mro_x21-777: add board_dma_map.h and enable SPI1 DMA

boards/mro/x21-777/nuttx-config/include/board.h

@@ -38,6 +38,7 @@
 /************************************************************************************
  * Included Files
  ************************************************************************************/
+#include "board_dma_map.h"
 
 #include <nuttx/config.h>
 
@@ -242,20 +243,6 @@
 #  define STM32_SDMMC_SDXFR_CLKDIV      (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 
-/* DMA Channl/Stream Selections *****************************************************/
-/* Stream selections are arbitrary for now but might become important in the future
- * if we set aside more DMA channels/streams.
- *
- * SDMMC DMA is on DMA2
- *
- * SDMMC1 DMA
- *   DMAMAP_SDMMC1_1 = Channel 4, Stream 3 <- may later be used by SPI DMA
- *   DMAMAP_SDMMC1_2 = Channel 4, Stream 6
- */
-
-#define DMAMAP_SDMMC1  DMAMAP_SDMMC1_1
-
-
 /* FLASH wait states
  *
  *  --------- ---------- -----------
@@ -294,14 +281,8 @@
 #define GPIO_UART7_RX    GPIO_UART7_RX_1
 #define GPIO_UART7_TX    GPIO_UART7_TX_1
 
-
 /* UART8 has no alternate pin config */
 
-/* UART RX DMA configurations */
-
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
-
 /*
  * CAN
  *

boards/mro/x21-777/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,56 @@
+/****************************************************************************
+ *
+ *   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_UART8_TX                       // DMA1, Stream 0, Channel 5    (PX4IO TX)
+//      DMAMAP_USART3_RX                      // DMA1, Stream 1, Channel 4    (TELEM2 RX)
+//      DMAMAP_UART4_RX                       // DMA1, Stream 2, Channel 4    (TELEM4 RX)
+#define DMAMAP_USART3_TX  DMAMAP_USART3_TX_1  // DMA1, Stream 3, Channel 4    (TELEM2 TX)
+//      DMAMAP_USART2_RX                      // DMA1, Stream 5, Channel 4    (TELEM1 RX)
+//      DMAMAP_UART8_RX                       // DMA1, Stream 6, Channel 5    (PX4IO RX)
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMAMAP_SPI1_RX    DMAMAP_SPI1_RX_1    // DMA2, Stream 0, Channel 3    (SPI sensors RX)
+//      AVAILABLE                             // DMA2, Stream 1
+#define DMAMAP_USART6_RX  DMAMAP_USART6_RX_2  // DMA2, Stream 2, Channel 5
+#define DMAMAP_SPI1_TX    DMAMAP_SPI1_TX_1    // DMA2, Stream 3, Channel 3    (SPI sensors TX)
+//      AVAILABLE                             // DMA2, Stream 4
+#define DMAMAP_USART1_RX  DMAMAP_USART1_RX_2  // DMA2, Stream 5, Channel 4
+#define DMAMAP_SDMMC1     DMAMAP_SDMMC1_2     // DMA2, Stream 6, Channel 4
+#define DMAMAP_USART6_TX  DMAMAP_USART6_TX_2  // DMA2, Stream 7, Channel 5

boards/mro/x21-777/nuttx-config/nsh/defconfig

@@ -187,7 +187,9 @@ CONFIG_STM32F7_SDMMC_DMA=y
 CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
 CONFIG_STM32F7_SPI2=y
+CONFIG_STM32F7_SPI_DMA=y
 CONFIG_STM32F7_TIM10=y
 CONFIG_STM32F7_TIM3=y
 CONFIG_STM32F7_TIM9=y

boards/mro/x21-777/src/board_config.h

@@ -61,8 +61,8 @@
 #define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
 #define PX4IO_SERIAL_BASE              STM32_USART6_BASE
 #define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX_2
+#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
-#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX_2
+#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
 #define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
 #define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
 #define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
@@ -178,7 +178,7 @@
 #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 + 512)	// 5120 fat + 512 + 512 spi
 
 /* This board provides the board_on_reset interface */