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NuttX update with STM32H7 SPI DMA support

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- holybro durdandal enable SPI DMA
This commit is contained in:
Daniel Agar 2020-04-06 20:32:50 -04:00
parent d8c140be04
commit da383064c6
8 changed files with 55 additions and 21 deletions
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2
boards/holybro/durandal-v1/default.cmake
View File

@ -32,8 +32,8 @@ px4_add_board(
imu/adis16477
imu/adis16497
imu/bmi088
imu/invensense/icm20689
imu/mpu6000
imu/mpu9250
irlock
lights/blinkm
lights/rgbled

1
boards/holybro/durandal-v1/init/rc.board_sensors
View File

@ -6,6 +6,7 @@ adc start
# Internal SPI bus ICM-20689
mpu6000 -R 8 -s -T 20689 start
#icm20689 -R 2 -s start
# Internal SPI bus BMI088 accel
bmi088 -A -R 10 -s start

7
boards/holybro/durandal-v1/nuttx-config/include/board.h
View File

@ -39,6 +39,8 @@
* Included Files
************************************************************************************/
#include "board_dma_map.h"
#include <nuttx/config.h>
#ifndef __ASSEMBLY__
@ -372,11 +374,6 @@
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
/* UART RX DMA configurations */
#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */
/* CAN
*
* CAN1 is routed to transceiver.

40
boards/holybro/durandal-v1/nuttx-config/include/board_dma_map.h Normal file
View File

@ -0,0 +1,40 @@
/****************************************************************************
*
* 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
#define DMAMAP_SPI1_RX DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
#define DMAMAP_SPI1_TX DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
#define DMAMAP_UART8_RX DMAMAP_DMA12_UART8RX_0 /* DMA1:81 */
#define DMAMAP_UART8_TX DMAMAP_DMA12_UART8TX_0 /* DMA1:82 */

10
boards/holybro/durandal-v1/nuttx-config/nsh/defconfig
View File

@ -190,10 +190,14 @@ CONFIG_STM32H7_SDMMC1=y
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32H7_SPI1=y
CONFIG_STM32H7_SPI1_DMA=y
CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
CONFIG_STM32H7_SPI2=y
CONFIG_STM32H7_SPI4=y
CONFIG_STM32H7_SPI5=y
CONFIG_STM32H7_SPI6=y
CONFIG_STM32H7_SPI_DMA=y
CONFIG_STM32H7_SPI_DMATHRESHOLD=8
CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_TIM3=y
CONFIG_STM32H7_TIM4=y
@ -215,7 +219,6 @@ CONFIG_TIME_EXTENDED=y
CONFIG_TTY_SIGINT=y
CONFIG_TTY_SIGSTP=y
CONFIG_UART4_BAUD=57600
CONFIG_UART4_DMA=y
CONFIG_UART4_RXBUFSIZE=600
CONFIG_UART4_TXBUFSIZE=1500
CONFIG_UART7_BAUD=57600
@ -223,27 +226,22 @@ CONFIG_UART7_RXBUFSIZE=600
CONFIG_UART7_SERIAL_CONSOLE=y
CONFIG_UART7_TXBUFSIZE=1500
CONFIG_UART8_BAUD=57600
CONFIG_UART8_DMA=y
CONFIG_UART8_RXBUFSIZE=600
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_DMA=y
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_TXBUFSIZE=1500
CONFIG_USART2_BAUD=57600
CONFIG_USART2_DMA=y
CONFIG_USART2_IFLOWCONTROL=y
CONFIG_USART2_OFLOWCONTROL=y
CONFIG_USART2_RXBUFSIZE=600
CONFIG_USART2_TXBUFSIZE=1500
CONFIG_USART3_BAUD=57600
CONFIG_USART3_DMA=y
CONFIG_USART3_IFLOWCONTROL=y
CONFIG_USART3_OFLOWCONTROL=y
CONFIG_USART3_RXBUFSIZE=600
CONFIG_USART3_TXBUFSIZE=3000
CONFIG_USART6_BAUD=57600
CONFIG_USART6_DMA=y
CONFIG_USART6_RXBUFSIZE=600
CONFIG_USART6_TXBUFSIZE=1500
CONFIG_USBDEV=y

10
boards/holybro/durandal-v1/nuttx-config/stackcheck/defconfig
View File

@ -191,10 +191,14 @@ CONFIG_STM32H7_SDMMC1=y
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
CONFIG_STM32H7_SPI1=y
CONFIG_STM32H7_SPI1_DMA=y
CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
CONFIG_STM32H7_SPI2=y
CONFIG_STM32H7_SPI4=y
CONFIG_STM32H7_SPI5=y
CONFIG_STM32H7_SPI6=y
CONFIG_STM32H7_SPI_DMA=y
CONFIG_STM32H7_SPI_DMATHRESHOLD=8
CONFIG_STM32H7_TIM1=y
CONFIG_STM32H7_TIM3=y
CONFIG_STM32H7_TIM4=y
@ -216,7 +220,6 @@ CONFIG_TIME_EXTENDED=y
CONFIG_TTY_SIGINT=y
CONFIG_TTY_SIGSTP=y
CONFIG_UART4_BAUD=57600
CONFIG_UART4_DMA=y
CONFIG_UART4_RXBUFSIZE=600
CONFIG_UART4_TXBUFSIZE=1500
CONFIG_UART7_BAUD=57600
@ -224,27 +227,22 @@ CONFIG_UART7_RXBUFSIZE=600
CONFIG_UART7_SERIAL_CONSOLE=y
CONFIG_UART7_TXBUFSIZE=1500
CONFIG_UART8_BAUD=57600
CONFIG_UART8_DMA=y
CONFIG_UART8_RXBUFSIZE=600
CONFIG_UART8_TXBUFSIZE=1500
CONFIG_USART1_BAUD=57600
CONFIG_USART1_DMA=y
CONFIG_USART1_RXBUFSIZE=600
CONFIG_USART1_TXBUFSIZE=1500
CONFIG_USART2_BAUD=57600
CONFIG_USART2_DMA=y
CONFIG_USART2_IFLOWCONTROL=y
CONFIG_USART2_OFLOWCONTROL=y
CONFIG_USART2_RXBUFSIZE=600
CONFIG_USART2_TXBUFSIZE=1500
CONFIG_USART3_BAUD=57600
CONFIG_USART3_DMA=y
CONFIG_USART3_IFLOWCONTROL=y
CONFIG_USART3_OFLOWCONTROL=y
CONFIG_USART3_RXBUFSIZE=600
CONFIG_USART3_TXBUFSIZE=3000
CONFIG_USART6_BAUD=57600
CONFIG_USART6_DMA=y
CONFIG_USART6_RXBUFSIZE=600
CONFIG_USART6_TXBUFSIZE=1500
CONFIG_USBDEV=y

4
boards/holybro/durandal-v1/stackcheck.cmake
View File

@ -33,8 +33,8 @@ px4_add_board(
#imu/adis16477
#imu/adis16497
imu/bmi088
imu/mpu6000
#imu/mpu9250
#imu/invensense/icm20689
#imu/mpu6000
#irlock
#lights/blinkm
#lights/rgbled

2
platforms/nuttx/NuttX/nuttx

@ -1 +1 @@
Subproject commit b902d4ca3d79ffbd5148670cb13bfeef7d917555
Subproject commit 09f0aee3520ae69eb57aa9e7f41e9d17dc3a9045