px4_fmu-v5: add board_dma_map.h and enable SPI1 DMA

boards/px4/fmu-v5/init/rc.board_sensors

@@ -7,9 +7,11 @@ adc start
 
 # Internal SPI bus ICM-20602
 mpu6000 -R 8 -s -T 20602 start
+#icm20602 -R 6 start
 
 # Internal SPI bus ICM-20689
 mpu6000 -R 8 -z -T 20689 start
+#icm20689 -R 6 start
 
 # new sensor drivers (in testing)
 #icm20602 start

boards/px4/fmu-v5/nuttx-config/include/board.h

@@ -38,6 +38,7 @@
 /************************************************************************************
  * Included Files
  ************************************************************************************/
+#include "board_dma_map.h"
 
 #include <nuttx/config.h>
 
@@ -242,20 +243,6 @@
 #  define STM32_SDMMC_SDXFR_CLKDIV      (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 
-/* DMA Channl/Stream Selections *****************************************************/
-/* Stream selections are arbitrary for now but might become important in the future
- * if we set aside more DMA channels/streams.
- *
- * SDMMC DMA is on DMA2
- *
- * SDMMC1 DMA
- *   DMAMAP_SDMMC1_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
- *   DMAMAP_SDMMC1_2 = Channel 4, Stream 6
- */
-
-#define DMAMAP_SDMMC1  DMAMAP_SDMMC1_1
-
-
 /* FLASH wait states
  *
  *  --------- ---------- -----------
@@ -352,11 +339,6 @@
  *      GPIO_UART8_TX                          PE1[CN11-61]
  */
 
-/* UART RX DMA configurations */
-
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
-#define DMAMAP_USART3_TX DMAMAP_USART3_TX_1
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
 /* CAN
  *
  * CAN1 is routed to transceiver.

boards/px4/fmu-v5/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   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
+
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+//      DMAMAP_UART8_TX                       // DMA1, Stream 0, Channel 5    (PX4IO TX)
+//      DMAMAP_USART3_RX                      // DMA1, Stream 1, Channel 4    (TELEM2 RX)
+//      DMAMAP_UART4_RX                       // DMA1, Stream 2, Channel 4    (TELEM4 RX)
+#define DMAMAP_USART3_TX  DMAMAP_USART3_TX_1  // DMA1, Stream 3, Channel 4    (TELEM2 TX)
+//      DMAMAP_USART2_RX                      // DMA1, Stream 5, Channel 4    (TELEM1 RX)
+//      DMAMAP_UART8_RX                       // DMA1, Stream 6, Channel 5    (PX4IO RX)
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMAMAP_SPI1_RX    DMAMAP_SPI1_RX_1    // DMA2, Stream 0, Channel 3    (SPI sensors RX)
+//      AVAILABLE                             // DMA2, Stream 1
+#define DMAMAP_USART6_RX  DMAMAP_USART6_RX_2  // DMA2, Stream 2, Channel 5
+#define DMAMAP_SPI1_TX    DMAMAP_SPI1_TX_1    // DMA2, Stream 3, Channel 3    (SPI sensors TX)
+//      AVAILABLE                             // DMA2, Stream 4
+//      DMAMAP_TIM1_UP                        // DMA2, Stream 5, Channel 6    (DSHOT)
+#define DMAMAP_SDMMC1     DMAMAP_SDMMC1_2     // DMA2, Stream 6, Channel 4
+#define DMAMAP_USART6_TX  DMAMAP_USART6_TX_2  // DMA2, Stream 7, Channel 5

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

@@ -190,10 +190,12 @@ CONFIG_STM32F7_SDMMC_DMA=y
 CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
 CONFIG_STM32F7_SPI2=y
 CONFIG_STM32F7_SPI4=y
 CONFIG_STM32F7_SPI5=y
 CONFIG_STM32F7_SPI6=y
+CONFIG_STM32F7_SPI_DMA=y
 CONFIG_STM32F7_TIM10=y
 CONFIG_STM32F7_TIM11=y
 CONFIG_STM32F7_UART4=y

boards/px4/fmu-v5/src/board_config.h

@@ -549,7 +549,7 @@
 
 /* This board provides a DMA pool and APIs */
 
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 1024 + 1024)	// 5120 fat + 1024 + 1024 spi
 
 /* This board provides the board_on_reset interface */