fmu-v5: add dshot support

But only on the first 4 FMU outputs, as the next ones conflict with px4io
serial dma (UART8_RX)

RX DMA is disabled on the GPS port as well (conflicts with TIM1).

boards/px4/fmu-v5/default.cmake

@@ -25,6 +25,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		dshot
 		gps
 		#heater
 		imu/adis16448

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

@@ -227,7 +227,6 @@ CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y

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

@@ -226,7 +226,6 @@ CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y

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

@@ -225,7 +225,6 @@ CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y

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

@@ -217,7 +217,6 @@ CONFIG_UART8_RXDMA=y
 CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y

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

@@ -673,6 +673,8 @@
 
 #define BOARD_NUM_IO_TIMERS 5
 
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
+
 __BEGIN_DECLS
 
 /****************************************************************************************************

boards/px4/fmu-v5/src/timer_config.c

@@ -60,7 +60,13 @@ __EXPORT const io_timers_t io_timers[MAX_IO_TIMERS] = {
 		.last_channel_index = 3,
 		.handler = io_timer_handler0,
 		.vectorno =  STM32_IRQ_TIM1CC,
-
+		.dshot = {
+			.dma_base = DSHOT_DMA2_BASE,
+			.channel = DShot_Channel6,
+			.stream = DShot_Stream5,
+			.start_ccr_register = TIM_DMABASE_CCR1,
+			.channels_number = 4u /* CCR1, CCR2, CCR3 and CCR4 */
+		}
 	},
 	{
 		.base = STM32_TIM4_BASE,