.. currentmodule:: rp2

.. _rp2.DMA:

class DMA -- access to the RP2040's DMA controller

The :class:`DMA` class offers access to the RP2040's Direct Memory Access (DMA)

controller, providing the ability move data between memory blocks and/or IO registers. The DMA

controller has its own, separate read and write bus master connections onto the bus fabric and each

DMA channel can independently read data from one address and write it back to another address,

optionally incrementing one or both pointers, allowing it to perform transfers on behalf of the

process while the processor carries out other tasks or enters a low power state. The RP2040's DMA

controller has 12 independent DMA channels that can run concurrently. For full details of the

RP2040's DMA system see section 2.5 of the `RP2040 Datasheet

<https://datasheets.raspberrypi.org/rp2040/rp2040-datasheet.pdf>`_.

Examples

The simplest use of the DMA controller is to move data from one block of memory to another.

This can be accomplished with the following code::

Note that while this example sits in an idle loop while it waits for the transfer to complete,

the program could just as well do some useful work in this time instead.

Another, perhaps more common use of the DMA controller is to transfer between memory and an IO

peripheral. In this situation the address of the IO register does not change for each transfer but

the memory address needs to be incremented. It is also necessary to control the pace of the

transfer so as to not write data before it can be accepted by a peripheral or read it before the

data is ready, and this can be controlled with the ``treq_sel`` field of the DMA channel's control

register. The various fields of the control register for each DMA channel can be packed

using the :meth:`DMA.pack_ctrl()` method and unpacked using the :meth:`DMA.unpack_ctrl()`

static method. Code to transfer data from a byte array to the TX FIFO of a PIO state machine,

one byte at a time, looks like this::

Note that in this example the value given for the write address is the PIO state machine to which

we are sending the data. This works because PIO state machines present the buffer protocol, allowing

direct access to their data FIFO registers.

Constructor

.. class:: DMA

Claim one of the DMA controller channels for exclusive use.

Methods

.. method:: DMA.config(read=None, write=None, count=None, ctrl=None, trigger=False)

Configure the DMA registers for the channel and optionally start the transfer.

:param read: The address from which the DMA controller will start reading data or

an object that will provide data to be read. It can be an integer or any

object that supports the buffer protocol.

:param write: The address to which the DMA controller will start writing or an

object into which data will be written. It can be an integer or any object

that supports the buffer protocol.

:param count: The number of bus transfers that will execute before this channel

stops. Note that this is the number of transfers, not the number of bytes.

If the transfers are 2 or 4 bytes wide then the total amount of data moved

(and thus the size of required buffer) needs to be multiplied accordingly.

:param ctrl: The value for the DMA control register. This is an integer value

that is typically packed using the :meth:`DMA.pack_ctrl()`.

:param trigger: Optionally commence the transfer immediately.

.. method:: DMA.irq(handler=None, hard=False)

Returns the IRQ object for this DMA channel and optionally configures it.

.. method:: DMA.close()

Release the claim on the underlying DMA channel and free the interrupt

handler. The :class:`DMA` object can not be used after this operation.

.. method:: DMA.pack_ctrl(default=None, **kwargs)

Pack the values provided in the keyword arguments into the named fields of a new control

register value. Any field that is not provided will be set to a default value. The

default will either be taken from the provided ``default`` value, or if that is not

given, a default suitable for the current channel; setting this to the current value

of the `DMA.ctrl` attribute provides an easy way to override a subset of the fields.

The keys for the keyword arguments can be any key returned by the :meth:`DMA.unpack_ctrl()`

method. The writable values are:

:param enable: ``BOOL`` Set to enable the channel (default: ``True``).

:param high_pri: ``BOOL`` Make this channel's bus traffic high priority (default: ``False``).

:param size: ``int`` Transfer size: 0=byte, 1=half word, 2=word (default: 2).

:param inc_read: ``BOOL`` Increment the read address after each transfer (default: ``True``).

:param inc_write: ``BOOL`` Increment the write address after each transfer (default: ``True``).

:param ring_size: ``int`` If non-zero, only the bottom ``ring_size`` bits of the one

address register will change when an address is incremented, causing the

address to wrap at the next ``1 << ring_size`` byte boundary. Which

address is wrapped is controlled by the ``ring_sel`` flag. A zero value

disables address wrapping.

:param ring_sel: ``BOOL`` Set to ``False`` to have the ``ring_size`` apply to the read address

or ``True`` to apply to the write address.

:param chain_to: ``int`` The channel number for a channel to trigger after this transfer

completes. Setting this value to this DMA object's own channel number disables

chaining (this is the default).

:param treq_sel: ``int`` Select a Transfer Request signal. See section 2.5.3 in the RP2040 datasheet

for details.

:param irq_quiet: ``BOOL`` Do not generate interrupt at the end of each transfer. Interrupts will

instead be generated when a zero value is written to the trigger register, which

will halt a sequence of chained transfers (default: ``False``).

:param bswap: ``BOOL`` If set to true, bytes in words or half-words will be reversed before writing

(default: ``True``).

:param sniff_en: ``BOOL`` Set to ``True`` to allow data to be accessed by the chips sniff hardware

(default: ``False``).

:param write_err: ``BOOL`` Setting this to true will a previously reported write error.

:param read_err: ``BOOL`` Setting this to true will a previously reported read error.

See the description of the ``CH0_CTRL_TRIG`` register in section 2.5.7 of the RP2040 datasheet

for details of all of these fields.

.. method:: DMA.unpack_ctrl(value)

Unpack a value for a DMA channel control register into a dictionary with key/value pairs

for each of the fields in the control register.

:param value: The ``ctrl`` register value to unpack.

This method will return values for all the keys that can be passed to ``DMA.pack_ctrl``.

In addition, it will also return the read-only flags in the control register: ``busy``,

which goes high when a transfer starts and low when it ends, and ``ahb_err``, which is

the logical OR of the ``read_err`` and ``write_err`` flags. These values will be ignored

when packing, so that the dictionary created by unpacking a control register can be used

directly as the keyword arguments for packing.

.. method:: DMA.active([value])

Gets or sets whether the DMA channel is currently running.

>>> sm.active()

0

>>> sm.active(1)

>>> while sm.active():

... pass

Attributes

.. attribute:: DMA.read

This attribute reflects the address from which the next bus transfer

will read. May be written with either an integer or an object

that supports the buffer protocol and doing so has immediate effect.

.. attribute:: DMA.write

This attribute reflects the address to which the next bus transfer

will write. May be written with either an integer or an object

that supports the buffer protocol and doing so has immediate effect.

.. attribute:: DMA.count

Reading this attribute will return the number of remaining bus

transfers in the *current* transfer sequence. Writing this attribute

sets the total number of transfers to be the *next* transfer sequence.

.. attribute:: DMA.ctrl

This attribute reflects DMA channel control register. It is typically written

with an integer packed using the :meth:`DMA.pack_ctrl()` method. The returned

register value can be unpacked using the :meth:`DMA.unpack_ctrl()` method.

.. attribute:: DMA.channel

The channel number of the DMA channel. This can be passed in the ``chain_to``

argument of `DMA.pack_ctrl()` on another channel to allow DMA chaining.

.. attribute:: DMA.registers

This attribute is an array-like object that allows direct access to

the DMA channel's registers. The index is by word, rather than by byte,

so the register indices are the register address offsets divided by 4.

See the RP2040 data sheet for register details.

Chaining and trigger register access

The DMA controller in the RP2040 offers a couple advanced features to allow one DMA channel

to initiate a transfer on another channel. One is the use of the ``chain_to`` value in the

control register and the other is writing to one of the DMA channel's registers that has a

trigger effect. When coupled with the ability to have one DMA channel write directly to the

`DMA.registers` of another channel, this allows for complex transactions to be performed

without any CPU intervention.

Below is an example of using both chaining and register

triggering to implement gathering of multiple blocks of data into a single destination. Full

details of these features can be found in section 2.5 of the RP2040 data sheet and the code

below is a Pythonic version of the example in sub-section 2.5.6.2.

.. code-block:: python

This example idles while waiting for the transfer to complete, but alternatively it could

set an interrupt handler and return immediately.

Buffer protocol

The StateMachine class supports the `buffer protocol`, allowing direct access to the transmit

and receive FIFOs for each state machine. This is primarily in order to allow StateMachine

objects to be passed directly as the read or write parameters when configuring a `rp2.DMA()`

channel.

rp2.DMA.rst