checker_slave/source/interface/if_uart_dma.c

#include "rtthread.h"
#include "stm32f4xx.h"
#include "board.h"
#include "if_uart_dma.h"


#ifndef RT_THREAD

#define rt_interrupt_enter()
#define rt_interrupt_leave()
#define rt_sem_create(...) 0
#define rt_sem_delete(...)
#define rt_sem_take(...)
#define rt_sem_release(...)

#endif






#define GPIO_Initer() {.GPIO_Mode=GPIO_Mode_AF,\
  .GPIO_Speed=GPIO_Speed_50MHz,\
  .GPIO_OType=GPIO_OType_PP,\
  .GPIO_PuPd=GPIO_PuPd_UP \
}


#define UART_Initer() {.USART_WordLength=USART_WordLength_8b,\
  .USART_StopBits=USART_StopBits_1,\
  .USART_Parity=USART_Parity_No,\
  .USART_HardwareFlowControl=USART_HardwareFlowControl_None,\
  .USART_Mode=USART_Mode_Rx | USART_Mode_Tx,\
}

#define NVIC_Initer() {0}


#define DMA_RX_Initer() {\
  .DMA_DIR = DMA_DIR_PeripheralToMemory,\
  .DMA_PeripheralInc = DMA_PeripheralInc_Disable,\
  .DMA_MemoryInc = DMA_MemoryInc_Enable,\
  .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,\
  .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,\
  .DMA_Mode = DMA_Mode_Circular,\
  .DMA_Priority = DMA_Priority_High,\
  .DMA_FIFOMode = DMA_FIFOMode_Disable,\
  .DMA_FIFOThreshold = DMA_FIFOThreshold_Full,\
  .DMA_MemoryBurst = DMA_MemoryBurst_Single,\
  .DMA_PeripheralBurst = DMA_PeripheralBurst_Single,\
}


#define DMA_TX_Initer() {\
	.DMA_DIR = DMA_DIR_MemoryToPeripheral,\
	.DMA_PeripheralInc = DMA_PeripheralInc_Disable,\
	.DMA_MemoryInc = DMA_MemoryInc_Enable,\
	.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,\
	.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte,\
	.DMA_Mode = DMA_Mode_Normal,\
	.DMA_Priority = DMA_Priority_Medium,\
	.DMA_FIFOMode = DMA_FIFOMode_Disable,\
	.DMA_FIFOThreshold = DMA_FIFOThreshold_Full,\
	.DMA_MemoryBurst = DMA_MemoryBurst_Single,\
	.DMA_PeripheralBurst = DMA_PeripheralBurst_Single,\
}




typedef struct{
  char *name;
  USART_TypeDef *uart;
  void (*uart_clock_fun)(uint32_t,FunctionalState);
  uint32_t uart_rcc;
  int baudrate;
  int irq_channel;
  
  void (*gpio_tx_clock_fun)(uint32_t,FunctionalState);
  uint32_t gpio_tx_rcc;
  GPIO_TypeDef *gpio_tx_base;
  uint16_t gpio_tx_pin;
  uint8_t gpio_tx_af;
  void (*gpio_rx_clock_fun)(uint32_t,FunctionalState);
  uint32_t gpio_rx_rcc;
  GPIO_TypeDef *gpio_rx_base;
  uint16_t gpio_rx_pin;
  uint8_t gpio_rx_af;
  
  DMA_Stream_TypeDef *dma_rx_stream;
  void (*dma_rx_clock_fun)(uint32_t,FunctionalState);
  uint32_t dma_rx_rcc;
  uint32_t dma_rx_channel;
  
  DMA_Stream_TypeDef *dma_tx_stream;
  void (*dma_tx_clock_fun)(uint32_t,FunctionalState);
  uint32_t dma_tx_rcc;
  uint32_t dma_tx_channel;
  int dma_tx_irq_channel;
  uint32_t dma_tx_tc_flag;
  
}uart_dtb;



static const uart_dtb g_uartdtb[]={
  {
    .name="uart1",
    .uart=USART1,
    .uart_clock_fun=RCC_APB2PeriphClockCmd,
    .uart_rcc=RCC_APB2Periph_USART1,
    .baudrate=57600,
    .irq_channel=USART1_IRQn,
    
    .gpio_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_tx_rcc=RCC_AHB1Periph_GPIOA,
    .gpio_tx_base=GPIOA,
    .gpio_tx_pin=9,
    .gpio_tx_af=GPIO_AF_USART1,
    .gpio_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_rx_rcc=RCC_AHB1Periph_GPIOA,
    .gpio_rx_base=GPIOA,
    .gpio_rx_pin=10,
    .gpio_rx_af=GPIO_AF_USART1,
    
    .dma_rx_stream=DMA2_Stream5,
    .dma_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_rx_rcc=RCC_AHB1Periph_DMA2,
    .dma_rx_channel=DMA_Channel_4,
    
    .dma_tx_stream=DMA2_Stream7,
    .dma_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_tx_rcc=RCC_AHB1Periph_DMA2,
    .dma_tx_channel=DMA_Channel_4,
    .dma_tx_irq_channel=DMA2_Stream7_IRQn,
    .dma_tx_tc_flag=DMA_FLAG_TCIF7,
  },
  {
    .name="uart2",
    .uart=USART2,
    .uart_clock_fun=RCC_APB1PeriphClockCmd,
    .uart_rcc=RCC_APB1Periph_USART2,
    .baudrate=57600,
    .irq_channel=USART2_IRQn,
    
    .gpio_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_tx_rcc=RCC_AHB1Periph_GPIOD,
    .gpio_tx_base=GPIOD,
    .gpio_tx_pin=5,
    .gpio_tx_af=GPIO_AF_USART2,
    .gpio_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_rx_rcc=RCC_AHB1Periph_GPIOD,
    .gpio_rx_base=GPIOD,
    .gpio_rx_pin=6,
    .gpio_rx_af=GPIO_AF_USART2,
    
    .dma_rx_stream=DMA1_Stream5,
    .dma_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_rx_rcc=RCC_AHB1Periph_DMA1,
    .dma_rx_channel=DMA_Channel_4,
    
    .dma_tx_stream=DMA1_Stream6,
    .dma_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_tx_rcc=RCC_AHB1Periph_DMA1,
    .dma_tx_channel=DMA_Channel_4,
    .dma_tx_irq_channel=DMA1_Stream6_IRQn,
    .dma_tx_tc_flag=DMA_FLAG_TCIF6,
  },
  {
    .name="uart3",
    .uart=USART3,
    .uart_clock_fun=RCC_APB1PeriphClockCmd,
    .uart_rcc=RCC_APB1Periph_USART3,
    .baudrate=57600,
    .irq_channel=USART3_IRQn,
    
    .gpio_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_tx_rcc=RCC_AHB1Periph_GPIOD,
    .gpio_tx_base=GPIOD,
    .gpio_tx_pin=8,
    .gpio_tx_af=GPIO_AF_USART3,
    .gpio_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_rx_rcc=RCC_AHB1Periph_GPIOD,
    .gpio_rx_base=GPIOD,
    .gpio_rx_pin=9,
    .gpio_rx_af=GPIO_AF_USART3,
    
    .dma_rx_stream=DMA1_Stream1,
    .dma_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_rx_rcc=RCC_AHB1Periph_DMA1,
    .dma_rx_channel=DMA_Channel_4,
    
    .dma_tx_stream=DMA1_Stream3,
    .dma_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_tx_rcc=RCC_AHB1Periph_DMA1,
    .dma_tx_channel=DMA_Channel_4,
    .dma_tx_irq_channel=DMA1_Stream3_IRQn,
    .dma_tx_tc_flag=DMA_FLAG_TCIF3,
  },
  {
    .name="uart4",
    .uart=UART4,
    .uart_clock_fun=RCC_APB1PeriphClockCmd,
    .uart_rcc=RCC_APB1Periph_UART4,
    .baudrate=115200,
    .irq_channel=UART4_IRQn,
    
    .gpio_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_tx_rcc=RCC_AHB1Periph_GPIOC,
    .gpio_tx_base=GPIOC,
    .gpio_tx_pin=10,
    .gpio_tx_af=GPIO_AF_UART4,
    .gpio_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_rx_rcc=RCC_AHB1Periph_GPIOC,
    .gpio_rx_base=GPIOC,
    .gpio_rx_pin=11,
    .gpio_rx_af=GPIO_AF_UART4,
    
    .dma_rx_stream=DMA1_Stream2,
    .dma_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_rx_rcc=RCC_AHB1Periph_DMA1,
    .dma_rx_channel=DMA_Channel_4,
    
    .dma_tx_stream=DMA1_Stream4,
    .dma_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_tx_rcc=RCC_AHB1Periph_DMA1,
    .dma_tx_channel=DMA_Channel_4,
    .dma_tx_irq_channel=DMA1_Stream4_IRQn,
    .dma_tx_tc_flag=DMA_FLAG_TCIF4,
  },
  {
    .name="uart5",
    .uart=UART5,
    .uart_clock_fun=RCC_APB1PeriphClockCmd,
    .uart_rcc=RCC_APB1Periph_UART5,
    .baudrate=57600,
    .irq_channel=UART5_IRQn,
    
    .gpio_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_tx_rcc=RCC_AHB1Periph_GPIOC,
    .gpio_tx_base=GPIOC,
    .gpio_tx_pin=12,
    .gpio_tx_af=GPIO_AF_UART5,
    .gpio_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_rx_rcc=RCC_AHB1Periph_GPIOD,
    .gpio_rx_base=GPIOD,
    .gpio_rx_pin=2,
    .gpio_rx_af=GPIO_AF_UART5,
    
    .dma_rx_stream=DMA1_Stream0,
    .dma_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_rx_rcc=RCC_AHB1Periph_DMA1,
    .dma_rx_channel=DMA_Channel_4,
    
    .dma_tx_stream=DMA1_Stream7,
    .dma_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_tx_rcc=RCC_AHB1Periph_DMA1,
    .dma_tx_channel=DMA_Channel_4,
    .dma_tx_irq_channel=DMA1_Stream7_IRQn,
    .dma_tx_tc_flag=DMA_FLAG_TCIF7,
  },
  {
    .name="uart6",
    .uart=USART6,
    .uart_clock_fun=RCC_APB2PeriphClockCmd,
    .uart_rcc=RCC_APB2Periph_USART6,
    .baudrate=57600,
    .irq_channel=USART6_IRQn,
    
    .gpio_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_tx_rcc=RCC_AHB1Periph_GPIOC,
    .gpio_tx_base=GPIOC,
    .gpio_tx_pin=6,
    .gpio_tx_af=GPIO_AF_USART6,
    .gpio_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .gpio_rx_rcc=RCC_AHB1Periph_GPIOC,
    .gpio_rx_base=GPIOC,
    .gpio_rx_pin=7,
    .gpio_rx_af=GPIO_AF_USART6,
    
    .dma_rx_stream=DMA2_Stream2,
    .dma_rx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_rx_rcc=RCC_AHB1Periph_DMA2,
    .dma_rx_channel=DMA_Channel_5,
    
    .dma_tx_stream=DMA2_Stream6,
    .dma_tx_clock_fun=RCC_AHB1PeriphClockCmd,
    .dma_tx_rcc=RCC_AHB1Periph_DMA2,
    .dma_tx_channel=DMA_Channel_5,
    .dma_tx_irq_channel=DMA2_Stream6_IRQn,
    .dma_tx_tc_flag=DMA_FLAG_TCIF6,
  },
};



typedef struct{
  const uart_dtb *dtb;
  void (*irq_fun)(void *t,uint8_t d);
  void (*irq_fun_end)(void *t,uint32_t len);
  void *t;
  uint8_t *rx_buff;
  uint32_t rx_buff_size;
  void *sem;
  int in_send;
}self_data;


static self_data g_self[LENGTH(g_uartdtb)];


def_find_fun(uart_dtb,g_uartdtb)



static int init(uart_def *u,int bsp)
{
  param_check(u);
  if(u->private_data) return 0;
  GPIO_InitTypeDef init=GPIO_Initer();
	USART_InitTypeDef init2=UART_Initer(); 
  NVIC_InitTypeDef init3=NVIC_Initer();
  int index;
  const uart_dtb *dtb=find(u->name,&index);
  self_data *self=&g_self[index];
  self->dtb=dtb;
  self->irq_fun=0;
  self->t=0;
  self->sem=rt_sem_create(u->name,1,RT_IPC_FLAG_FIFO);
  self->in_send=0;
  {
    u->private_data=self;
    dtb->uart_clock_fun(dtb->uart_rcc,ENABLE);
    if(bsp==0) bsp=dtb->baudrate;
    init2.USART_BaudRate = bsp;
    USART_Init(dtb->uart, &init2);	
    USART_Cmd(dtb->uart, ENABLE);	
    
    dtb->gpio_tx_clock_fun(dtb->gpio_tx_rcc,ENABLE);
    GPIO_PinAFConfig(dtb->gpio_tx_base,dtb->gpio_tx_pin,dtb->gpio_tx_af);
    init.GPIO_Pin=1<<dtb->gpio_tx_pin;
    GPIO_Init(dtb->gpio_tx_base,&init); 

    dtb->gpio_rx_clock_fun(dtb->gpio_rx_rcc,ENABLE);
    GPIO_PinAFConfig(dtb->gpio_rx_base,dtb->gpio_rx_pin,dtb->gpio_rx_af);
    init.GPIO_Pin=1<<dtb->gpio_rx_pin;
    GPIO_Init(dtb->gpio_rx_base,&init); 

    init3.NVIC_IRQChannel = dtb->irq_channel;
    init3.NVIC_IRQChannelPreemptionPriority=3;
    init3.NVIC_IRQChannelSubPriority =3;
    init3.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&init3);
    USART_ITConfig(dtb->uart, USART_IT_IDLE, ENABLE);	
    
    init3.NVIC_IRQChannel = dtb->dma_tx_irq_channel;
    init3.NVIC_IRQChannelPreemptionPriority=3;
    init3.NVIC_IRQChannelSubPriority =3;
    init3.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&init3);
  }
  return 0;
}



static int dma_rx_init(self_data *self,uint8_t *rx_buff,uint32_t rx_buff_size)
{
  const uart_dtb *dtb=self->dtb;
	DMA_InitTypeDef init=DMA_RX_Initer();	
  
  USART_DMACmd(dtb->uart,USART_DMAReq_Rx,ENABLE);
  DMA_DeInit(dtb->dma_rx_stream);
  while (DMA_GetCmdStatus(dtb->dma_rx_stream) != DISABLE);
  RCC_AHB1PeriphClockCmd(dtb->dma_rx_rcc,ENABLE);
  init.DMA_Channel = dtb->dma_rx_channel;
  init.DMA_PeripheralBaseAddr = (u32)(&(dtb->uart->DR));
  init.DMA_Memory0BaseAddr = (u32)rx_buff;
  DMA_Init(dtb->dma_rx_stream, &init);
  DMA_Cmd(dtb->dma_rx_stream, DISABLE);
  return 0;
}

static int dma_rx_reset(self_data *self)
{
  const uart_dtb *dtb=self->dtb;
  
  DMA_Cmd(dtb->dma_rx_stream, DISABLE);
  while(DMA_GetCmdStatus(dtb->dma_rx_stream)!=DISABLE);
  DMA_SetCurrDataCounter(dtb->dma_rx_stream, self->rx_buff_size);  
  DMA_Cmd(dtb->dma_rx_stream, ENABLE);
  
  return 0;
}




static int dma_tx_init(self_data *self,const uint8_t *tx_buff,uint32_t tx_buff_size)
{
  const uart_dtb *dtb=self->dtb;
	DMA_InitTypeDef init=DMA_TX_Initer();	
  
  USART_DMACmd(dtb->uart,USART_DMAReq_Tx,ENABLE);
  DMA_DeInit(dtb->dma_tx_stream);
  while (DMA_GetCmdStatus(dtb->dma_tx_stream) != DISABLE);
  RCC_AHB1PeriphClockCmd(dtb->dma_tx_rcc,ENABLE);
  init.DMA_Channel = dtb->dma_tx_channel;
  init.DMA_PeripheralBaseAddr = (u32)(&(dtb->uart->DR));
  init.DMA_Memory0BaseAddr = (u32)tx_buff;
  init.DMA_BufferSize=tx_buff_size;
  DMA_Init(dtb->dma_tx_stream, &init);
  DMA_Cmd(dtb->dma_tx_stream, ENABLE);
  DMA_ITConfig(dtb->dma_tx_stream,DMA_IT_TC,ENABLE);
  return 0;
}


static int dma_tx_reset(self_data *self,uint8_t *tx_buff,uint32_t tx_buff_size)
{
  const uart_dtb *dtb=self->dtb;
  
  USART_DMACmd(dtb->uart,USART_DMAReq_Tx,ENABLE);
  DMA_Cmd(dtb->dma_tx_stream, DISABLE);
  while(DMA_GetCmdStatus(dtb->dma_tx_stream)!=DISABLE);
  DMA_ClearFlag(dtb->dma_tx_stream,dtb->dma_tx_tc_flag);
  DMA_SetCurrDataCounter(dtb->dma_tx_stream, tx_buff_size);
  dtb->dma_rx_stream->M0AR=(uint32_t)tx_buff;
  DMA_Cmd(dtb->dma_tx_stream, ENABLE);
  return 0;
}







static int deinit(uart_def *u)
{
  param_check(u);
  if(u->private_data==0) return 0;
  NVIC_InitTypeDef init3=NVIC_Initer();
  const uart_dtb *dtb=find(u->name,0);
  {
    USART_Cmd(dtb->uart, DISABLE);	
    dtb->uart_clock_fun(dtb->uart_rcc,DISABLE);
    dtb->gpio_tx_clock_fun(dtb->gpio_tx_rcc,DISABLE);
    dtb->gpio_rx_clock_fun(dtb->gpio_rx_rcc,DISABLE);
    init3.NVIC_IRQChannelCmd = DISABLE;
    NVIC_Init(&init3);
    USART_ITConfig(dtb->uart, USART_IT_RXNE, DISABLE);
    rt_sem_delete(((self_data *)u->private_data)->sem);
    u->private_data=0;
  }
  return 0;
}



static int set_irq(uart_def *u,void (*irq)(void *t,uint8_t d),void *t)
{
  param_check(u);
  param_check(u->private_data);
  self_data *self=u->private_data;
  irq_disable();
  self->irq_fun=irq;
  self->t=t;
  irq_enable();
  return 0;
}

static int set_end_irq(uart_def *u,uint8_t *rx_buff,int rx_buff_size,
  void (*irq)(void *t,uint32_t len),void *t)
{
  param_check(u);
  param_check(u->private_data);
  self_data *self=u->private_data;
  dma_rx_init(self,rx_buff,rx_buff_size);
  self->rx_buff=rx_buff;
  self->rx_buff_size=rx_buff_size;
  dma_rx_reset(self);
  irq_disable();
  self->irq_fun_end=irq;
  self->t=t;
  irq_enable();
  return 0;
}


static int read(uart_def *u,uint8_t *b,int len)
{
  param_check(u);
  param_check(u->private_data);
  return 0;
}


// dma后台发送需要保证数据在发送期间有效
static int write(uart_def *u,const uint8_t *b,int len)
{
  param_check(u);
  param_check(u->private_data);
  self_data *self=u->private_data;
  USART_TypeDef *uart=self->dtb->uart;
  if(1){
    dma_tx_init(self,b,len);
  }else{
    for(int i=0;i<len;i++)
    {
      while(!USART_GetFlagStatus(uart,USART_FLAG_TXE));
      uart->DR=b[i];
    }
  }
  return len;
}

// 阻塞发送，此函数结束即可释放内存
static int write_block(uart_def *u,const uint8_t *b,int len)
{
  param_check(u);
  param_check(u->private_data);
  self_data *self=u->private_data;
  USART_TypeDef *uart=self->dtb->uart;
  self->in_send=1;
  if(1){
    dma_tx_init(self,b,len);
  }else{
    for(int i=0;i<len;i++)
    {
      while(!USART_GetFlagStatus(uart,USART_FLAG_TXE));
      uart->DR=b[i];
    }
    self->in_send=0;
  }
  while(self->in_send){}
  return len;
}



static inline void self_irq(self_data *self)
{
	rt_interrupt_enter();
  const uart_dtb *dtb=self->dtb;
  
  if(USART_GetFlagStatus(dtb->uart,USART_FLAG_RXNE))
  {
    if(self->irq_fun){
      self->irq_fun(self->t,dtb->uart->DR);
    }
  }
  else if(USART_GetFlagStatus(dtb->uart,USART_FLAG_TC))
  {
    USART_ClearFlag(dtb->uart,USART_FLAG_TC);
  }
  else if(USART_GetFlagStatus(dtb->uart,USART_FLAG_IDLE))
  {
    USART_ReceiveData(dtb->uart);
    if(self->irq_fun_end){
      self->irq_fun_end(self->t,self->rx_buff_size-DMA_GetCurrDataCounter(dtb->dma_rx_stream));
    }
    dma_rx_reset(self);
  }
	rt_interrupt_leave();
}
static inline void self_dma_irq(self_data *self)
{
	rt_interrupt_enter();
  const uart_dtb *dtb=self->dtb;
  if(DMA_GetFlagStatus(dtb->dma_tx_stream,dtb->dma_tx_tc_flag))
  {
    DMA_ClearFlag(dtb->dma_tx_stream,dtb->dma_tx_tc_flag);
    DMA_Cmd(dtb->dma_tx_stream, DISABLE);
    self->in_send=0;
  }
	rt_interrupt_leave();
}

void USART1_IRQHandler(void)
{
  self_data *self=&g_self[0];
  self_irq(self);
}
void USART2_IRQHandler(void)
{
  self_data *self=&g_self[1];
  self_irq(self);
}
void USART3_IRQHandler(void)
{
  self_data *self=&g_self[2];
  self_irq(self);
}
void UART4_IRQHandler(void)
{
  self_data *self=&g_self[3];
  self_irq(self);
}
void UART5_IRQHandler(void)
{
  self_data *self=&g_self[4];
  self_irq(self);
}
void USART6_IRQHandler(void)
{
  self_data *self=&g_self[5];
  self_irq(self);
}

void DMA2_Stream7_IRQHandler(void)
{
  self_data *self=&g_self[0];
  self_dma_irq(self);
}
void DMA1_Stream6_IRQHandler(void)
{
  self_data *self=&g_self[1];
  self_dma_irq(self);
}
void DMA1_Stream3_IRQHandler(void)
{
  self_data *self=&g_self[2];
  self_dma_irq(self);
}
void DMA1_Stream4_IRQHandler(void)
{
  self_data *self=&g_self[3];
  self_dma_irq(self);
}
void DMA1_Stream7_IRQHandler(void)
{
  self_data *self=&g_self[4];
  self_dma_irq(self);
}
void DMA2_Stream6_IRQHandler(void)
{
  self_data *self=&g_self[5];
  self_dma_irq(self);
}


uart_init_export(uart1,init,deinit,set_irq,set_end_irq,read,write,0)
uart_init_export(uart2,init,deinit,set_irq,set_end_irq,read,write,0)
uart_init_export(uart3,init,deinit,set_irq,set_end_irq,read,write,0)
uart_init_export(uart5,init,deinit,set_irq,set_end_irq,read,write,0)
uart_init_export(uart6,init,deinit,set_irq,set_end_irq,read,write,0)
uart_init_export(uart4,init,deinit,set_irq,set_end_irq,read,write_block,0)