc->cc = cc; /* Control B value */
desc->dscr = 0; /* Next descriptor address */
descr = &xdmac->descr[i];
descr->cnda = 0; /* Next Descriptor Address */
descr->cubc = cubc; /* Channel Microblock Control Register */
descr->csa = csa; /* Source address */
descr->cda = cda; /* Destination address */
/* And then hook it at the tail of the link list */
@ -1437,7 +1365,7 @@ sam_allocdesc(struct sam_xdmach_s *xdmach, struct dma_linklist_s *prev,
*/
DEBUGASSERT(xdmach->llhead == NULL && xdmach->lltail == NULL);
xdmach->llhead = desc;
xdmach->llhead = descr;
}
else
{
@ -1446,35 +1374,30 @@ sam_allocdesc(struct sam_xdmach_s *xdmach, struct dma_linklist_s *prev,
/* When the second link is added to the list, that is the
* cue that we are going to do the link list transfer.
*
* Enable the source and destination descriptor in the link
* list entry just before this one. We assume that both
* source and destination buffers are non-continuous, but
* this should work even if that is not the case.
* Set the NDE field in the previous descriptor; Clear the
* NDE field in the final descriptor.
*/
prev->cc &= ~XDMAC_CH_CC_BOTHDSCR;
prev->cubc |= CHNEXT_UBC_NDE;
/* Link the previous tail to the new tail.
* REVISIT: This assumes that the next description is fetched
* via AHB IF0.
*/
prev->dscr = (uint32_t)desc;
prev->cnda = (uint32_t)sam_physramaddr((uintptr_t)descr);
}
/* In any event, this is the new tail of the list. The source
* and destination descriptors must be disabled for the last entry
* in the link list. */
/* In any event, this is the new tail of the list */
desc->cc |= XDMAC_CH_CC_BOTHDSCR;
xdmach->lltail = desc;
xdmach->lltail = descr;
/* Assume that we will be doing multple buffer transfers and that
/* Assume that we will be doing multiple buffer transfers and that
* that hardware will be accessing the descriptor via DMA.
*/
cp15_clean_dcache((uintptr_t)desc,
(uintptr_t)desc + sizeof(struct dma_linklist_s));
cp15_clean_dcache((uintptr_t)descr,
(uintptr_t)descr + sizeof(struct chnext_view1_s));
break;
}
}
@ -1484,10 +1407,10 @@ sam_allocdesc(struct sam_xdmach_s *xdmach, struct dma_linklist_s *prev,
*/
sam_givechsem(xdmac);
DEBUGASSERT(desc != NULL);
DEBUGASSERT(descr != NULL);
}
return desc;
return descr;
}
/****************************************************************************
@ -1503,37 +1426,37 @@ sam_allocdesc(struct sam_xdmach_s *xdmach, struct dma_linklist_s *prev,
static void sam_freelinklist(struct sam_xdmach_s *xdmach)
{
struct sam_xdmac_s *xdmac = sam_controller(xdmach);
struct dma_linklist_s *desc;
struct chnext_view1_s *descr;
uintptr_t paddr;
/* Get the head of the link list and detach the link list from the DMA
* channel
*/
desc = xdmach->llhead;
descr = xdmach->llhead;
xdmach->llhead = NULL;
xdmach->lltail = NULL;
while (desc != NULL)
while (descr != NULL)
{
/* Valid, in-use descriptors never have csa == 0 */
DEBUGASSERT(desc->csa != 0);
DEBUGASSERT(descr->csa != 0);
/* Get the physical address of the next descriptor in the list */
paddr = desc->dscr;
paddr = descr->cnda;
/* Free the descriptor by simply nullifying it and bumping up the
* semaphore count.
*/
memset(desc, 0, sizeof(struct dma_linklist_s));
memset(descr, 0, sizeof(struct chnext_view1_s));
sam_givedsem(xdmac);
/* Get the virtual address of the next descriptor in the list */
desc = (struct dma_linklist_s *)sam_virtramaddr(paddr);
descr = (struct chnext_view1_s *)sam_virtramaddr(paddr);
}
}
@ -1550,29 +1473,25 @@ static void sam_freelinklist(struct sam_xdmach_s *xdmach)
static int sam_txbuffer(struct sam_xdmach_s *xdmach, uint32_t paddr,
uint32_t maddr, size_t nbytes)
{
uint32_t regval;
uint32_t cubc;
uint32_t cc;
/* If we are appending a buffer to a linklist, then re-use the previously
* calculated CC register value. Otherwise, create the CC register value
* from the properties of the transfer.
*/
if (xdmach->llhead)
if (!xdmach->llhead)
{
cc = xdmach->llhead->cc;
}
else
{
cc = sam_txcc(xdmach);
xdmach->cc = sam_txcc(xdmach);
}
cubc = sam_txcubc(xdmach, regval, nbytes);
/* Calculate the number of transfers for CUBC */
cubc = sam_cubc(xdmach, nbytes);
/* Add the new link list entry */
if (!sam_allocdesc(xdmach, xdmach->lltail, maddr, paddr, cubc, cc))
if (!sam_allocdesc(xdmach, xdmach->lltail, maddr, paddr, cubc))
{
return -ENOMEM;
}
@ -1593,29 +1512,25 @@ static int sam_txbuffer(struct sam_xdmach_s *xdmach, uint32_t paddr,
static int sam_rxbuffer(struct sam_xdmach_s *xdmach, uint32_t paddr,
uint32_t maddr, size_t nbytes)
{
uint32_t regval;
uint32_t cubc;
uint32_t cc;
/* If we are appending a buffer to a linklist, then re-use the previously
* calculated CC register value. Otherwise, create the CC register value
* from the properties of the transfer.
*/
if (xdmach->llhead)
if (!xdmach->llhead)
{
cc = xdmach->llhead->cc;
}
else
{
cc = sam_rxcc(xdmach);
xdmach->cc = sam_rxcc(xdmach);
}
cubc = sam_rxcubc(xdmach, regval, nbytes);
/* Calculate the number of transfers for CUBC */
cubc = sam_cubc(xdmach, nbytes);
/* Add the new link list entry */
if (!sam_allocdesc(xdmach, xdmach->lltail, paddr, maddr, cubc, cc))
if (!sam_allocdesc(xdmach, xdmach->lltail, paddr, maddr, cubc))
{
return -ENOMEM;
}
@ -1634,7 +1549,7 @@ static int sam_rxbuffer(struct sam_xdmach_s *xdmach, uint32_t paddr,
static inline int sam_single(struct sam_xdmach_s *xdmach)
{
struct sam_xdmac_s *xdmac = sam_controller(xdmach);
struct dma_linklist_s *llhead = xdmach->llhead;
struct chnext_view1_s *llhead = xdmach->llhead;
/* 1. Read the XDMAC Global Channel Status Register (XDMAC_GS) to choose a
* free channel.
@ -1670,7 +1585,7 @@ static inline int sam_single(struct sam_xdmach_s *xdmach)
/* 6. Program the Channel Control (CC) Register */
sam_putdmach(xdmach, llhead->cc, SAM_XDMACH_CC_OFFSET);
sam_putdmach(xdmach, xdmach->cc, SAM_XDMACH_CC_OFFSET);
/* 7. Clear the following five registers:
*
@ -1730,7 +1645,11 @@ static inline int sam_single(struct sam_xdmach_s *xdmach)
static inline int sam_multiple(struct sam_xdmach_s *xdmach)
{
struct sam_xdmac_s *xdmac = sam_controller(xdmach);
struct dma_linklist_s *llhead = xdmach->llhead;
#ifdef CONFIG_DEBUG
struct chnext_view1_s *llhead = xdmach->llhead;
#endif
uintptr_t paddr;
uint32_t regval;
DEBUGASSERT(llhead != NULL && llhead->csa != 0);
@ -1755,18 +1674,28 @@ static inline int sam_multiple(struct sam_xdmach_s *xdmach)
/* 3. Build a linked list of transfer descriptors in memory. The
* descriptor view is programmable on a per descriptor basis. The
* linked list items structure must be word aligned. MBR_UBC.NDE
* linked list items structure must be word aligned. CUBC NDE
* must be configured to 0 in the last descriptor to terminate the
* list.
*
* This was done during the RX/TX setup phases of the DMA transfer.
*/
/* 4. Program field NDA in the XDMAC Channel Next Descriptor Address
* (CNDA) Register (XDMAC_CNDAx) with the first descriptor address
* and bit XDMAC_CNDAx.NDAIF with the master interface identifier.
/* Since we are using view1, I imagine that we need to set the Channel
* Control (CC) Register.
*/
#warning Missing logic
sam_putdmach(xdmach, xdmach->cc, SAM_XDMACH_CC_OFFSET);
/* 4. Program field NDA in the XDMAC Channel Next Descriptor Address
* (CNDA) Register with the first descriptor address and bit NDAIF
* with the master interface identifier.
*
* REVIST: Using NDAIF=0. Is that correct?
*/
paddr = sam_physramaddr((uintptr_t)xdmach->llhead);
sam_putdmach(xdmach, (uint32_t)paddr, SAM_XDMACH_CNDA_OFFSET);
/* 5. Program the CNDC register:
*
@ -1775,10 +1704,37 @@ static inline int sam_multiple(struct sam_xdmach_s *xdmach)
* time, otherwise clear this bit.
* c. Set NDDUP to update the destination address at the descriptor
* fetch time, otherwise clear this bit.
* d. Program theNDVIEW field to define the length of the first
* d. Program the NDVIEW field to define the length of the first
* descriptor.
*/
#warning Missing logic
regval = (XDMACH_CNDC_NDE | XDMACH_CNDC_NDVIEW_NDV2);
/* Update the source address if this is a memory-to-* transfer.
*
* TYPE = 0 -> memory-to-memory
* TYPE = 1 && DSYNC = 1 -> memory-to-peripheral
*/
if ((xdmach->cc & XDMACH_CC_TYPE) == 0 ||
(xdmach->cc & XDMACH_CC_TYPE) != 0)
{
regval |= XDMACH_CNDC_NDSUP;
}
/* Update the destination address if this is a *-to-memory transfer.
*
* TYPE = 0 -> memory-to-memory
* TYPE = 1 && DSYNC = 0 -> peripheral-to-memory
*/
if ((xdmach->cc & XDMACH_CC_TYPE) == 0 ||
(xdmach->cc & XDMACH_CC_TYPE) == 0)
{
regval |= XDMACH_CNDC_NDDUP;
}
sam_putdmach(xdmach, regval, SAM_XDMACH_CNDC_OFFSET);
/* 6. Enable the End of Linked List interrupt by setting the LI bit in the
* CIE register.
@ -1825,7 +1781,7 @@ static void sam_dmaterminate(struct sam_xdmach_s *xdmach, int result)
/* Disable all channel interrupts */
sam_putdmac(xdmac, chanbit, SAM_XDMAC_GID_OFFSET);
sam_putdmach(xdmach, XDMAC_CHINT_ALL, SAM_XDMAC_CDI_OFFSET);
sam_putdmach(xdmach, XDMAC_CHINT_ALL, SAM_XDMACH_CID_OFFSET);
/* Under normal operation, the software enables a channel by setting the
* associated bit in the Global Channel Enable (GE) Register. The hardware
@ -1836,7 +1792,7 @@ static void sam_dmaterminate(struct sam_xdmach_s *xdmach, int result)
*/
sam_putdmac(xdmac, chanbit, SAM_XDMAC_GD_OFFSET);
while ((sam_getdma(xdmac, chanbit, SAM_XDMAC_GS_OFFSET) & chanbit) != 0);
while ((sam_getdmac(xdmac, SAM_XDMAC_GS_OFFSET) & chanbit) != 0);
/* Free the linklist */
@ -1874,60 +1830,61 @@ static int sam_xdmac_interrupt(struct sam_xdmac_s *xdmac)
{
struct sam_xdmach_s *xdmach;
unsigned int chndx;
uint32_t regval;
uint32_t gpending;
uint32_t chpending;
uint32_t bit;
/* Get the XDMAC status register value. Ignore all masked interrupt
* status bits.
*/
/* Get the set of pending, unmasked global XDMAC interrupts */
regval = sam_getdmac(xdmac, SAM_XDMAC_EBCISR_OFFSET) &
sam_getdmac(xdmac, SAM_XDMAC_EBCIMR_OFFSET);
gpending = sam_getdmac(xdmac, SAM_XDMAC_GIS_OFFSET) &
sam_getdmac(xdmac, SAM_XDMAC_GIM_OFFSET);
/* Check if the any transfer has completed or any errors have ocurred. */
/* Yes.. Check each bit to see which channel(s) have interrupted */
if (regval & XDMAC_EBC_ALLCHANINTS)
for (chndx = 0; chndx < SAM_NDMACHAN && gpending != 0; chndx++)
{
/* Yes.. Check each bit to see which channel has interrupted */
/* Are any interrupts pending for this channel? */
for (chndx = 0; chndx < SAM_NDMACHAN; chndx++)
bit = XDMAC_CHAN(chndx);
if ((gpending & bit) != 0)
{
/* Are any interrupts pending for this channel? */
xdmach = &xdmac->xdmach[chndx];
if ((regval & XDMAC_EBC_CHANINTS(chndx)) != 0)
/* Get the set of interrupts pending for this channel */
chpending = sam_getdmach(xdmach, SAM_XDMACH_CIS_OFFSET) &
sam_getdmach(xdmach, SAM_XDMACH_CIM_OFFSET);
/* Yes.. Did an error occur? */
if ((chpending & XDMAC_CHINT_ERRORS) != 0)
{
xdmach = &xdmac->xdmach[chndx];
/* Yes... Terminate the transfer with an error? */
/* Yes.. Did an error occur? */
if ((regval & XDMAC_EBC_ERR(chndx)) != 0)
{
/* Yes... Terminate the transfer with an error? */
dmalldbg("ERROR: DMA failed: %08x\n", regval);
sam_dmaterminate(xdmach, -EIO);
}
/* Is the transfer complete? */
else if ((regval & XDMAC_EBC_CBTC(chndx)) != 0)
{
/* Yes.. Terminate the transfer with success */
sam_dmaterminate(xdmach, OK);
}
/* Otherwise, this must be a Bufffer Transfer Complete (BTC)
* interrupt as part of a multiple buffer transfer.
*/
else /* if ((regval & XDMAC_EBC_BTC(chndx)) != 0) */
{
/* Write the KEEPON field to clear the STALL states */
sam_putdmac(xdmac, XDMAC_CHER_KEEP(xdmach->chan),
SAM_XDMAC_CHER_OFFSET);
}
dmalldbg("ERROR: DMA failed: %08x\n", chpending);
sam_dmaterminate(xdmach, -EIO);
}
/* Is the transfer complete? */
else if ((chpending & (XDMAC_CHINT_BI | XDMAC_CHINT_LI)) != 0)
{
/* Yes.. Terminate the transfer with success */
sam_dmaterminate(xdmach, OK);
}
/* Else what? */
else
{
dmalldbg("ERROR: Unexpected interrupt: %08x\n", chpending);
DEBUGPANIC();
}
/* Clear the bit in the sampled set of pending global interrupts */
gpending &= !bit;
}
}
@ -1977,10 +1934,6 @@ void sam_dmainitialize(struct sam_xdmac_s *xdmac)
sam_putdmac(xdmac, XDMAC_CHAN_ALL, SAM_XDMAC_GD_OFFSET);
/* Enable the DMA controller */
sam_putdmac(xdmac, XDMAC_EN_ENABLE, SAM_XDMAC_EN_OFFSET);
/* Initialize semaphores */
sem_init(&xdmac->chsem, 0, 1);
@ -2194,10 +2147,13 @@ void sam_xdmaconfig(DMA_HANDLE handle, uint32_t chflags)
void sam_dmafree(DMA_HANDLE handle)
{
struct sam_xdmach_s *xdmach = (struct sam_xdmach_s *)handle;
struct sam_xdmac_s *xdmac;
dmavdbg("xdmach: %p\n", xdmach);
DEBUGASSERT((xdmach != NULL) && (xdmach->inuse));
xdmac = sam_controller(xdmach);
/* Make sure that the channel is disabled by writing one to the write-only
* Global Channel Disable (GD) Register
*/