kakutef7: enable dshot

boards/holybro/kakutef7/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 	DRIVERS
 		adc
 		barometer/bmp280
+		dshot
 		gps
 		imu/mpu6000
 		magnetometer

boards/holybro/kakutef7/nuttx-config/include/board.h

@@ -270,11 +270,6 @@
 #define GPIO_UART7_RX    GPIO_UART7_RX_1    /* PE7 */
 #define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE8 */
 
-/* UART RX DMA configurations */
-
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
-
 /* SPI
  * SPI1 SD Card
  * SPI2 is OSD AT7456E

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -156,6 +163,7 @@ CONFIG_STM32F7_BBSRAM=y
 CONFIG_STM32F7_BBSRAM_FILES=5
 CONFIG_STM32F7_BKPSRAM=y
 CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
 CONFIG_STM32F7_I2C1=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
@@ -191,7 +199,6 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600

boards/holybro/kakutef7/src/timer_config.c

@@ -60,7 +60,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 1,
 		.handler = io_timer_handler0,
 		.vectorno =  STM32_IRQ_TIM3,
-
+		.dshot = {
+			.dma_base = DSHOT_DMA1_BASE,
+			.channel = DShot_Channel5,
+			.stream = DShot_Stream2,
+			.start_ccr_register = TIM_DMABASE_CCR3,
+			.channels_number = 2u /* CCR3 and CCR4 */
+		}
 	},
 	{
 		.base = STM32_TIM1_BASE,
@@ -71,7 +77,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 3,
 		.handler = io_timer_handler1,
 		.vectorno =  STM32_IRQ_TIM1CC,
-
+		.dshot = {
+			.dma_base = DSHOT_DMA2_BASE,
+			.channel = DShot_Channel6,
+			.stream = DShot_Stream5,
+			.start_ccr_register = TIM_DMABASE_CCR1,
+			.channels_number = 2u /* CCR1 and CCR2 */
+		}
 	},
 	{
 		.base = STM32_TIM8_BASE,
@@ -82,6 +94,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 4,
 		.handler = io_timer_handler2,
 		.vectorno =  STM32_IRQ_TIM8CC,
+		.dshot = {
+			.dma_base = DSHOT_DMA2_BASE,
+			.channel = DShot_Channel7,
+			.stream = DShot_Stream1,
+			.start_ccr_register = TIM_DMABASE_CCR4,
+			.channels_number = 1u /* CCR4 */
+		}
 	},
 	{
 		.base = STM32_TIM5_BASE,
@@ -92,6 +111,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 5,
 		.handler = io_timer_handler3,
 		.vectorno =  STM32_IRQ_TIM5,
+		.dshot = {
+			.dma_base = DSHOT_DMA1_BASE,
+			.channel = DShot_Channel6,
+			.stream = DShot_Stream6, // alternatively DShot_Stream0
+			.start_ccr_register = TIM_DMABASE_CCR4,
+			.channels_number = 1u /* CCR4 */
+		}
 	}
 };