[bsp][essemi] update bsp es32f369x

10 files changed, 656 insertions, 103 deletions

diff --git a/bsp/essemi/es32f369x/drivers/ES/Kconfig b/bsp/essemi/es32f369x/drivers/ES/Kconfig
index 9ba55d110e..906bdb042e 100644
--- a/bsp/essemi/es32f369x/drivers/ES/Kconfig
+++ b/bsp/essemi/es32f369x/drivers/ES/Kconfig
@@ -4,31 +4,95 @@ menu "UART Drivers"
         bool "Register UART0 "
         select RT_USING_SERIAL
         default y
-
+        
+    if BSP_USING_UART0
+        config BSP_UART0_TX_USING_DMA
+            bool "UART0 using DMA TX"
+            select RT_SERIAL_USING_DMA
+            default n
+        config BSP_UART0_RX_USING_DMA
+            bool "UART0 using DMA RX"
+            select RT_SERIAL_USING_DMA
+            default n
+    endif
+    
     config BSP_USING_UART1
         bool "Register UART1 "
         select RT_USING_SERIAL
         default n
+        
+    if BSP_USING_UART1
+        config BSP_UART1_TX_USING_DMA
+            bool "UART1 using DMA TX"
+            select RT_SERIAL_USING_DMA
+            default n
+        config BSP_UART1_RX_USING_DMA
+            bool "UART1 using DMA RX"
+            select RT_SERIAL_USING_DMA
+            default n
+    endif
 
     config BSP_USING_UART2
         bool "Register UART2 "
         select RT_USING_SERIAL
         default n
+        
+    if BSP_USING_UART2
+        config BSP_UART2_TX_USING_DMA
+            bool "UART2 using DMA TX"
+            select RT_SERIAL_USING_DMA
+            default n
+        config BSP_UART2_RX_USING_DMA
+            bool "UART2 using DMA RX"
+            select RT_SERIAL_USING_DMA
+            default n
+    endif
 
     config BSP_USING_UART3
         bool "Register UART3 "
         select RT_USING_SERIAL
         default n
+        
+    if BSP_USING_UART3
+        config BSP_UART3_TX_USING_DMA
+            bool "UART3 using DMA TX"
+            default n
+        config BSP_UART3_RX_USING_DMA
+            bool "UART3 using DMA RX"
+            default n
+    endif
 
     config BSP_USING_UART4
         bool "Register UART4 "
         select RT_USING_SERIAL
         default n
+        
+    if BSP_USING_UART4
+        config BSP_UART4_TX_USING_DMA
+            bool "UART4 using DMA TX"
+            select RT_SERIAL_USING_DMA
+            default n
+        config BSP_UART4_RX_USING_DMA
+            bool "UART4 using DMA RX"
+            select RT_SERIAL_USING_DMA
+            default n
+    endif
 
     config BSP_USING_UART5
         bool "Register UART5 "
         select RT_USING_SERIAL
         default n
+        
+    if BSP_USING_UART5
+        config BSP_UART5_TX_USING_DMA
+            bool "UART5 using DMA TX"
+            select RT_SERIAL_USING_DMA
+            default n
+        config BSP_UART5_RX_USING_DMA
+            bool "UART5 using DMA RX"
+            select RT_SERIAL_USING_DMA
+            default n
+    endif
 
 endmenu
 
@@ -195,3 +259,9 @@ menu "PM Drivers"
 
 endmenu
 
+menu "DMA Drivers"
+    config BSP_USING_DMA0
+        bool "Using DMA0 "
+        select ES_CONF_DMA_ENABLE
+        default n
+endmenu
diff --git a/bsp/essemi/es32f369x/drivers/ES/es_conf_info_can.h b/bsp/essemi/es32f369x/drivers/ES/es_conf_info_can.h
index a25b903bc5..7254f5660b 100644
--- a/bsp/essemi/es32f369x/drivers/ES/es_conf_info_can.h
+++ b/bsp/essemi/es32f369x/drivers/ES/es_conf_info_can.h
@@ -54,7 +54,7 @@
 #endif
 
 #ifndef  ES_CAN0_AUTO_BAN_RE_T
-#define ES_CAN0_AUTO_BAN_RE_T    ES_C_ENABLE
+#define ES_CAN0_AUTO_BAN_RE_T    ES_C_DISABLE
 #endif
 #ifndef  ES_CAN0_SPEED
 #define ES_CAN0_SPEED           1000000
diff --git a/bsp/essemi/es32f369x/drivers/ES/es_conf_info_dma.h b/bsp/essemi/es32f369x/drivers/ES/es_conf_info_dma.h
new file mode 100644
index 0000000000..3f61f286d1
--- /dev/null
+++ b/bsp/essemi/es32f369x/drivers/ES/es_conf_info_dma.h
@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2021 Shanghai Eastsoft Microelectronics Co., Ltd.
+ *
+ */
+
+#ifndef __ES_CONF_INFO_DMA_H__
+#define __ES_CONF_INFO_DMA_H__
+
+#include "es_conf_info_map.h"
+#include <rtdevice.h>
+#include <ald_dma.h>
+#ifdef BSP_USING_DMA0
+#define   ES_CONF_DMA_ENABLE
+#endif
+
+enum ES_DMA_CHANNELS
+{
+#if defined(ES_CONF_UART0_DMA_TX)||defined(BSP_UART0_TX_USING_DMA)
+    ES_UART0_DMATX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART0_DMA_RX)||defined(BSP_UART0_RX_USING_DMA)
+    ES_UART0_DMARX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART1_DMA_TX)||defined(BSP_UART1_TX_USING_DMA)
+    ES_UART1_DMATX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART1_DMA_RX)||defined(BSP_UART1_RX_USING_DMA)
+    ES_UART1_DMARX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART2_DMA_TX)||defined(BSP_UART2_TX_USING_DMA)
+    ES_UART2_DMATX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART2_DMA_RX)||defined(BSP_UART2_RX_USING_DMA)
+    ES_UART2_DMARX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART3_DMA_TX)||defined(BSP_UART3_TX_USING_DMA)
+    ES_UART3_DMATX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART3_DMA_RX)||defined(BSP_UART3_RX_USING_DMA)
+    ES_UART3_DMARX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART4_DMA_TX)||defined(BSP_UART4_TX_USING_DMA)
+    ES_UART4_DMATX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART4_DMA_RX)||defined(BSP_UART4_RX_USING_DMA)
+    ES_UART4_DMARX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART5_DMA_TX)||defined(BSP_UART5_TX_USING_DMA)
+    ES_UART5_DMATX_CHANNEL,
+#endif
+#if defined(ES_CONF_UART5_DMA_RX)||defined(BSP_UART5_RX_USING_DMA)
+    ES_UART5_DMARX_CHANNEL,
+#endif
+    ES_DMA_CHANNEL_NUM
+};
+#define ES_DMA_INVAILD_CHANNEL (DMA_CH_COUNT)
+#define ES_DMA_USER_CHANNEL (ES_DMA_CHANNEL_NUM)
+
+#endif /* __ES_CONF_INFO_DMA_H__ */
diff --git a/bsp/essemi/es32f369x/drivers/ES/es_conf_info_map.h b/bsp/essemi/es32f369x/drivers/ES/es_conf_info_map.h
index 65b68693e5..67609d04d7 100644
--- a/bsp/essemi/es32f369x/drivers/ES/es_conf_info_map.h
+++ b/bsp/essemi/es32f369x/drivers/ES/es_conf_info_map.h
@@ -1937,22 +1937,6 @@ static const struct pin_index pins[] =
 
 
 #ifndef ES_AD16C4T0_CH1_GPIO_FUNC
-#define ES_AD16C4T0_CH1_GPIO_FUNC GPIO_FUNC_4
-#endif
-#ifndef ES_AD16C4T0_CH1_GPIO_PORT
-#define ES_AD16C4T0_CH1_GPIO_PORT GPIOA
-#endif
-#ifndef ES_AD16C4T0_CH1_GPIO_PIN
-#define ES_AD16C4T0_CH1_GPIO_PIN GPIO_PIN_7
-#endif
-
-#ifndef ES_AD16C4T0_CH1_PIN
-#ifdef ES_PIN_GPIO_A_7
-#define ES_AD16C4T0_CH1_PIN ES_PIN_GPIO_A_7
-#endif
-#endif
-
-#ifndef ES_AD16C4T0_CH1_GPIO_FUNC
 #define ES_AD16C4T0_CH1_GPIO_FUNC GPIO_FUNC_2
 #endif
 #ifndef ES_AD16C4T0_CH1_GPIO_PORT
@@ -2097,6 +2081,22 @@ static const struct pin_index pins[] =
 #endif
 
 #ifndef ES_AD16C4T0_CH1N_GPIO_FUNC
+#define ES_AD16C4T0_CH1N_GPIO_FUNC GPIO_FUNC_4
+#endif
+#ifndef ES_AD16C4T0_CH1N_GPIO_PORT
+#define ES_AD16C4T0_CH1N_GPIO_PORT GPIOA
+#endif
+#ifndef ES_AD16C4T0_CH1N_GPIO_PIN
+#define ES_AD16C4T0_CH1N_GPIO_PIN GPIO_PIN_7
+#endif
+
+#ifndef ES_AD16C4T0_CH1N_PIN
+#ifdef ES_PIN_GPIO_A_7
+#define ES_AD16C4T0_CH1N_PIN ES_PIN_GPIO_A_7
+#endif
+#endif
+
+#ifndef ES_AD16C4T0_CH1N_GPIO_FUNC
 #define ES_AD16C4T0_CH1N_GPIO_FUNC GPIO_FUNC_2
 #endif
 #ifndef ES_AD16C4T0_CH1N_GPIO_PORT
@@ -2149,6 +2149,22 @@ static const struct pin_index pins[] =
 #endif
 
 #ifndef ES_AD16C4T0_CH2N_GPIO_FUNC
+#define ES_AD16C4T0_CH2N_GPIO_FUNC GPIO_FUNC_6
+#endif
+#ifndef ES_AD16C4T0_CH2N_GPIO_PORT
+#define ES_AD16C4T0_CH2N_GPIO_PORT GPIOB
+#endif
+#ifndef ES_AD16C4T0_CH2N_GPIO_PIN
+#define ES_AD16C4T0_CH2N_GPIO_PIN GPIO_PIN_0
+#endif
+
+#ifndef ES_AD16C4T0_CH2N_PIN
+#ifdef ES_PIN_GPIO_B_0
+#define ES_AD16C4T0_CH2N_PIN ES_PIN_GPIO_B_0
+#endif
+#endif
+
+#ifndef ES_AD16C4T0_CH2N_GPIO_FUNC
 #define ES_AD16C4T0_CH2N_GPIO_FUNC GPIO_FUNC_2
 #endif
 #ifndef ES_AD16C4T0_CH2N_GPIO_PORT
@@ -2201,6 +2217,22 @@ static const struct pin_index pins[] =
 #endif
 
 #ifndef ES_AD16C4T0_CH3N_GPIO_FUNC
+#define ES_AD16C4T0_CH3N_GPIO_FUNC GPIO_FUNC_6
+#endif
+#ifndef ES_AD16C4T0_CH3N_GPIO_PORT
+#define ES_AD16C4T0_CH3N_GPIO_PORT GPIOB
+#endif
+#ifndef ES_AD16C4T0_CH3N_GPIO_PIN
+#define ES_AD16C4T0_CH3N_GPIO_PIN GPIO_PIN_1
+#endif
+
+#ifndef ES_AD16C4T0_CH3N_PIN
+#ifdef ES_PIN_GPIO_B_1
+#define ES_AD16C4T0_CH3N_PIN ES_PIN_GPIO_B_1
+#endif
+#endif
+
+#ifndef ES_AD16C4T0_CH3N_GPIO_FUNC
 #define ES_AD16C4T0_CH3N_GPIO_FUNC GPIO_FUNC_2
 #endif
 #ifndef ES_AD16C4T0_CH3N_GPIO_PORT
diff --git a/bsp/essemi/es32f369x/drivers/Kconfig b/bsp/essemi/es32f369x/drivers/Kconfig
index 75cb7bd164..6e70e9674c 100644
--- a/bsp/essemi/es32f369x/drivers/Kconfig
+++ b/bsp/essemi/es32f369x/drivers/Kconfig
@@ -81,6 +81,10 @@ endif
             bool "BSP_USING_EXAMPLE_UART"
             default n
 
+        config BSP_USING_EXAMPLE_UART_DMA
+            bool "BSP_USING_EXAMPLE_UART_DMA"
+            default n
+
         config BSP_USING_EXAMPLE_CAN
             bool "BSP_USING_EXAMPLE_CAN"
             default n
diff --git a/bsp/essemi/es32f369x/drivers/SConscript b/bsp/essemi/es32f369x/drivers/SConscript
index b39d545e35..950f8c70e9 100644
--- a/bsp/essemi/es32f369x/drivers/SConscript
+++ b/bsp/essemi/es32f369x/drivers/SConscript
@@ -96,6 +96,9 @@ if GetDepend('BSP_USING_EXAMPLE_RTC'):
 if GetDepend('BSP_USING_EXAMPLE_UART'):
     src += ['bsp_driver_example/uart_sample.c']
 
+if GetDepend('BSP_USING_EXAMPLE_UART_DMA'):
+    src += ['bsp_driver_example/uart_dma_sample.c']
+
 if GetDepend('BSP_USING_EXAMPLE_SPI'):
     src += ['bsp_driver_example/spi_sample.c']
 
diff --git a/bsp/essemi/es32f369x/drivers/board.c b/bsp/essemi/es32f369x/drivers/board.c
index 3b7f7252c7..39744002d8 100644
--- a/bsp/essemi/es32f369x/drivers/board.c
+++ b/bsp/essemi/es32f369x/drivers/board.c
@@ -27,6 +27,7 @@
 #include "drv_uart.h"
 #include "drv_gpio.h"
 #include <ald_gpio.h>
+#include "ald_dma.h"
 
 /**
  * @addtogroup es32f3
@@ -155,7 +156,18 @@ void CMU_Handler(void)
 {
     ald_cmu_irq_handler();
 }
-
+/**
+ * This is the DMA interrupt service.
+ *
+ */
+void DMA_Handler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+    ald_dma_irq_handler();
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
 /*@}*/
 /**
  * This function will initial ES32F3 board.
@@ -178,6 +190,10 @@ void rt_hw_board_init(void)
 #ifdef RT_USING_CONSOLE
     rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
 #endif
+#ifdef BSP_USING_DMA0
+    ald_cmu_perh_clock_config(CMU_PERH_DMA, ENABLE);
+    ald_dma_init(DMA0);
+#endif
 }
 
 /**
diff --git a/bsp/essemi/es32f369x/drivers/drv_can.c b/bsp/essemi/es32f369x/drivers/drv_can.c
index 45a0598ae5..81936c33ac 100644
--- a/bsp/essemi/es32f369x/drivers/drv_can.c
+++ b/bsp/essemi/es32f369x/drivers/drv_can.c
@@ -183,10 +183,10 @@ static rt_err_t _can_control(struct rt_can_device *can_device, int cmd, void *ar
             NVIC_EnableIRQ(CAN0_RX0_IRQn);
 
             ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP0, ENABLE);
-            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF0, ENABLE);
+//            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF0, ENABLE);
             ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV0, ENABLE);
             ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FP1, ENABLE);
-            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF1, ENABLE);
+//            ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FF1, ENABLE);
             ald_can_interrupt_config(&drv_can->CanHandle, CAN_IT_FOV1, ENABLE);
 
         }
diff --git a/bsp/essemi/es32f369x/drivers/drv_uart.c b/bsp/essemi/es32f369x/drivers/drv_uart.c
index 482d1577f1..3bdb053a0f 100644
--- a/bsp/essemi/es32f369x/drivers/drv_uart.c
+++ b/bsp/essemi/es32f369x/drivers/drv_uart.c
@@ -19,6 +19,7 @@
  * Date           Author        Notes
  * 2020-01-14     wangyq        the first version
  * 2021-04-20     liuhy         the second version
+ * 2021-09-17     shiwa         add uart dma
  */
 
 #include <rthw.h>
@@ -26,161 +27,310 @@
 #include <rtdevice.h>
 #include "board.h"
 #include "es_conf_info_uart.h"
-
+#include "es_conf_info_dma.h"
 #ifdef RT_USING_SERIAL
 
+#define UART_DMA_BUF_SECTIONS 4
+
+/*
+ * To use UART DMA,
+ * 1. select 'DMA->DMA0'
+ * 2. select 'UART->UARTx->DMATX(or DMARX)'
+ * 3. add RT_DEVICE_FLAG_DMA_TX(or RT_DEVICE_FLAG_DMA_RX) flag when open serial device
+ */
+#ifdef BSP_UART0_TX_USING_DMA
+#define UART0_DMATX_CHANNEL ES_UART0_DMATX_CHANNEL
+#define UART0_DMATX_FLAG RT_DEVICE_FLAG_DMA_TX
+#else
+#define UART0_DMATX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART0_DMATX_FLAG 0
+#endif
+
+#ifdef BSP_UART0_RX_USING_DMA
+#define UART0_DMARX_CHANNEL ES_UART0_DMARX_CHANNEL
+#define UART0_DMARX_FLAG RT_DEVICE_FLAG_DMA_RX
+#else
+#define UART0_DMARX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART0_DMARX_FLAG 0
+#endif
+
+#ifdef BSP_UART1_TX_USING_DMA
+#define UART1_DMATX_CHANNEL ES_UART1_DMATX_CHANNEL
+#define UART1_DMATX_FLAG RT_DEVICE_FLAG_DMA_TX
+#else
+#define UART1_DMATX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART1_DMATX_FLAG 0
+#endif
+
+#ifdef BSP_UART1_RX_USING_DMA
+#define UART1_DMARX_CHANNEL ES_UART1_DMARX_CHANNEL
+#define UART1_DMARX_FLAG RT_DEVICE_FLAG_DMA_RX
+#else
+#define UART1_DMARX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART1_DMARX_FLAG 0
+#endif
+
+#ifdef BSP_UART2_TX_USING_DMA
+#define UART2_DMATX_CHANNEL ES_UART2_DMATX_CHANNEL
+#define UART2_DMATX_FLAG RT_DEVICE_FLAG_DMA_TX
+#else
+#define UART2_DMATX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART2_DMATX_FLAG 0
+#endif
+
+#ifdef BSP_UART2_RX_USING_DMA
+#define UART2_DMARX_CHANNEL ES_UART2_DMARX_CHANNEL
+#define UART2_DMARX_FLAG RT_DEVICE_FLAG_DMA_RX
+#else
+#define UART2_DMARX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART2_DMARX_FLAG 0
+#endif
+
+#ifdef BSP_UART3_TX_USING_DMA
+#define UART3_DMATX_CHANNEL ES_UART3_DMATX_CHANNEL
+#define UART3_DMATX_FLAG RT_DEVICE_FLAG_DMA_TX
+#else
+#define UART3_DMATX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART3_DMATX_FLAG 0
+#endif
+
+#ifdef BSP_UART3_RX_USING_DMA
+#define UART3_DMARX_CHANNEL ES_UART3_DMARX_CHANNEL
+#define UART3_DMARX_FLAG RT_DEVICE_FLAG_DMA_RX
+#else
+#define UART3_DMARX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART3_DMARX_FLAG 0
+#endif
+
+#ifdef BSP_UART4_TX_USING_DMA
+#define UART4_DMATX_CHANNEL ES_UART4_DMATX_CHANNEL
+#define UART4_DMATX_FLAG RT_DEVICE_FLAG_DMA_TX
+#else
+#define UART4_DMATX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART4_DMATX_FLAG 0
+#endif
+
+#ifdef BSP_UART4_RX_USING_DMA
+#define UART4_DMARX_CHANNEL ES_UART4_DMARX_CHANNEL
+#define UART4_DMARX_FLAG RT_DEVICE_FLAG_DMA_RX
+#else
+#define UART4_DMARX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART4_DMARX_FLAG 0
+#endif
+
+#ifdef BSP_UART5_TX_USING_DMA
+#define UART5_DMATX_CHANNEL ES_UART5_DMATX_CHANNEL
+#define UART5_DMATX_FLAG RT_DEVICE_FLAG_DMA_TX
+#else
+#define UART5_DMATX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART5_DMATX_FLAG 0
+#endif
+
+#ifdef BSP_UART5_RX_USING_DMA
+#define UART5_DMARX_CHANNEL ES_UART5_DMARX_CHANNEL
+#define UART5_DMARX_FLAG RT_DEVICE_FLAG_DMA_RX
+#else
+#define UART5_DMARX_CHANNEL ES_DMA_INVAILD_CHANNEL
+#define UART5_DMARX_FLAG 0
+#endif
+
+#define UART_INVAILD_DMA_CHANNEL (ES_DMA_INVAILD_CHANNEL)
+
 /* es32 uart driver */
 struct es32_uart
 {
     uart_handle_t huart;
+    struct rt_serial_device *serial;
     IRQn_Type irq;
+#ifdef RT_SERIAL_USING_DMA
+    uint16_t dma_tx_channel;
+    uint16_t dma_rx_channel;
+
+    uint32_t last_rx_count;
+    uint32_t buf_select;
+#endif /* RT_SERIAL_USING_DMA */
 };
 
+#ifdef RT_SERIAL_USING_DMA
+    static void _dma_recv_timeout(struct es32_uart *uart, uint32_t dma_end);
+#endif /* RT_SERIAL_USING_DMA */
+
+static void uart_int_handler(struct es32_uart*uart)
+{
+    if ((ald_uart_get_mask_flag_status(&uart->huart, UART_IF_RFTH)) != RESET)
+    {
+        ald_uart_clear_flag_status(&uart->huart, UART_IF_RFTH);
+        rt_hw_serial_isr(uart->serial, RT_SERIAL_EVENT_RX_IND);
+    }
+    #ifdef RT_SERIAL_USING_DMA
+    if ((ald_uart_get_mask_flag_status(&uart->huart, UART_IF_RXTO)) != RESET)
+    {
+        ald_uart_clear_flag_status(&uart->huart, UART_IF_RXTO);
+        _dma_recv_timeout(uart, 0);
+    }
+
+    if ((ald_uart_get_mask_flag_status(&uart->huart, UART_IF_TBC)) != RESET)
+    {
+        uint32_t cnt = 1000;
+        ald_uart_clear_flag_status(&uart->huart, UART_IF_TBC);
+        ald_uart_interrupt_config(&uart->huart, UART_IT_TBC, DISABLE);
+        CLEAR_BIT(uart->huart.state, UART_STATE_TX_MASK);
+
+        while ((uart->huart.perh->STAT & UART_STATUS_TSBUSY) && (cnt--));
+
+        ald_uart_clear_flag_status(&uart->huart, UART_IF_TBC);
+
+        if (uart->huart.tx_cplt_cbk)
+            uart->huart.tx_cplt_cbk(&uart->huart);
+    }
+    #endif /* RT_SERIAL_USING_DMA */
+}
+
+
 #ifdef BSP_USING_UART0
+
+struct rt_serial_device serial0;
 /* UART0 device driver structure */
 struct es32_uart uart0 =
 {
     {UART0},
-    UART0_IRQn
+    &serial0,
+    UART0_IRQn,
+#ifdef RT_SERIAL_USING_DMA
+    UART0_DMATX_CHANNEL,
+    UART0_DMARX_CHANNEL
+#endif /* RT_SERIAL_USING_DMA */
 };
-
-struct rt_serial_device serial0;
-
 void UART0_Handler(void)
 {
     /* enter interrupt */
     rt_interrupt_enter();
-
-    if ((ald_uart_get_mask_flag_status(&uart0.huart, UART_IF_RFTH)) != RESET)
-    {
-        ald_uart_clear_flag_status(&uart0.huart, UART_IF_RFTH);
-        rt_hw_serial_isr(&serial0, RT_SERIAL_EVENT_RX_IND);
-    }
+    uart_int_handler(&uart0);
     /* leave interrupt */
     rt_interrupt_leave();
 }
 #endif /* BSP_USING_UART0 */
 
 #ifdef BSP_USING_UART1
+
+struct rt_serial_device serial1;
 /* UART1 device driver structure */
 struct es32_uart uart1 =
 {
     {UART1},
-    UART1_IRQn
+    &serial1,
+    UART1_IRQn,
+#ifdef RT_SERIAL_USING_DMA
+    UART1_DMATX_CHANNEL,
+    UART1_DMARX_CHANNEL
+#endif /* RT_SERIAL_USING_DMA */
 };
 
-struct rt_serial_device serial1;
-
 void UART1_Handler(void)
 {
     /* enter interrupt */
     rt_interrupt_enter();
-
-    if ((ald_uart_get_mask_flag_status(&uart1.huart, UART_IF_RFTH)) != RESET)
-    {
-        ald_uart_clear_flag_status(&uart1.huart, UART_IF_RFTH);
-        rt_hw_serial_isr(&serial1, RT_SERIAL_EVENT_RX_IND);
-    }
+    uart_int_handler(&uart1);
     /* leave interrupt */
     rt_interrupt_leave();
 }
 #endif /* BSP_USING_UART1 */
 
 #ifdef BSP_USING_UART2
+
+struct rt_serial_device serial2;
 /* UART2 device driver structure */
 struct es32_uart uart2 =
 {
     {UART2},
-    UART2_IRQn
+    &serial2,
+    UART2_IRQn,
+#ifdef RT_USING_SERIAL
+    UART2_DMATX_CHANNEL,
+    UART2_DMARX_CHANNEL
+#endif /* RT_SERIAL_USING_DMA */
 };
 
-struct rt_serial_device serial2;
-
 void UART2_Handler(void)
 {
     /* enter interrupt */
     rt_interrupt_enter();
-
-    if ((ald_uart_get_mask_flag_status(&uart2.huart, UART_IF_RFTH)) != RESET)
-    {
-        ald_uart_clear_flag_status(&uart2.huart, UART_IF_RFTH);
-        rt_hw_serial_isr(&serial2, RT_SERIAL_EVENT_RX_IND);
-    }
+    uart_int_handler(&uart2);
     /* leave interrupt */
     rt_interrupt_leave();
 }
 #endif /* BSP_USING_UART2 */
 
 #ifdef BSP_USING_UART3
+
+struct rt_serial_device serial3;
 /* UART3 device driver structure */
 struct es32_uart uart3 =
 {
     {UART3},
-    UART3_IRQn
+    &serial3,
+    UART3_IRQn,
+#ifdef RT_SERIAL_USING_DMA
+    UART3_DMATX_CHANNEL,
+    UART3_DMARX_CHANNEL
+#endif /* RT_SERIAL_USING_DMA */
 };
 
-struct rt_serial_device serial3;
-
 void UART3_Handler(void)
 {
     /* enter interrupt */
     rt_interrupt_enter();
-
-    if ((ald_uart_get_mask_flag_status(&uart3.huart, UART_IF_RFTH)) != RESET)
-    {
-        ald_uart_clear_flag_status(&uart3.huart, UART_IF_RFTH);
-        rt_hw_serial_isr(&serial3, RT_SERIAL_EVENT_RX_IND);
-    }
+    uart_int_handler(&uart3);
     /* leave interrupt */
     rt_interrupt_leave();
 }
 #endif /* BSP_USING_UART3 */
 
 #ifdef BSP_USING_UART4
+
+struct rt_serial_device serial4;
 /* UART4 device driver structure */
 struct es32_uart uart4 =
 {
     {UART4},
-    UART4_IRQn
+    &serial4,
+    UART4_IRQn,
+#ifdef RT_SERIAL_USING_DMA
+    UART4_DMATX_CHANNEL,
+    UART4_DMARX_CHANNEL
+#endif /* RT_SERIAL_USING_DMA */
 };
 
-struct rt_serial_device serial4;
-
 void UART4_Handler(void)
 {
     /* enter interrupt */
     rt_interrupt_enter();
-
-    if ((ald_uart_get_mask_flag_status(&uart4.huart, UART_IF_RFTH)) != RESET)
-    {
-        ald_uart_clear_flag_status(&uart4.huart, UART_IF_RFTH);
-        rt_hw_serial_isr(&serial4, RT_SERIAL_EVENT_RX_IND);
-    }
+    uart_int_handler(&uart4);
     /* leave interrupt */
     rt_interrupt_leave();
 }
 #endif /* BSP_USING_UART4 */
 
 #ifdef BSP_USING_UART5
+
+struct rt_serial_device serial5;
 /* UART5 device driver structure */
 struct es32_uart uart5 =
 {
     {UART5},
-    UART5_IRQn
+    &serial5,
+    UART5_IRQn,
+#ifdef RT_SERIAL_USING_DMA
+    UART5_DMATX_CHANNEL,
+    UART5_DMARX_CHANNEL
+#endif /* RT_SERIAL_USING_DMA */
 };
 
-struct rt_serial_device serial5;
-
 void UART5_Handler(void)
 {
     /* enter interrupt */
     rt_interrupt_enter();
-
-    if ((ald_uart_get_mask_flag_status(&uart5.huart, UART_IF_RFTH)) != RESET)
-    {
-        ald_uart_clear_flag_status(&uart5.huart, UART_IF_RFTH);
-        rt_hw_serial_isr(&serial5, RT_SERIAL_EVENT_RX_IND);
-    }
+    uart_int_handler(&uart5);
     /* leave interrupt */
     rt_interrupt_leave();
 }
@@ -204,7 +354,8 @@ static rt_err_t es32f3x_configure(struct rt_serial_device *serial, struct serial
     gpio_initstructure.type = GPIO_TYPE_TTL;
 
 #ifdef BSP_USING_UART0
-    if(uart == (&uart0))
+
+    if (uart == (&uart0))
     {
 #if  defined(ES_UART0_TX_GPIO_FUNC)&&defined(ES_UART0_TX_GPIO_PORT)&&defined(ES_UART0_TX_GPIO_PIN)
         gpio_initstructure.func = ES_UART0_TX_GPIO_FUNC;
@@ -223,7 +374,8 @@ static rt_err_t es32f3x_configure(struct rt_serial_device *serial, struct serial
 #endif /* uart0 gpio init */
 
 #ifdef BSP_USING_UART1
-    if(uart == (&uart1))
+
+    if (uart == (&uart1))
     {
 #if  defined(ES_UART1_TX_GPIO_FUNC)&&defined(ES_UART1_TX_GPIO_PORT)&&defined(ES_UART1_TX_GPIO_PIN)
         gpio_initstructure.func = ES_UART1_TX_GPIO_FUNC;
@@ -239,10 +391,12 @@ static rt_err_t es32f3x_configure(struct rt_serial_device *serial, struct serial
 
         ald_cmu_perh_clock_config(CMU_PERH_UART1, ENABLE);
     }
+
 #endif /* uart1 gpio init */
 
 #ifdef BSP_USING_UART2
-    if(uart == (&uart2))
+
+    if (uart == (&uart2))
     {
 #if  defined(ES_UART2_TX_GPIO_FUNC)&&defined(ES_UART2_TX_GPIO_PORT)&&defined(ES_UART2_TX_GPIO_PIN)
         gpio_initstructure.func = ES_UART2_TX_GPIO_FUNC;
@@ -258,10 +412,12 @@ static rt_err_t es32f3x_configure(struct rt_serial_device *serial, struct serial
 
         ald_cmu_perh_clock_config(CMU_PERH_UART2, ENABLE);
     }
+
 #endif /* uart2 gpio init */
 
 #ifdef BSP_USING_UART3
-    if(uart == (&uart3))
+
+    if (uart == (&uart3))
     {
 #if  defined(ES_UART3_TX_GPIO_FUNC)&&defined(ES_UART3_TX_GPIO_PORT)&&defined(ES_UART3_TX_GPIO_PIN)
         gpio_initstructure.func = ES_UART3_TX_GPIO_FUNC;
@@ -277,10 +433,12 @@ static rt_err_t es32f3x_configure(struct rt_serial_device *serial, struct serial
 
         ald_cmu_perh_clock_config(CMU_PERH_UART3, ENABLE);
     }
+
 #endif /* uart3 gpio init */
 
 #ifdef BSP_USING_UART4
-    if(uart == (&uart4))
+
+    if (uart == (&uart4))
     {
 #if  defined(ES_UART4_TX_GPIO_FUNC)&&defined(ES_UART4_TX_GPIO_PORT)&&defined(ES_UART4_TX_GPIO_PIN)
         gpio_initstructure.func = ES_UART4_TX_GPIO_FUNC;
@@ -296,10 +454,12 @@ static rt_err_t es32f3x_configure(struct rt_serial_device *serial, struct serial
 
         ald_cmu_perh_clock_config(CMU_PERH_UART4, ENABLE);
     }
+
 #endif /* uart4 gpio init */
 
 #ifdef BSP_USING_UART5
-    if(uart == (&uart5))
+
+    if (uart == (&uart5))
     {
 #if  defined(ES_UART5_TX_GPIO_FUNC)&&defined(ES_UART5_TX_GPIO_PORT)&&defined(ES_UART5_TX_GPIO_PIN)
         gpio_initstructure.func = ES_UART5_TX_GPIO_FUNC;
@@ -315,6 +475,7 @@ static rt_err_t es32f3x_configure(struct rt_serial_device *serial, struct serial
 
         ald_cmu_perh_clock_config(CMU_PERH_UART5, ENABLE);
     }
+
 #endif /* uart5 gpio init */
 
     ald_uart_tx_fifo_config(&uart->huart, UART_TXFIFO_EMPTY);
@@ -349,27 +510,179 @@ static rt_err_t es32f3x_configure(struct rt_serial_device *serial, struct serial
     return RT_EOK;
 }
 
+
+
+#ifdef RT_SERIAL_USING_DMA
+
+static void _dma_recv_timeout(struct es32_uart *uart, uint32_t dma_end)
+{
+    DMA_TypeDef *DMAx;
+    dma_config_t *dma_cfg;
+    dma_descriptor_t *descr;
+    uint32_t rx_count_total;
+    uint32_t rx_count;
+
+
+    if (dma_end)
+    {
+        rx_count = dma_end - uart->last_rx_count;
+        uart->last_rx_count = 0;
+    }
+    else
+    {
+        DMAx = uart->huart.hdmarx.perh;
+        dma_cfg = &uart->huart.hdmarx.config;
+        descr = (dma_descriptor_t *)(DMAx->CTRLBASE) + dma_cfg->channel;
+
+        rx_count_total = (dma_cfg->size) - (uint32_t)(descr->ctrl.n_minus_1) - 1;
+
+        if (rx_count_total)
+            rx_count = rx_count_total - uart->last_rx_count;
+        else
+            return;
+
+        uart->last_rx_count = rx_count_total;
+    }
+
+    rt_hw_serial_isr(uart->serial, RT_SERIAL_EVENT_RX_DMADONE | (rx_count << 8));
+}
+
+/**
+ * DMA TX complete callback
+ */
+static void _uart_tx_dma_cplt(uart_handle_t *arg)
+{
+    struct es32_uart *uart;
+    uart = rt_container_of(arg, struct es32_uart, huart);
+    rt_hw_serial_isr(uart->serial, RT_SERIAL_EVENT_TX_DMADONE);
+}
+/**
+ * DMA RX complete callback
+ */
+static void _uart_rx_dma_cplt(uart_handle_t *arg)
+{
+    struct es32_uart *uart;
+    uint8_t *dma_dst;
+    uart = rt_container_of(arg, struct es32_uart, huart);
+
+    if (uart->buf_select == UART_DMA_BUF_SECTIONS - 1)
+    {
+        dma_dst = (uint8_t *)uart->huart.hdmarx.config.dst - arg->hdmarx.config.size * (UART_DMA_BUF_SECTIONS - 1);
+        uart->buf_select = 0;
+    }
+    else
+    {
+        dma_dst = (uint8_t *)arg->hdmarx.config.dst + arg->hdmarx.config.size;
+        uart->buf_select += 1;
+    }
+
+    ald_uart_recv_by_dma(arg, dma_dst, arg->hdmarx.config.size, arg->hdmarx.config.channel);
+    _dma_recv_timeout(uart, arg->hdmarx.config.size);
+}
+/**
+ * Setup DMA
+ */
+static rt_err_t es32f3x_dma_config(struct rt_serial_device *serial, rt_ubase_t flag)
+{
+    struct es32_uart *uart;
+    struct rt_serial_rx_fifo *rx_fifo;
+
+    RT_ASSERT(serial != RT_NULL);
+    uart = (struct es32_uart *)serial->parent.user_data;
+    rx_fifo = (struct rt_serial_rx_fifo *)serial->serial_rx;
+
+    if (serial->config.bufsz > 1024)
+        return -RT_ERROR;
+
+    if (RT_DEVICE_FLAG_DMA_RX == flag)
+    {
+        if (uart->dma_rx_channel >= UART_INVAILD_DMA_CHANNEL)
+            return -ERROR;
+
+        uart->huart.rx_cplt_cbk = _uart_rx_dma_cplt;
+        UART_SET_TIMEOUT_VALUE(&uart->huart, 0xFF);
+        UART_RX_TIMEOUT_ENABLE(&uart->huart);
+        ald_uart_interrupt_config(&uart->huart, UART_IT_RXTO, ENABLE);
+        uart->last_rx_count = 0;
+
+        if (serial->config.bufsz > 0)
+        {
+            ald_uart_recv_by_dma(&uart->huart, rx_fifo->buffer, serial->config.bufsz / UART_DMA_BUF_SECTIONS, uart->dma_rx_channel);;
+        }
+    }
+    else if (RT_DEVICE_FLAG_DMA_TX == flag)
+    {
+        if (uart->dma_tx_channel >= UART_INVAILD_DMA_CHANNEL)
+            return -ERROR;
+
+        uart->huart.tx_cplt_cbk = _uart_tx_dma_cplt;
+    }
+
+    uart->huart.err_code = UART_ERROR_NONE;
+    //NVIC_SetPriority(DMA_IRQn,0);
+    NVIC_EnableIRQ(uart->irq);
+    ald_cmu_perh_clock_config(CMU_PERH_DMA, ENABLE);
+    return RT_EOK;
+}
+#endif /* RT_SERIAL_USING_DMA */
+
 static rt_err_t es32f3x_control(struct rt_serial_device *serial, int cmd, void *arg)
 {
     struct es32_uart *uart;
+#ifdef RT_SERIAL_USING_DMA
+    rt_ubase_t ctrl_arg = (rt_ubase_t)arg;
+#endif
     RT_ASSERT(serial != RT_NULL);
 
     uart = (struct es32_uart *)serial->parent.user_data;
+
     switch (cmd)
     {
-    case RT_DEVICE_CTRL_CLR_INT:
-        /* disable rx irq */
-        NVIC_DisableIRQ(uart->irq);
-        /* disable interrupt */
-        ald_uart_interrupt_config(&uart->huart, UART_IT_RFTH, DISABLE);
-        break;
+        case RT_DEVICE_CTRL_CLR_INT:
+            /* disable rx irq */
+            NVIC_DisableIRQ(uart->irq);
+            /* disable interrupt */
+            ald_uart_interrupt_config(&uart->huart, UART_IT_RFTH, DISABLE);
+#ifdef RT_SERIAL_USING_DMA
+
+            /* disable DMA */
+            if (ctrl_arg == RT_DEVICE_FLAG_DMA_RX)
+            {
+                ald_uart_dma_req_config(&uart->huart, UART_DMA_REQ_RX, DISABLE);
+            }
+            else if (ctrl_arg == RT_DEVICE_FLAG_DMA_TX)
+            {
+                ald_uart_dma_req_config(&uart->huart, UART_DMA_REQ_TX, DISABLE);
+            }
+
+#endif
+            break;
+
+        case RT_DEVICE_CTRL_SET_INT:
+            /* enable rx irq */
+            NVIC_EnableIRQ(uart->irq);
+            /* enable interrupt */
+            ald_uart_interrupt_config(&uart->huart, UART_IT_RFTH, ENABLE);
+            break;
+#ifdef RT_SERIAL_USING_DMA
+
+        case RT_DEVICE_CTRL_CONFIG:
+            /* Setup DMA */
+            es32f3x_dma_config(serial, ctrl_arg);
+            break;
+#endif
 
-    case RT_DEVICE_CTRL_SET_INT:
-        /* enable rx irq */
-        NVIC_EnableIRQ(uart->irq);
-        /* enable interrupt */
-        ald_uart_interrupt_config(&uart->huart, UART_IT_RFTH, ENABLE);
-        break;
+        case RT_DEVICE_CTRL_CLOSE:
+            while (ald_uart_get_status(&uart->huart, (UART_STATUS_TSBUSY)));
+
+#ifdef RT_SERIAL_USING_DMA
+            uart->huart.rx_cplt_cbk = NULL;
+            uart->huart.tx_cplt_cbk = NULL;
+            /* disable DMA */
+            ald_uart_dma_stop(&uart->huart);
+#endif
+            ald_uart_reset(&uart->huart);
+            break;
     }
 
     return RT_EOK;
@@ -383,6 +696,7 @@ static int es32f3x_putc(struct rt_serial_device *serial, char c)
 
     while (ald_uart_get_status(&uart->huart, UART_STATUS_TFEMPTY) == RESET)
         ;
+
     WRITE_REG(uart->huart.perh->TXBUF, c);
 
     return 1;
@@ -403,13 +717,62 @@ static int es32f3x_getc(struct rt_serial_device *serial)
 
     return ch;
 }
+#ifdef RT_SERIAL_USING_DMA
+/**
+ * DMA transmit
+ */
+static rt_size_t es32f3x_dma_transmit(struct rt_serial_device *serial, rt_uint8_t *buf, rt_size_t size, int direction)
+{
+    struct es32_uart *uart;
+
+    RT_ASSERT(serial != RT_NULL);
+    uart = (struct es32_uart *)serial->parent.user_data;
+
+    if (direction == RT_SERIAL_DMA_TX)
+    {
+        if (uart->dma_tx_channel >= UART_INVAILD_DMA_CHANNEL)
+            return 0;
 
+        if (OK == ald_uart_send_by_dma(&uart->huart, buf, size, uart->dma_tx_channel))
+        {
+            return size;
+        }
+        else
+        {
+            return 0;
+        }
+    }
+    else if (direction == RT_SERIAL_DMA_RX)
+    {
+
+        if (uart->dma_rx_channel >= UART_INVAILD_DMA_CHANNEL)
+            return 0;
+
+        if (OK == ald_uart_recv_by_dma(&uart->huart, buf, size, uart->dma_rx_channel))
+        {
+            return size;
+        }
+        else
+        {
+            return 0;
+        }
+
+    }
+
+    return 0;
+}
+#endif
 static const struct rt_uart_ops es32f3x_uart_ops =
 {
     es32f3x_configure,
     es32f3x_control,
     es32f3x_putc,
     es32f3x_getc,
+#ifdef RT_SERIAL_USING_DMA
+    es32f3x_dma_transmit
+#else
+    NULL
+#endif
 };
 
 int rt_hw_uart_init(void)
@@ -423,7 +786,8 @@ int rt_hw_uart_init(void)
 
     /* register UART0 device */
     rt_hw_serial_register(&serial0, ES_DEVICE_NAME_UART0,
-                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX |
+                          UART0_DMATX_FLAG | UART0_DMARX_FLAG,
                           uart);
 #endif /* BSP_USING_UART0 */
 
@@ -434,7 +798,8 @@ int rt_hw_uart_init(void)
 
     /* register UART1 device */
     rt_hw_serial_register(&serial1, ES_DEVICE_NAME_UART1,
-                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX |
+                          UART1_DMATX_FLAG | UART1_DMARX_FLAG,
                           uart);
 #endif /* BSP_USING_UART1 */
 
@@ -445,7 +810,8 @@ int rt_hw_uart_init(void)
 
     /* register UART2 device */
     rt_hw_serial_register(&serial2, ES_DEVICE_NAME_UART2,
-                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX |
+                          UART2_DMATX_FLAG | UART2_DMARX_FLAG,
                           uart);
 #endif /* BSP_USING_UART2 */
 
@@ -456,7 +822,8 @@ int rt_hw_uart_init(void)
 
     /* register UART3 device */
     rt_hw_serial_register(&serial3, ES_DEVICE_NAME_UART3,
-                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX |
+                          UART3_DMATX_FLAG | UART3_DMARX_FLAG,
                           uart);
 #endif /* BSP_USING_UART3 */
 
@@ -467,7 +834,8 @@ int rt_hw_uart_init(void)
 
     /* register UART4 device */
     rt_hw_serial_register(&serial4, ES_DEVICE_NAME_UART4,
-                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX |
+                          UART4_DMATX_FLAG | UART4_DMARX_FLAG,
                           uart);
 #endif /* BSP_USING_UART4 */
 
@@ -478,7 +846,8 @@ int rt_hw_uart_init(void)
 
     /* register UART5 device */
     rt_hw_serial_register(&serial5, ES_DEVICE_NAME_UART5,
-                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX,
+                          RT_DEVICE_FLAG_RDWR | RT_DEVICE_FLAG_INT_RX |
+                          UART5_DMATX_FLAG | UART5_DMARX_FLAG,
                           uart);
 #endif /* BSP_USING_UART5 */
 
diff --git a/bsp/essemi/es32f369x/libraries/ES32F36xx_ALD_StdPeriph_Driver/Source/ald_can.c b/bsp/essemi/es32f369x/libraries/ES32F36xx_ALD_StdPeriph_Driver/Source/ald_can.c
index fb97024cd1..e610ebef80 100644
--- a/bsp/essemi/es32f369x/libraries/ES32F36xx_ALD_StdPeriph_Driver/Source/ald_can.c
+++ b/bsp/essemi/es32f369x/libraries/ES32F36xx_ALD_StdPeriph_Driver/Source/ald_can.c
@@ -443,8 +443,8 @@ ald_status_t ald_can_recv(can_handle_t *hperh, can_rx_fifo_t num, can_rx_msg_t *
 		}
 	}
 
-	if (__can_rx_check(hperh, num))
-		return ERROR;
+//	if (__can_rx_check(hperh, num))
+//		return ERROR;
 
 	stid = READ_BITS(hperh->perh->RxFIFO[num].RXFID, CAN_RXF0ID_STDID_MSK, CAN_RXF0ID_STDID_POSS);
 	exid = READ_BITS(hperh->perh->RxFIFO[num].RXFID, CAN_RXF0ID_EXID_MSK, CAN_RXF0ID_EXID_POSS);