omnibus: enable SPI dma + use new ICM-20602 driver (disabled DLPF)

boards/omnibus/f4sd/default.cmake

@@ -22,6 +22,7 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/mpu6000
+		imu/invensense/icm20602
 		#irlock
 		#lights/blinkm
 		lights/rgbled

boards/omnibus/f4sd/init/rc.board_sensors

@@ -8,7 +8,8 @@ adc start
 if ! mpu6000 -R 12 -s start
 then
 	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
-	mpu6000 -R 12 -T 20602 -s start
+	icm20602 -R 6 start
+	#mpu6000 -R 12 -T 20602 -s start
 fi
 
 # Possible external compasses

boards/omnibus/f4sd/nuttx-config/include/board.h

@@ -207,12 +207,15 @@
  * 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_1 = Channel 4, Stream 3
  *   DMAMAP_SDIO_2 = Channel 4, Stream 6
  */
 
 #define DMAMAP_SDIO DMAMAP_SDIO_1
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
+
 /* LED definitions ******************************************************************/
 /* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
  * way.  The following definitions are used to access individual LEDs.

boards/omnibus/f4sd/nuttx-config/nsh/defconfig

@@ -165,8 +165,10 @@ 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_SPI3=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM1=y
 CONFIG_STM32_TIM5=y
 CONFIG_STM32_UART4=y

boards/omnibus/f4sd/src/board_config.h

@@ -228,7 +228,7 @@
 #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 + 1008)	// 5120 fat + 1008 spi
 
 #define BOARD_HAS_ON_RESET 1