From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Tue, 11 Feb 2020 11:08:43 +0000 (+0100)
Subject: dma works
X-Git-Url: http://git.leonardobizzoni.com/?a=commitdiff_plain;h=a75c60fac6d595a01f73083dc1bae82fed83b190;p=pioneer-stm32

dma works
---

diff --git a/otto_controller/.mxproject b/otto_controller/.mxproject
index d4029ca..b4aeebb 100644
--- a/otto_controller/.mxproject
+++ b/otto_controller/.mxproject
@@ -1,31 +1,33 @@
 [PreviousGenFiles]
 AdvancedFolderStructure=true
-HeaderFileListSize=6
+HeaderFileListSize=7
 HeaderFiles#0=/home/fdila/Projects/otto/otto_controller/Core/Inc/gpio.h
-HeaderFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Inc/tim.h
-HeaderFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Inc/usart.h
+HeaderFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Inc/dma.h
+HeaderFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Inc/tim.h
 HeaderFolderListSize=1
 HeaderPath#0=/home/fdila/Projects/otto/otto_controller/Core/Inc
-SourceFileListSize=6
+SourceFileListSize=7
 SourceFiles#0=/home/fdila/Projects/otto/otto_controller/Core/Src/gpio.c
-SourceFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Src/tim.c
-SourceFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Src/usart.c
+SourceFiles#1=/home/fdila/Projects/otto/otto_controller/Core/Src/dma.c
+SourceFiles#2=/home/fdila/Projects/otto/otto_controller/Core/Src/tim.c
 SourceFolderListSize=1
 SourcePath#0=/home/fdila/Projects/otto/otto_controller/Core/Src
-HeaderFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_it.h
-HeaderFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_hal_conf.h
-HeaderFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h
-SourceFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_it.c
-SourceFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_hal_msp.c
-SourceFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Src/main.c
+HeaderFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Inc/usart.h
+HeaderFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_it.h
+HeaderFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Inc/stm32f7xx_hal_conf.h
+SourceFiles#3=/home/fdila/Projects/otto/otto_controller/Core/Src/usart.c
+SourceFiles#4=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_it.c
+SourceFiles#5=/home/fdila/Projects/otto/otto_controller/Core/Src/stm32f7xx_hal_msp.c
 HeaderFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Inc/main.h
 SourceFiles#6=/home/fdila/Projects/otto/otto_controller/Core/Src/main.c
+HeaderFiles=;
+SourceFiles=;
 
 [PreviousLibFiles]
 LibFiles=Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_cortex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_tim_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_rcc_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_flash_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_gpio_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_dma_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_pwr_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_def.h;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_i2c_ex.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_exti.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart.h;Drivers/STM32F7xx_HAL_Driver/Inc/stm32f7xx_hal_uart_ex.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f767xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Include/system_stm32f7xx.h;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;
 
 [PreviousUsedCubeIDEFiles]
-SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/stm32f7xx_it.c;Core/Src/stm32f7xx_hal_msp.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;;
+SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/dma.c;Core/Src/tim.c;Core/Src/usart.c;Core/Src/stm32f7xx_it.c;Core/Src/stm32f7xx_hal_msp.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_cortex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_tim_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_rcc_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_flash_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_gpio.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_dma_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_pwr_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_i2c_ex.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_exti.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c;Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart_ex.c;Core/Src/system_stm32f7xx.c;Drivers/CMSIS/Device/ST/STM32F7xx/Source/Templates/system_stm32f7xx.c;;
 HeaderPath=Drivers/STM32F7xx_HAL_Driver/Inc;Drivers/STM32F7xx_HAL_Driver/Inc/Legacy;Drivers/CMSIS/Device/ST/STM32F7xx/Include;Drivers/CMSIS/Include;Core/Inc;
 CDefines=USE_HAL_DRIVER;STM32F767xx;USE_HAL_DRIVER;USE_HAL_DRIVER;
 
diff --git a/otto_controller/Core/Inc/dma.h b/otto_controller/Core/Inc/dma.h
new file mode 100644
index 0000000..16bb88c
--- /dev/null
+++ b/otto_controller/Core/Inc/dma.h
@@ -0,0 +1,56 @@
+/**
+  ******************************************************************************
+  * File Name          : dma.h
+  * Description        : This file contains all the function prototypes for
+  *                      the dma.c file
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __dma_H
+#define __dma_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* DMA memory to memory transfer handles -------------------------------------*/
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_DMA_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __dma_H */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/otto_controller/Core/Inc/stm32f7xx_it.h b/otto_controller/Core/Inc/stm32f7xx_it.h
index f138f64..d1e7824 100644
--- a/otto_controller/Core/Inc/stm32f7xx_it.h
+++ b/otto_controller/Core/Inc/stm32f7xx_it.h
@@ -59,6 +59,8 @@ void SysTick_Handler(void);
 void TIM3_IRQHandler(void);
 void EXTI15_10_IRQHandler(void);
 void TIM6_DAC_IRQHandler(void);
+void DMA2_Stream1_IRQHandler(void);
+void DMA2_Stream6_IRQHandler(void);
 void USART6_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
diff --git a/otto_controller/Core/Src/dma.c b/otto_controller/Core/Src/dma.c
new file mode 100644
index 0000000..35f0a1b
--- /dev/null
+++ b/otto_controller/Core/Src/dma.c
@@ -0,0 +1,66 @@
+/**
+  ******************************************************************************
+  * File Name          : dma.c
+  * Description        : This file provides code for the configuration
+  *                      of all the requested memory to memory DMA transfers.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
+  * All rights reserved.</center></h2>
+  *
+  * This software component is licensed by ST under BSD 3-Clause license,
+  * the "License"; You may not use this file except in compliance with the
+  * License. You may obtain a copy of the License at:
+  *                        opensource.org/licenses/BSD-3-Clause
+  *
+  ******************************************************************************
+  */
+
+/* Includes ------------------------------------------------------------------*/
+#include "dma.h"
+
+/* USER CODE BEGIN 0 */
+
+/* USER CODE END 0 */
+
+/*----------------------------------------------------------------------------*/
+/* Configure DMA                                                              */
+/*----------------------------------------------------------------------------*/
+
+/* USER CODE BEGIN 1 */
+
+/* USER CODE END 1 */
+
+/** 
+  * Enable DMA controller clock
+  */
+void MX_DMA_Init(void) 
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA2_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA2_Stream1_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream1_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream1_IRQn);
+  /* DMA2_Stream6_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA2_Stream6_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA2_Stream6_IRQn);
+
+}
+
+/* USER CODE BEGIN 2 */
+
+/* USER CODE END 2 */
+
+/**
+  * @}
+  */
+
+/**
+  * @}
+  */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/otto_controller/Core/Src/main.cpp b/otto_controller/Core/Src/main.cpp
index 813b6f9..3d30f18 100644
--- a/otto_controller/Core/Src/main.cpp
+++ b/otto_controller/Core/Src/main.cpp
@@ -20,6 +20,7 @@
 
 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+#include "dma.h"
 #include "tim.h"
 #include "usart.h"
 #include "gpio.h"
@@ -142,6 +143,7 @@ int main(void)
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_TIM2_Init();
   MX_TIM3_Init();
   MX_TIM4_Init();
@@ -174,7 +176,7 @@ int main(void)
   rx_buffer = (uint8_t*) &vel_msg;
 
   //Enables UART RX interrupt
-  HAL_UART_Receive_IT(&huart6, rx_buffer, 8);
+  HAL_UART_Receive_DMA(&huart6, rx_buffer, 8);
 
   /* USER CODE END 2 */
  
@@ -298,7 +300,7 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef *UartHandle) {
   float cross_setpoint = left_setpoint - right_setpoint;
   cross_pid.set(cross_setpoint);
 
-  HAL_UART_Receive_IT(&huart6, rx_buffer, 8);
+  HAL_UART_Receive_DMA(&huart6, rx_buffer, 8);
 
 }
 
diff --git a/otto_controller/Core/Src/stm32f7xx_it.c b/otto_controller/Core/Src/stm32f7xx_it.c
index 88e7f7d..d3abde0 100644
--- a/otto_controller/Core/Src/stm32f7xx_it.c
+++ b/otto_controller/Core/Src/stm32f7xx_it.c
@@ -58,6 +58,8 @@
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim6;
+extern DMA_HandleTypeDef hdma_usart6_tx;
+extern DMA_HandleTypeDef hdma_usart6_rx;
 extern UART_HandleTypeDef huart6;
 /* USER CODE BEGIN EV */
 
@@ -241,6 +243,34 @@ void TIM6_DAC_IRQHandler(void)
   /* USER CODE END TIM6_DAC_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA2 stream1 global interrupt.
+  */
+void DMA2_Stream1_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream1_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart6_rx);
+  /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream1_IRQn 1 */
+}
+
+/**
+  * @brief This function handles DMA2 stream6 global interrupt.
+  */
+void DMA2_Stream6_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */
+
+  /* USER CODE END DMA2_Stream6_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart6_tx);
+  /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */
+
+  /* USER CODE END DMA2_Stream6_IRQn 1 */
+}
+
 /**
   * @brief This function handles USART6 global interrupt.
   */
diff --git a/otto_controller/Core/Src/usart.c b/otto_controller/Core/Src/usart.c
index 7b56c72..6f25222 100644
--- a/otto_controller/Core/Src/usart.c
+++ b/otto_controller/Core/Src/usart.c
@@ -25,6 +25,8 @@
 /* USER CODE END 0 */
 
 UART_HandleTypeDef huart6;
+DMA_HandleTypeDef hdma_usart6_tx;
+DMA_HandleTypeDef hdma_usart6_rx;
 
 /* USART6 init function */
 
@@ -72,6 +74,43 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
     GPIO_InitStruct.Alternate = GPIO_AF8_USART6;
     HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 
+    /* USART6 DMA Init */
+    /* USART6_TX Init */
+    hdma_usart6_tx.Instance = DMA2_Stream6;
+    hdma_usart6_tx.Init.Channel = DMA_CHANNEL_5;
+    hdma_usart6_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart6_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart6_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart6_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart6_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart6_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart6_tx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart6_tx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart6_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmatx,hdma_usart6_tx);
+
+    /* USART6_RX Init */
+    hdma_usart6_rx.Instance = DMA2_Stream1;
+    hdma_usart6_rx.Init.Channel = DMA_CHANNEL_5;
+    hdma_usart6_rx.Init.Direction = DMA_PERIPH_TO_MEMORY;
+    hdma_usart6_rx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart6_rx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart6_rx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart6_rx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart6_rx.Init.Mode = DMA_NORMAL;
+    hdma_usart6_rx.Init.Priority = DMA_PRIORITY_LOW;
+    hdma_usart6_rx.Init.FIFOMode = DMA_FIFOMODE_DISABLE;
+    if (HAL_DMA_Init(&hdma_usart6_rx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(uartHandle,hdmarx,hdma_usart6_rx);
+
   /* USER CODE BEGIN USART6_MspInit 1 */
 
   /* USER CODE END USART6_MspInit 1 */
@@ -95,6 +134,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
     */
     HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6|GPIO_PIN_7);
 
+    /* USART6 DMA DeInit */
+    HAL_DMA_DeInit(uartHandle->hdmatx);
+    HAL_DMA_DeInit(uartHandle->hdmarx);
+
     /* USART6 interrupt Deinit */
     HAL_NVIC_DisableIRQ(USART6_IRQn);
   /* USER CODE BEGIN USART6_MspDeInit 1 */
diff --git a/otto_controller/otto_controller.ioc b/otto_controller/otto_controller.ioc
index 9b04d16..1568395 100644
--- a/otto_controller/otto_controller.ioc
+++ b/otto_controller/otto_controller.ioc
@@ -1,18 +1,42 @@
 #MicroXplorer Configuration settings - do not modify
+Dma.Request0=USART6_TX
+Dma.Request1=USART6_RX
+Dma.RequestsNb=2
+Dma.USART6_RX.1.Direction=DMA_PERIPH_TO_MEMORY
+Dma.USART6_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART6_RX.1.Instance=DMA2_Stream1
+Dma.USART6_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART6_RX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART6_RX.1.Mode=DMA_NORMAL
+Dma.USART6_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART6_RX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART6_RX.1.Priority=DMA_PRIORITY_LOW
+Dma.USART6_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
+Dma.USART6_TX.0.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART6_TX.0.FIFOMode=DMA_FIFOMODE_DISABLE
+Dma.USART6_TX.0.Instance=DMA2_Stream6
+Dma.USART6_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART6_TX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART6_TX.0.Mode=DMA_NORMAL
+Dma.USART6_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART6_TX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART6_TX.0.Priority=DMA_PRIORITY_LOW
+Dma.USART6_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 File.Version=6
 KeepUserPlacement=false
 Mcu.Family=STM32F7
 Mcu.IP0=CORTEX_M7
-Mcu.IP1=NVIC
-Mcu.IP2=RCC
-Mcu.IP3=SYS
-Mcu.IP4=TIM2
-Mcu.IP5=TIM3
-Mcu.IP6=TIM4
-Mcu.IP7=TIM5
-Mcu.IP8=TIM6
-Mcu.IP9=USART6
-Mcu.IPNb=10
+Mcu.IP1=DMA
+Mcu.IP10=USART6
+Mcu.IP2=NVIC
+Mcu.IP3=RCC
+Mcu.IP4=SYS
+Mcu.IP5=TIM2
+Mcu.IP6=TIM3
+Mcu.IP7=TIM4
+Mcu.IP8=TIM5
+Mcu.IP9=TIM6
+Mcu.IPNb=11
 Mcu.Name=STM32F767ZITx
 Mcu.Package=LQFP144
 Mcu.Pin0=PC13
@@ -45,6 +69,8 @@ Mcu.UserName=STM32F767ZITx
 MxCube.Version=5.5.0
 MxDb.Version=DB.5.0.50
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false
+NVIC.DMA2_Stream1_IRQn=true\:0\:0\:false\:false\:true\:false\:true
+NVIC.DMA2_Stream6_IRQn=true\:0\:0\:false\:false\:true\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false
 NVIC.EXTI15_10_IRQn=true\:0\:0\:false\:false\:true\:true\:true
 NVIC.ForceEnableDMAVector=true