DMA

PX4 · Oct 22, 2024 · d04903c · d04903c
1 parent 37fd1ea
commit d04903c
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Showing 5 changed files with 54 additions and 30 deletions.
diff --git a/boards/ark/fpv/default.px4board b/boards/ark/fpv/default.px4board
@@ -1,10 +1,11 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y

diff --git a/boards/ark/fpv/init/rc.board_defaults b/boards/ark/fpv/init/rc.board_defaults
@@ -26,3 +26,6 @@ then
 fi
 
 param set-default BAT1_V_DIV 21.0
+
+param set-default RC_CRSF_PRT_CFG 300
+param set-default RC_SBUS_PRT_CFG 0
diff --git a/boards/ark/fpv/nuttx-config/include/board.h b/boards/ark/fpv/nuttx-config/include/board.h
@@ -363,8 +363,11 @@
 
 /* Alternate function pin selections ************************************************/
 
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3   /* PB7 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3   /* PB6 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_1   /* PA3 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5 */
 
 #define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
 #define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
@@ -375,7 +378,7 @@
 #define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
 #define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
 // GPIO_UART5_RTS  No remap                 /* PC8  */
-#define GPIO_UART5_CTS   (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN)    /* PC9  */
+//#define GPIO_UART5_CTS   (GPIO_ALT|GPIO_AF8|GPIO_PORTC|GPIO_PIN9|GPIO_PULLDOWN)    /* PC9  */
 
 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
 #define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */

diff --git a/boards/ark/fpv/nuttx-config/include/board_dma_map.h b/boards/ark/fpv/nuttx-config/include/board_dma_map.h
@@ -36,23 +36,23 @@
 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
 //                                                     V
 
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 ICM-20649 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 ICM-20649 */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
 
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 ICM-42688-P */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 ICM-42688-P */
+//#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0  /* 3 DMA1:39 ICM-42688-P */
+//#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0  /* 4 DMA1:40 ICM-42688-P */
 
-//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
 
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
 
-//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
-//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
+#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
+#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
 
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
 
 // Assigned in timer_config.cpp
 
@@ -62,17 +62,20 @@
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
 //                                                     V
 
-#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
 
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+
+//#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
+//#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
 
 #define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66 TELEM2 */
 
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79 TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80 TELEM1 */
 
 // DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
 //                                                     V

diff --git a/boards/ark/fpv/nuttx-config/nsh/defconfig b/boards/ark/fpv/nuttx-config/nsh/defconfig
@@ -213,14 +213,18 @@ CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
-CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
 CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_UART4=y
 CONFIG_STM32H7_UART5=y
 CONFIG_STM32H7_UART7=y
 CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
 CONFIG_STM32H7_USART3=y
 CONFIG_STM32H7_USART6=y
 CONFIG_STM32H7_USART_BREAKS=y
@@ -231,12 +235,13 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXDMA=y
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART5_IFLOWCONTROL=y
-CONFIG_UART5_OFLOWCONTROL=y
 CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=10000
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_TXBUFSIZE=3000
 CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
@@ -246,15 +251,24 @@ CONFIG_UART7_RXDMA=y
 CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_UART7_TXDMA=y
 CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXDMA=y
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXDMA=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
-CONFIG_USART3_RXDMA=y
 CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXDMA=y
+CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y