diff --git a/boards/airmind/mindpx-v2/src/init.c b/boards/airmind/mindpx-v2/src/init.c
index 376a98c21c5..fbfe2d76619 100644
--- a/boards/airmind/mindpx-v2/src/init.c
+++ b/boards/airmind/mindpx-v2/src/init.c
@@ -218,22 +218,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/atl/mantis-edu/src/init.c b/boards/atl/mantis-edu/src/init.c
index 585c316e282..1068983ac31 100644
--- a/boards/atl/mantis-edu/src/init.c
+++ b/boards/atl/mantis-edu/src/init.c
@@ -218,22 +218,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #if defined(SERIAL_HAVE_RXDMA)
-	/* set up the serial DMA polling */
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
 	board_pwr_init(1);
diff --git a/boards/av/x-v1/src/init.c b/boards/av/x-v1/src/init.c
index f53a939505b..1eef35d3fba 100644
--- a/boards/av/x-v1/src/init.c
+++ b/boards/av/x-v1/src/init.c
@@ -161,22 +161,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	(void) board_hardfault_init(2, true);
 
diff --git a/boards/bitcraze/crazyflie/src/init.c b/boards/bitcraze/crazyflie/src/init.c
index 5304e017cea..230fd04b019 100644
--- a/boards/bitcraze/crazyflie/src/init.c
+++ b/boards/bitcraze/crazyflie/src/init.c
@@ -131,23 +131,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
-
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/bitcraze/crazyflie21/src/init.c b/boards/bitcraze/crazyflie21/src/init.c
index 7c85a39183b..32c6c0d0575 100644
--- a/boards/bitcraze/crazyflie21/src/init.c
+++ b/boards/bitcraze/crazyflie21/src/init.c
@@ -131,23 +131,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
-
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/cubepilot/cubeyellow/src/init.c b/boards/cubepilot/cubeyellow/src/init.c
index 88f8fc97471..5d1125b213a 100644
--- a/boards/cubepilot/cubeyellow/src/init.c
+++ b/boards/cubepilot/cubeyellow/src/init.c
@@ -165,22 +165,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #if defined(SERIAL_HAVE_RXDMA)
-	/* set up the serial DMA polling */
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
 	/* initial LED state */
diff --git a/boards/holybro/can-gps-v1/src/init.c b/boards/holybro/can-gps-v1/src/init.c
index 86fe2eb2065..9388c927157 100644
--- a/boards/holybro/can-gps-v1/src/init.c
+++ b/boards/holybro/can-gps-v1/src/init.c
@@ -167,25 +167,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif // FLASH_BASED_PARAMS
 
-
 #if defined(SERIAL_HAVE_RXDMA)
-	/* set up the serial DMA polling */
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
+
 	rgb_led(0, 255, 0, 0);
 	return OK;
 }
diff --git a/boards/holybro/durandal-v1/src/init.c b/boards/holybro/durandal-v1/src/init.c
index 3f1eccc1807..902c3a96563 100644
--- a/boards/holybro/durandal-v1/src/init.c
+++ b/boards/holybro/durandal-v1/src/init.c
@@ -248,26 +248,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-#if 0 // serial DMA is not yet implemented in NuttX for stm32h7
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
diff --git a/boards/holybro/kakutef7/src/init.c b/boards/holybro/kakutef7/src/init.c
index df0cf6694a4..781363ebf49 100644
--- a/boards/holybro/kakutef7/src/init.c
+++ b/boards/holybro/kakutef7/src/init.c
@@ -200,23 +200,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
-
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/holybro/pix32v5/src/init.c b/boards/holybro/pix32v5/src/init.c
index d6f978aac8c..c980f16550e 100644
--- a/boards/holybro/pix32v5/src/init.c
+++ b/boards/holybro/pix32v5/src/init.c
@@ -252,22 +252,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #if defined(SERIAL_HAVE_RXDMA)
-	/* set up the serial DMA polling */
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
 	/* initial LED state */
diff --git a/boards/modalai/fc-v1/src/init.c b/boards/modalai/fc-v1/src/init.c
index d3f62e361ed..d360a3da22f 100644
--- a/boards/modalai/fc-v1/src/init.c
+++ b/boards/modalai/fc-v1/src/init.c
@@ -256,23 +256,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
-
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/modalai/fc-v2/src/init.c b/boards/modalai/fc-v2/src/init.c
index 97d757a4d95..b3bb31c9df2 100644
--- a/boards/modalai/fc-v2/src/init.c
+++ b/boards/modalai/fc-v2/src/init.c
@@ -231,26 +231,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-#if 0 // serial DMA is not yet implemented in NuttX for stm32h7
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
diff --git a/boards/mro/ctrl-zero-f7-oem/src/init.c b/boards/mro/ctrl-zero-f7-oem/src/init.c
index c21e1fa7d57..ecadc74e62b 100644
--- a/boards/mro/ctrl-zero-f7-oem/src/init.c
+++ b/boards/mro/ctrl-zero-f7-oem/src/init.c
@@ -205,23 +205,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
-
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/mro/ctrl-zero-f7/src/init.c b/boards/mro/ctrl-zero-f7/src/init.c
index c21e1fa7d57..ecadc74e62b 100644
--- a/boards/mro/ctrl-zero-f7/src/init.c
+++ b/boards/mro/ctrl-zero-f7/src/init.c
@@ -205,23 +205,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
-
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/mro/x21-777/src/init.c b/boards/mro/x21-777/src/init.c
index 3135148c630..890bad343a2 100644
--- a/boards/mro/x21-777/src/init.c
+++ b/boards/mro/x21-777/src/init.c
@@ -195,22 +195,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #if defined(SERIAL_HAVE_RXDMA)
-	/* set up the serial DMA polling */
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
 	/* initial LED state */
diff --git a/boards/mro/x21/src/init.c b/boards/mro/x21/src/init.c
index 09fd0e8473e..8530054e991 100644
--- a/boards/mro/x21/src/init.c
+++ b/boards/mro/x21/src/init.c
@@ -241,22 +241,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/nxp/fmuk66-e/src/init.c b/boards/nxp/fmuk66-e/src/init.c
index 7dafc4fabef..ad4c237aec2 100644
--- a/boards/nxp/fmuk66-e/src/init.c
+++ b/boards/nxp/fmuk66-e/src/init.c
@@ -254,23 +254,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
-#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)kinetis_lpserial_dma_poll_all,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)kinetis_lpserial_dma_poll_all, NULL);
 #endif
 
 	/* initial LED state */
diff --git a/boards/nxp/fmuk66-v3/src/init.c b/boards/nxp/fmuk66-v3/src/init.c
index 4c9dc16c567..a8fcc91e51f 100644
--- a/boards/nxp/fmuk66-v3/src/init.c
+++ b/boards/nxp/fmuk66-v3/src/init.c
@@ -254,23 +254,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
-#if defined(SERIAL_HAVE_DMA) || defined(LPSERIAL_HAVE_DMA)
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)kinetis_lpserial_dma_poll_all,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)kinetis_lpserial_dma_poll_all, NULL);
 #endif
 
 	/* initial LED state */
diff --git a/boards/nxp/fmurt1062-v1/src/init.c b/boards/nxp/fmurt1062-v1/src/init.c
index 61803e1d27b..ffa41b04600 100644
--- a/boards/nxp/fmurt1062-v1/src/init.c
+++ b/boards/nxp/fmurt1062-v1/src/init.c
@@ -276,23 +276,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
-#ifdef SERIAL_HAVE_DMA
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)imxrt_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)imxrt_serial_dma_poll, NULL);
 #endif
 
 	/* initial LED state */
diff --git a/boards/omnibus/f4sd/src/init.c b/boards/omnibus/f4sd/src/init.c
index df128028d66..dad8c28ea9e 100644
--- a/boards/omnibus/f4sd/src/init.c
+++ b/boards/omnibus/f4sd/src/init.c
@@ -244,22 +244,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/px4/fmu-v2/src/init.c b/boards/px4/fmu-v2/src/init.c
index 5792d0d8c8a..9bd7d26bc66 100644
--- a/boards/px4/fmu-v2/src/init.c
+++ b/boards/px4/fmu-v2/src/init.c
@@ -432,22 +432,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/px4/fmu-v3/src/init.c b/boards/px4/fmu-v3/src/init.c
index 5792d0d8c8a..9bd7d26bc66 100644
--- a/boards/px4/fmu-v3/src/init.c
+++ b/boards/px4/fmu-v3/src/init.c
@@ -432,22 +432,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/px4/fmu-v4/src/init.c b/boards/px4/fmu-v4/src/init.c
index c7c24e9474b..fb187222974 100644
--- a/boards/px4/fmu-v4/src/init.c
+++ b/boards/px4/fmu-v4/src/init.c
@@ -267,22 +267,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	// Set up the serial DMA polling.
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/**
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	// Initial LED state.
 	drv_led_start();
diff --git a/boards/px4/fmu-v4pro/src/init.c b/boards/px4/fmu-v4pro/src/init.c
index 42774f6a4bd..5ab9855d968 100644
--- a/boards/px4/fmu-v4pro/src/init.c
+++ b/boards/px4/fmu-v4pro/src/init.c
@@ -288,22 +288,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/px4/fmu-v5/src/init.c b/boards/px4/fmu-v5/src/init.c
index 09826b77aa6..0467a0db9b0 100644
--- a/boards/px4/fmu-v5/src/init.c
+++ b/boards/px4/fmu-v5/src/init.c
@@ -255,22 +255,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #if defined(SERIAL_HAVE_RXDMA)
-	/* set up the serial DMA polling */
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
 	/* initial LED state */
diff --git a/boards/px4/fmu-v5x/src/init.cpp b/boards/px4/fmu-v5x/src/init.cpp
index e4634580d2b..1632e5891e0 100644
--- a/boards/px4/fmu-v5x/src/init.cpp
+++ b/boards/px4/fmu-v5x/src/init.cpp
@@ -240,23 +240,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
-
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	/* initial LED state */
 	drv_led_start();
diff --git a/boards/px4/fmu-v6u/src/init.c b/boards/px4/fmu-v6u/src/init.c
index 4355777b303..4e7b4a19ae2 100644
--- a/boards/px4/fmu-v6u/src/init.c
+++ b/boards/px4/fmu-v6u/src/init.c
@@ -240,26 +240,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-#if 0 // serial DMA is not yet implemented in NuttX for stm32h7
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
diff --git a/boards/px4/fmu-v6x/src/init.c b/boards/px4/fmu-v6x/src/init.c
index 3356a278559..691c1504205 100644
--- a/boards/px4/fmu-v6x/src/init.c
+++ b/boards/px4/fmu-v6x/src/init.c
@@ -242,26 +242,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-#if 0 // serial DMA is not yet implemented in NuttX for stm32h7
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
diff --git a/boards/spracing/h7extreme/src/init.c b/boards/spracing/h7extreme/src/init.c
index 9c69f93f961..7b270bc1a28 100644
--- a/boards/spracing/h7extreme/src/init.c
+++ b/boards/spracing/h7extreme/src/init.c
@@ -205,26 +205,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-#if 0 // serial DMA is not yet implemented in NuttX for stm32h7
-	/* set up the serial DMA polling */
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
 #endif
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
diff --git a/boards/uvify/core/src/init.c b/boards/uvify/core/src/init.c
index f2b92022518..5c88f90d8fd 100644
--- a/boards/uvify/core/src/init.c
+++ b/boards/uvify/core/src/init.c
@@ -267,22 +267,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "DMA alloc FAILED\n");
 	}
 
-	// Set up the serial DMA polling.
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
-	struct timespec ts;
-
-	/**
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
 
 	// Initial LED state.
 	drv_led_start();