Add ARK RTK GPS Debug, turn on UART RX DMA

.vscode/cmake-variants.yaml

@@ -106,6 +106,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: ark_can-rtk-gps_default
+    ark_can-rtk-gps_debug:
+      short: ark_can-rtk-gps_debug
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_can-rtk-gps_debug
     ark_can-rtk-gps_canbootloader:
       short: ark_can-rtk-gps_canbootloader
       buildType: MinSizeRel

boards/ark/can-rtk-gps/debug.px4board

@@ -0,0 +1,6 @@
+CONFIG_BOARD_CONSTRAINED_FLASH=n
+CONFIG_BOARD_NO_HELP=n
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_UORB=y

boards/ark/can-rtk-gps/nuttx-config/include/board_dma_map.h

@@ -39,5 +39,8 @@
 
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3
+#define DMACHAN_USART1_RX  DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4
+#define DMAMAP_USART1_RX   DMAMAP_USART1_RX_1
+//#define DMACHAN_USART1_TX  DMAMAP_USART1_TX   // DMA2, Stream 7, Channel 4

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -150,8 +150,9 @@ CONFIG_STM32_WWDG=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_RXBUFSIZE=2000
-CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXBUFSIZE=2000
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y

boards/ark/can-rtk-gps/src/init.c

@@ -139,6 +139,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();
 
+#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;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
 		{2, 16 * 1024, 0x08008000},