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This document is not updated for ESP32C5 yet, so some of the content may not be correct.

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# Asynchronous Memory Copy

[中文]

## Overview

ESP32-C5 has a DMA engine which can help to offload internal memory copy operations from the CPU in an asynchronous way.

The async memcpy API wraps all DMA configurations and operations. The signature of `esp_async_memcpy()` is almost the same as the standard libc `memcpy` function.

The DMA allows multiple memory copy requests to be queued up before the first one is completed, which allows overlap of computation and memory copy. Moreover, it is still possible to know the exact time when a memory copy request is completed by registering an event callback.

If the async memcpy is constructed upon the AHB GDMA, it is also possible to copy data from/to PSRAM with a proper alignment.

## Configure and Install Driver

There are several ways to install the async memcpy driver, depending on the underlying DMA engine:

- `esp_async_memcpy_install_gdma_ahb()` is used to install the async memcpy driver based on the AHB GDMA engine.

- `esp_async_memcpy_install()` is a generic API to install the async memcpy driver with a default DMA engine. If the SoC has the CP DMA engine, the default DMA engine is CP DMA. Otherwise, the default DMA engine is AHB GDMA.

Driver configuration is described in `async_memcpy_config_t`:

- `backlog`: This is used to configure the maximum number of memory copy transactions that can be queued up before the first one is completed. If this field is set to zero, then the default value 4 will be applied.

- `dma_burst_size`: Set the burst size in a DMA burst transfer.

- `flags`: This is used to enable some special driver features.

    async_memcpy_config_t config = ASYNC_MEMCPY_DEFAULT_CONFIG();
    // update the maximum data stream supported by underlying DMA engine
    config.backlog = 8;
    async_memcpy_handle_t driver = NULL;
    ESP_ERROR_CHECK(esp_async_memcpy_install(&config, &driver)); // install driver with default DMA engine

## Send Memory Copy Request

`esp_async_memcpy()` is the API to send memory copy request to DMA engine. It must be called after driver is installed successfully. This API is thread safe, so it can be called from different tasks.

Different from the libc version of `memcpy`, you can optionally pass a callback to `esp_async_memcpy()`, so that you can be notified when the memory copy is finished. Note that the callback is executed in the ISR context, please make sure you will not call any blocking functions in the callback.

The prototype of the callback function is `async_memcpy_isr_cb_t`. The callback function should only return true if it wakes up a high priority task by RTOS APIs like `xSemaphoreGiveFromISR()`.

    // Callback implementation, running in ISR context
    static bool my_async_memcpy_cb(async_memcpy_handle_t mcp_hdl, async_memcpy_event_t *event, void *cb_args)
    {
        SemaphoreHandle_t sem = (SemaphoreHandle_t)cb_args;
        BaseType_t high_task_wakeup = pdFALSE;
        xSemaphoreGiveFromISR(semphr, &high_task_wakeup); // high_task_wakeup set to pdTRUE if some high priority task unblocked
        return high_task_wakeup == pdTRUE;
    }

    // Create a semaphore used to report the completion of async memcpy
    SemaphoreHandle_t semphr = xSemaphoreCreateBinary();

    // Called from user's context
    ESP_ERROR_CHECK(esp_async_memcpy(driver_handle, to, from, copy_len, my_async_memcpy_cb, my_semaphore));
    // Do something else here
    xSemaphoreTake(my_semaphore, portMAX_DELAY); // Wait until the buffer copy is done

## Uninstall Driver

`esp_async_memcpy_uninstall()` is used to uninstall asynchronous memcpy driver. It is not necessary to uninstall the driver after each memcpy operation. If you know your application will not use this driver anymore, then this API can recycle the memory and other hardware resources for you.

## ETM Event

Async memory copy is able to generate an event when one async memcpy operation is done. This event can be used to interact with the ETM module. You can call `esp_async_memcpy_new_etm_event()` to get the ETM event handle.

For how to connect the event to an ETM channel, please refer to the ETM documentation.

## API Reference

### Header File

- components/esp_hw_support/include/esp_async_memcpy.h

- This header file can be included with:

  >     #include "esp_async_memcpy.h"

### Functions

esp_err_t esp_async_memcpy_install_gdma_ahb(const async_memcpy_config_t *config, async_memcpy_handle_t *mcp)

  Install async memcpy driver, with AHB-GDMA as the backend.

  Parameters:

    - config -- [in] Configuration of async memcpy

    - mcp -- [out] Returned driver handle

  Returns:

    - ESP_OK: Install async memcpy driver successfully

    - ESP_ERR_INVALID_ARG: Install async memcpy driver failed because of invalid argument

    - ESP_ERR_NO_MEM: Install async memcpy driver failed because out of memory

    - ESP_FAIL: Install async memcpy driver failed because of other error

esp_err_t esp_async_memcpy_install(const async_memcpy_config_t *config, async_memcpy_handle_t *mcp)

  Install async memcpy driver with the default DMA backend.

  Note

  On chip with CPDMA support, CPDMA is the default choice. On chip with AHB-GDMA support, AHB-GDMA is the default choice.

  Parameters:

    - config -- [in] Configuration of async memcpy

    - mcp -- [out] Returned driver handle

  Returns:

    - ESP_OK: Install async memcpy driver successfully

    - ESP_ERR_INVALID_ARG: Install async memcpy driver failed because of invalid argument

    - ESP_ERR_NO_MEM: Install async memcpy driver failed because out of memory

    - ESP_FAIL: Install async memcpy driver failed because of other error

esp_err_t esp_async_memcpy_uninstall(async_memcpy_handle_t mcp)

  Uninstall async memcpy driver.

  Parameters:

    mcp -- [in] Handle of async memcpy driver that returned from `esp_async_memcpy_install`

  Returns:

    - ESP_OK: Uninstall async memcpy driver successfully

    - ESP_ERR_INVALID_ARG: Uninstall async memcpy driver failed because of invalid argument

    - ESP_FAIL: Uninstall async memcpy driver failed because of other error

esp_err_t esp_async_memcpy(async_memcpy_handle_t mcp, void *dst, void *src, size_t n, async_memcpy_isr_cb_t cb_isr, void *cb_args)

  Send an asynchronous memory copy request.

  Note

  The callback function is invoked in interrupt context, never do blocking jobs in the callback.

  Parameters:

    - mcp -- [in] Handle of async memcpy driver that returned from `esp_async_memcpy_install`

    - dst -- [in] Destination address (copy to)

    - src -- [in] Source address (copy from)

    - n -- [in] Number of bytes to copy

    - cb_isr -- [in] Callback function, which got invoked in interrupt context. Set to NULL can bypass the callback.

    - cb_args -- [in] User defined argument to be passed to the callback function

  Returns:

    - ESP_OK: Send memory copy request successfully

    - ESP_ERR_INVALID_ARG: Send memory copy request failed because of invalid argument

    - ESP_FAIL: Send memory copy request failed because of other error

esp_err_t esp_async_memcpy_new_etm_event(async_memcpy_handle_t mcp, async_memcpy_etm_event_t event_type, esp_etm_event_handle_t *out_event)

  Get the ETM event handle for async memcpy done signal.

  Note

  The created ETM event object can be deleted later by calling `esp_etm_del_event`

  Parameters:

    - mcp -- [in] Handle of async memcpy driver that returned from `esp_async_memcpy_install`

    - event_type -- [in] ETM event type

    - out_event -- [out] Returned ETM event handle

  Returns:

    - ESP_OK: Get ETM event successfully

    - ESP_ERR_INVALID_ARG: Get ETM event failed because of invalid argument

    - ESP_ERR_NOT_SUPPORTED: Get ETM event failed because the DMA hardware doesn't support ETM submodule

    - ESP_FAIL: Get ETM event failed because of other error

### Structures

struct async_memcpy_event_t

  Async memory copy event data.

  Public Members

  void *data

    Event data

struct async_memcpy_config_t

  Type of async memcpy configuration.

  Public Members

  uint32_t backlog

    Maximum number of transactions that can be prepared in the background

  size_t sram_trans_align

    DMA transfer alignment (both in size and address) for SRAM memory

  size_t psram_trans_align

    DMA transfer alignment (both in size and address) for PSRAM memory

  size_t dma_burst_size

    DMA transfer burst size, in bytes

  uint32_t flags

    Extra flags to control async memcpy feature

### Macros

ASYNC_MEMCPY_DEFAULT_CONFIG()

  Default configuration for async memcpy.

### Type Definitions

typedef struct async_memcpy_context_t *async_memcpy_handle_t

  Async memory copy driver handle.

typedef bool (*async_memcpy_isr_cb_t)(async_memcpy_handle_t mcp_hdl, async_memcpy_event_t *event, void *cb_args)

  Type of async memcpy interrupt callback function.

  Note

  User can call OS primitives (semaphore, mutex, etc) in the callback function. Keep in mind, if any OS primitive wakes high priority task up, the callback should return true.

  Param mcp_hdl:

    Handle of async memcpy

  Param event:

    Event object, which contains related data, reserved for future

  Param cb_args:

    User defined arguments, passed from esp_async_memcpy function

  Return:

    Whether a high priority task is woken up by the callback function

### Enumerations

enum async_memcpy_etm_event_t

  Async memory copy specific events that supported by the ETM module.

  Values:

  enumerator ASYNC_MEMCPY_ETM_EVENT_COPY_DONE

    memory copy finished

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