[dshot] fix dshot driver for F4 (no DMA cache) (#2637)

* [dshot] fix dshot driver for F4 (no DMA cache)

* [board] remove dcache_mem field from apogee board config

* [board] remove all dcache_mem...

sw/airborne/arch/chibios/mcu_periph/hal_stm32_dma.c

@@ -690,14 +690,14 @@ forbiddenCombination:
  */
 bool dma_lld_start_transfert(DMADriver *dmap, volatile void *periphp, void *mem0p, const size_t size)
 {
-#ifdef STM32F7XX
+#if __DCACHE_PRESENT
   if (dmap->config->dcache_memory_in_use &&
       (dmap->config->direction != DMA_DIR_P2M)) {
     cacheBufferFlush(mem0p, size * dmap->config->msize);
   }
 #endif
   dmap->mem0p = mem0p;
-#ifdef STM32F7XX
+#if __DCACHE_PRESENT
   dmap->periphp = periphp;
 #endif
   dmap->size = size;
@@ -777,7 +777,7 @@ static void dma_lld_serve_interrupt(DMADriver *dmap, uint32_t flags)
     /* It is possible that the transaction has already be reset by the
        DMA error handler, in this case this interrupt is spurious.*/
     if (dmap->state == DMA_ACTIVE) {
-#ifdef STM32F7XX
+#if __DCACHE_PRESENT
       if (dmap->config->dcache_memory_in_use)
 	  switch (dmap->config->direction) {
 	  case DMA_DIR_M2P : break;

sw/airborne/arch/chibios/mcu_periph/hal_stm32_dma.h

@@ -31,6 +31,9 @@
 #include <ch.h>
 #include <hal.h>
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 /**
  * @brief   Enables synchronous APIs.
@@ -226,9 +229,6 @@ static inline void _dma_isr_error_code(DMADriver *dmap, dmaerrormask_t err);
 
 
 
-#ifdef __cplusplus
-extern "C" {
-#endif
 
 /**
  * @brief   DMA stream configuration structure.
@@ -319,7 +319,7 @@ typedef struct  {
    * @brief   DMA memory data granurality in bytes (1,2,4)
    */
   uint8_t		msize; // 1,2,4
-#ifdef STM32F7XX
+#if __DCACHE_PRESENT
   /**
    * @brief   DMA memory is in a cached section and beed to be flushed
    */
@@ -408,7 +408,7 @@ struct DMADriver {
    */
   uint32_t         dmamode;
 
-#ifdef STM32F7XX
+#if __DCACHE_PRESENT
   /**
    * @brief	periph address (or destination memory in case of M2M)
    */

sw/airborne/arch/chibios/modules/actuators/esc_dshot.c

@@ -141,7 +141,9 @@ void dshotStart(DSHOTDriver *driver, const DSHOTConfig *config)
     .direction = DMA_DIR_M2P,
     .psize = timerWidthInBytes,
     .msize = timerWidthInBytes,
+#if __DCACHE_PRESENT
     .dcache_memory_in_use = config->dcache_memory_in_use,
+#endif
     .inc_peripheral_addr = false,
     .inc_memory_addr = true,
     .circular = false,

sw/airborne/arch/chibios/modules/actuators/esc_dshot.h

@@ -178,10 +178,12 @@ typedef struct  {
    */
   DshotDmaBuffer *dma_buf;
 
+#if __DCACHE_PRESENT
   /**
    * @brief   DMA memory is in a cached section and beed to be flushed
    */
   bool		 dcache_memory_in_use;
+#endif
 } DSHOTConfig;
 
 void     dshotStart(DSHOTDriver *driver, const DSHOTConfig *config);

sw/airborne/boards/apogee/chibios/v1.0/board.h

@@ -391,7 +391,6 @@
   .pwmp = &PWMD2,                           \
   .tlm_sd = DSHOT_TELEMETRY_DEV,            \
   .dma_buf = &dshot2DmaBuffer,              \
-  .dcache_memory_in_use = false             \
 }
 
 #endif
@@ -436,7 +435,6 @@
   .pwmp = &PWMD3,                           \
   .tlm_sd = DSHOT_TELEMETRY_DEV,            \
   .dma_buf = &dshot3DmaBuffer,              \
-  .dcache_memory_in_use = false             \
 }
 
 #endif