From 01b90fefaf8e35e5447720dc6da2adca7d3e37b0 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 22 Feb 2020 01:03:46 -0500 Subject: [PATCH] uvify_core: add board_dma_map.h and enable SPI1 DMA - synced with px4_fmu-v4 --- .../uvify/core/nuttx-config/include/board.h | 16 +----- .../core/nuttx-config/include/board_dma_map.h | 54 +++++++++++++++++++ boards/uvify/core/nuttx-config/nsh/defconfig | 2 + boards/uvify/core/src/CMakeLists.txt | 1 + boards/uvify/core/src/board_config.h | 2 +- boards/uvify/core/src/init.c | 6 ++- boards/uvify/core/src/timer_config.cpp | 1 - 7 files changed, 63 insertions(+), 19 deletions(-) create mode 100644 boards/uvify/core/nuttx-config/include/board_dma_map.h diff --git a/boards/uvify/core/nuttx-config/include/board.h b/boards/uvify/core/nuttx-config/include/board.h index 0529569153..166a31723a 100644 --- a/boards/uvify/core/nuttx-config/include/board.h +++ b/boards/uvify/core/nuttx-config/include/board.h @@ -40,6 +40,7 @@ /************************************************************************************ * Included Files ************************************************************************************/ +#include "board_dma_map.h" #include #ifndef __ASSEMBLY__ @@ -195,17 +196,6 @@ # define SDIO_SDXFR_CLKDIV (2 << SDIO_CLKCR_CLKDIV_SHIFT) #endif -/* DMA Channl/Stream Selections *****************************************************/ -/* Stream selections are arbitrary for now but might become important in the future - * is we set aside more DMA channels/streams. - * - * SDIO DMA - *   DMAMAP_SDIO_1 = Channel 4, Stream 3 <- may later be used by SPI DMA - *   DMAMAP_SDIO_2 = Channel 4, Stream 6 - */ - -#define DMAMAP_SDIO DMAMAP_SDIO_1 - /* Alternate function pin selections ************************************************/ /* @@ -235,10 +225,6 @@ /* UART8 has no alternate pin config */ -/* UART RX DMA configurations */ -#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1 /*DMA2 Stream 2*/ -#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1 /*DMA2 Stream 1*/ - /* * CAN * diff --git a/boards/uvify/core/nuttx-config/include/board_dma_map.h b/boards/uvify/core/nuttx-config/include/board_dma_map.h new file mode 100644 index 0000000000..375b794f5a --- /dev/null +++ b/boards/uvify/core/nuttx-config/include/board_dma_map.h @@ -0,0 +1,54 @@ +/**************************************************************************** + * + * 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_USART3_RX // DMA1, Stream 1, Channel 4 +// DMAMAP_UART4_RX // DMA1, Stream 2, Channel 4 +// DMAMAP_UART7_RX // DMA1, Stream 3, Channel 5 +// DMAMAP_USART2_RX // DMA1, Stream 5, Channel 4 +// DMAMAP_TIM4_UP // DMA1, Stream 6, Channel 2 (DSHOT) + + +// DMA2 Channel/Stream Selections +//--------------------------------------------//---------------------------//---------------- +#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1 // DMA2, Stream 0, Channel 3 (SPI sensors RX) +#define DMAMAP_USART6_RX DMAMAP_USART6_RX_1 // DMA2, Stream 1, Channel 4 +#define DMAMAP_USART1_RX DMAMAP_USART1_RX_1 // DMA2, Stream 2, Channel 4 +#define DMACHAN_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_SDIO DMAMAP_SDIO_2 // DMA2, Stream 6, Channel 4 diff --git a/boards/uvify/core/nuttx-config/nsh/defconfig b/boards/uvify/core/nuttx-config/nsh/defconfig index 556c38c7d0..1fe75a68e2 100644 --- a/boards/uvify/core/nuttx-config/nsh/defconfig +++ b/boards/uvify/core/nuttx-config/nsh/defconfig @@ -186,8 +186,10 @@ CONFIG_STM32_SDIO_CARD=y CONFIG_STM32_SERIALBRK_BSDCOMPAT=y CONFIG_STM32_SERIAL_DISABLE_REORDERING=y CONFIG_STM32_SPI1=y +CONFIG_STM32_SPI1_DMA=y CONFIG_STM32_SPI2=y CONFIG_STM32_SPI4=y +CONFIG_STM32_SPI_DMA=y CONFIG_STM32_TIM10=y CONFIG_STM32_TIM11=y CONFIG_STM32_TIM8=y diff --git a/boards/uvify/core/src/CMakeLists.txt b/boards/uvify/core/src/CMakeLists.txt index 8e470f2ead..f17f030cf2 100644 --- a/boards/uvify/core/src/CMakeLists.txt +++ b/boards/uvify/core/src/CMakeLists.txt @@ -48,4 +48,5 @@ target_link_libraries(drivers_board nuttx_arch # sdio nuttx_drivers # sdio px4_layer + arch_io_pins ) diff --git a/boards/uvify/core/src/board_config.h b/boards/uvify/core/src/board_config.h index b8f17cbd21..202cb02e10 100644 --- a/boards/uvify/core/src/board_config.h +++ b/boards/uvify/core/src/board_config.h @@ -284,7 +284,7 @@ #define BOARD_HAS_PWM DIRECT_PWM_OUTPUT_CHANNELS /* This board provides a DMA pool and APIs. */ -#define BOARD_DMA_ALLOC_POOL_SIZE 5120 +#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 512 + 1024) // 5120 fat + 512 + 1024 spi #define BOARD_HAS_ON_RESET 1 diff --git a/boards/uvify/core/src/init.c b/boards/uvify/core/src/init.c index 4194055934..04ae1f60a5 100644 --- a/boards/uvify/core/src/init.c +++ b/boards/uvify/core/src/init.c @@ -73,10 +73,12 @@ #include -#include #include #include +#include +#include + /**************************************************************************** * Pre-Processor Definitions ****************************************************************************/ @@ -146,7 +148,7 @@ __EXPORT void board_on_reset(int status) px4_arch_configgpio(io_timer_channel_get_gpio_output(i)); } - /* + /** * On resets invoked from system (not boot) insure we establish a low * output state (discharge the pins) on PWM pins before they become inputs. */ diff --git a/boards/uvify/core/src/timer_config.cpp b/boards/uvify/core/src/timer_config.cpp index 9c3b0e40eb..4b13297bcd 100644 --- a/boards/uvify/core/src/timer_config.cpp +++ b/boards/uvify/core/src/timer_config.cpp @@ -57,4 +57,3 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = { constexpr io_timers_channel_mapping_t io_timers_channel_mapping = initIOTimerChannelMapping(io_timers, timer_io_channels); -