NuttX update with STM32H7 SPI DMA support

- holybro durdandal enable SPI DMA

boards/holybro/durandal-v1/default.cmake

@@ -32,8 +32,8 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		imu/bmi088
+		imu/invensense/icm20689
 		imu/mpu6000
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/holybro/durandal-v1/init/rc.board_sensors

@@ -6,6 +6,7 @@ adc start
 
 # Internal SPI bus ICM-20689
 mpu6000 -R 8 -s -T 20689 start
+#icm20689 -R 2 -s start
 
 # Internal SPI bus BMI088 accel
 bmi088 -A -R 10 -s start

boards/holybro/durandal-v1/nuttx-config/include/board.h

@@ -39,6 +39,8 @@
  * Included Files
  ************************************************************************************/
 
+#include "board_dma_map.h"
+
 #include <nuttx/config.h>
 
 #ifndef __ASSEMBLY__
@@ -372,11 +374,6 @@
 #define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */
 
-/* UART RX DMA configurations */
-
-#define DMAMAP_UART8_RX         DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
-#define DMAMAP_UART8_TX         DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */
-
 /* CAN
  *
  * CAN1 is routed to transceiver.

boards/holybro/durandal-v1/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+
+#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
+#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -190,10 +190,14 @@ CONFIG_STM32H7_SDMMC1=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -215,7 +219,6 @@ CONFIG_TIME_EXTENDED=y
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_DMA=y
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
@@ -223,27 +226,22 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
-CONFIG_UART8_DMA=y
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
-CONFIG_USART1_DMA=y
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
-CONFIG_USART2_DMA=y
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=1500
 CONFIG_USART3_BAUD=57600
-CONFIG_USART3_DMA=y
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
 CONFIG_USART6_BAUD=57600
-CONFIG_USART6_DMA=y
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y

boards/holybro/durandal-v1/nuttx-config/stackcheck/defconfig

@@ -191,10 +191,14 @@ CONFIG_STM32H7_SDMMC1=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -216,7 +220,6 @@ CONFIG_TIME_EXTENDED=y
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_DMA=y
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
@@ -224,27 +227,22 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
-CONFIG_UART8_DMA=y
 CONFIG_UART8_RXBUFSIZE=600
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
-CONFIG_USART1_DMA=y
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
-CONFIG_USART2_DMA=y
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=1500
 CONFIG_USART3_BAUD=57600
-CONFIG_USART3_DMA=y
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
 CONFIG_USART6_BAUD=57600
-CONFIG_USART6_DMA=y
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y

boards/holybro/durandal-v1/stackcheck.cmake

@@ -33,8 +33,8 @@ px4_add_board(
 		#imu/adis16477
 		#imu/adis16497
 		imu/bmi088
-		imu/mpu6000
+		#imu/invensense/icm20689
-		#imu/mpu9250
+		#imu/mpu6000
 		#irlock
 		#lights/blinkm
 		#lights/rgbled