boards: cleanup serial RX DMA hrt_call_every

- remove ts_to_abstime dependency

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();

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);

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);
 

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();

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();

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 */

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;
 }

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);

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();

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 */

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();

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);

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();

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();

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 */

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();

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 */

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 */

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 */

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();

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();

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();

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();

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();

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 */

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();

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);

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);

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);

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();