WIP: IMU SPI DMA

PX4 · Jul 10, 2019 · 13634cf · 13634cf
1 parent aa86bf5
commit 13634cf
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Showing 51 changed files with 219 additions and 223 deletions.
diff --git a/boards/airmind/mindpx-v2/nuttx-config/include/board.h b/boards/airmind/mindpx-v2/nuttx-config/include/board.h
@@ -281,6 +281,9 @@
 #define GPIO_SPI4_MOSI	(GPIO_SPI4_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI4_SCK	(GPIO_SPI4_SCK_1|GPIO_SPEED_50MHz)
 
+#define DMACHAN_SPI4_RX DMAMAP_SPI4_RX_1
+#define DMACHAN_SPI4_TX DMAMAP_SPI4_TX_2
+
 /************************************************************************************
  * Public Data
  ************************************************************************************/

diff --git a/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig b/boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig
@@ -182,6 +182,8 @@ CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
+CONFIG_STM32_SPI4_DMA=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/airmind/mindpx-v2/src/board_config.h b/boards/airmind/mindpx-v2/src/board_config.h
@@ -307,7 +307,7 @@
 
 /* This board provides a DMA pool and APIs */
 
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 1024)	// 5120 fat + 1024 spi
 
 /* This board provides the board_on_reset interface */
 

diff --git a/boards/auav/x21/nuttx-config/include/board.h b/boards/auav/x21/nuttx-config/include/board.h
@@ -209,9 +209,8 @@
 
 /* Alternate function pin selections ************************************************/
 
-/*
- * UARTs.
- */
+/* UARTs */
+
 #define GPIO_USART1_RX   GPIO_USART1_RX_1    /* Console in from IO */
 #define GPIO_USART1_TX   0                   /* USART1 is RX-only */
 
@@ -234,16 +233,14 @@
 #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
+/* CAN
  *
  * CAN1 is routed to the onboard transceiver.
  */
@@ -262,15 +259,18 @@
 #define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN8)
 #define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN9)
 
-/*
- * SPI
+/* SPI
  *
  * There are sensors on SPI1, and SPI2 is connected to the FRAM.
  */
+
 #define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1
+
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1
 #define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2

diff --git a/boards/auav/x21/nuttx-config/nsh/defconfig b/boards/auav/x21/nuttx-config/nsh/defconfig
@@ -178,7 +178,9 @@ 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_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/auav/x21/src/board_config.h b/boards/auav/x21/src/board_config.h
@@ -216,7 +216,7 @@
 #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 + 2048)	// 5120 fat + 2048 spi
 
 /* This board provides the board_on_reset interface */
 

diff --git a/boards/av/x-v1/nuttx-config/include/board.h b/boards/av/x-v1/nuttx-config/include/board.h
@@ -320,10 +320,16 @@
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2   /* PB5 */
 #define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5 */
 
+#define DMAMAP_SPI1_RX   DMAMAP_SPI1_RX_1
+#define DMAMAP_SPI1_TX   DMAMAP_SPI1_TX_2
+
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PI3 */
 #define GPIO_SPI2_SCK    GPIO_SPI2_SCK_4    /* PD3 */
 
+//#define DMAMAP_SPI2_RX   DMAMAP_SPI2_RX_1
+//#define DMAMAP_SPI2_TX   DMAMAP_SPI2_TX_1
+
 #define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE5 */
 #define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1   /* PE6 */
 #define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE2 */

diff --git a/boards/av/x-v1/nuttx-config/nsh/defconfig b/boards/av/x-v1/nuttx-config/nsh/defconfig
@@ -50,7 +50,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_FINALINIT=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=43103
+CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
@@ -73,7 +73,10 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
+CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -146,7 +149,7 @@ CONFIG_PREALLOC_WDOGS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=376832
+CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
@@ -204,9 +207,12 @@ 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_SPI2_DMA=y
 CONFIG_STM32F7_SPI4=y
 CONFIG_STM32F7_SPI5=y
+CONFIG_STM32F7_SPI_DMA=y
 CONFIG_STM32F7_TIM10=y
 CONFIG_STM32F7_TIM11=y
 CONFIG_STM32F7_TIM14=y

diff --git a/boards/av/x-v1/src/board_config.h b/boards/av/x-v1/src/board_config.h
@@ -305,7 +305,7 @@
 
 /* This board provides a DMA pool and APIs */
 
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 2048)	// 5120 fat + 2048 spi
 
 /* This board provides the board_on_reset interface */
 

diff --git a/boards/intel/aerofc-v1/nuttx-config/include/board.h b/boards/intel/aerofc-v1/nuttx-config/include/board.h
@@ -285,6 +285,9 @@
 #define GPIO_SPI1_MISO  (GPIO_SPI1_MISO_1 | GPIO_SPEED_50MHz)
 #define GPIO_SPI1_MOSI  (GPIO_SPI1_MOSI_1 | GPIO_SPEED_50MHz)
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1
+
 /* The following Pin Mapping is just for completeness */
 /*
  * JTAG

diff --git a/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig b/boards/intel/aerofc-v1/nuttx-config/nsh/defconfig
@@ -153,6 +153,8 @@ CONFIG_STM32_RTC_MAGIC_REG=1
 CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/intel/aerofc-v1/src/board_config.h b/boards/intel/aerofc-v1/src/board_config.h
@@ -137,6 +137,9 @@
  */
 #define BOARD_TAP_ESC_MODE 1
 
+/* This board provides a DMA pool and APIs. */
+#define BOARD_DMA_ALLOC_POOL_SIZE 1024	// 1024 spi
+
 #define MEMORY_CONSTRAINED_SYSTEM
 
 #define BOARD_CRASHDUMP_RESET_ONLY

diff --git a/boards/omnibus/f4sd/nuttx-config/include/board.h b/boards/omnibus/f4sd/nuttx-config/include/board.h
@@ -302,6 +302,9 @@
 #define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
 #define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_1
+
 /* SPI2:
  *  SD Card
  *  CS: PB12 -- configured in board_config.h

diff --git a/boards/omnibus/f4sd/nuttx-config/nsh/defconfig b/boards/omnibus/f4sd/nuttx-config/nsh/defconfig
@@ -157,8 +157,10 @@ 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_TIM3=y
 CONFIG_STM32_TIM5=y

diff --git a/boards/omnibus/f4sd/src/board_config.h b/boards/omnibus/f4sd/src/board_config.h
@@ -260,7 +260,7 @@
 #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 + 1024)	// 5120 fat + 1024 spi
 
 #define BOARD_HAS_ON_RESET 1
 

diff --git a/boards/px4/fmu-v2/multicopter.cmake b/boards/px4/fmu-v2/multicopter.cmake
@@ -28,7 +28,7 @@ px4_add_board(
 		imu/l3gd20
 		imu/lsm303d
 		imu/mpu6000
-		imu/mpu9250
+		#imu/mpu9250
 		irlock
 		lights/rgbled
 		magnetometer/hmc5883

diff --git a/boards/px4/fmu-v2/nuttx-config/include/board.h b/boards/px4/fmu-v2/nuttx-config/include/board.h
@@ -276,6 +276,9 @@
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
+
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1
 #define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2

diff --git a/boards/px4/fmu-v2/nuttx-config/nsh/defconfig b/boards/px4/fmu-v2/nuttx-config/nsh/defconfig
@@ -180,8 +180,10 @@ 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_SPI4=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/px4/fmu-v2/src/board_config.h b/boards/px4/fmu-v2/src/board_config.h
@@ -464,7 +464,7 @@
 #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 + 2048)	// 5120 fat + 2048 spi
 
 #define BOARD_HAS_ON_RESET 1
 

diff --git a/boards/px4/fmu-v3/nuttx-config/include/board.h b/boards/px4/fmu-v3/nuttx-config/include/board.h
@@ -276,6 +276,9 @@
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
+
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1
 #define GPIO_SPI2_SCK    GPIO_SPI2_SCK_2

diff --git a/boards/px4/fmu-v3/nuttx-config/nsh/defconfig b/boards/px4/fmu-v3/nuttx-config/nsh/defconfig
@@ -180,8 +180,10 @@ 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_SPI4=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/px4/fmu-v3/src/board_config.h b/boards/px4/fmu-v3/src/board_config.h
@@ -464,7 +464,7 @@
 #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 + 2048)	// 5120 fat + 2048 spi
 
 #define BOARD_HAS_ON_RESET 1
 
@@ -494,7 +494,6 @@ __BEGIN_DECLS
 
 extern void stm32_spiinitialize(void);
 
-
 /****************************************************************************************************
  * Name: board_spi_reset board_peripheral_reset
  *

diff --git a/boards/px4/fmu-v4/nuttx-config/include/board.h b/boards/px4/fmu-v4/nuttx-config/include/board.h
@@ -269,6 +269,10 @@
 #define GPIO_SPI1_MOSI  (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK   (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
+
+
 #define GPIO_SPI2_MISO  (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_MOSI  (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_SCK   (GPIO_SPI2_SCK_1|GPIO_SPEED_50MHz)

diff --git a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
@@ -179,8 +179,10 @@ 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_SPI4=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/px4/fmu-v4/src/board_config.h b/boards/px4/fmu-v4/src/board_config.h
@@ -352,7 +352,7 @@
 #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 + 2048)	// 5120 fat + 2048 spi
 
 #define BOARD_HAS_ON_RESET 1
 __BEGIN_DECLS

diff --git a/boards/px4/fmu-v4pro/nuttx-config/include/board.h b/boards/px4/fmu-v4pro/nuttx-config/include/board.h
@@ -383,6 +383,8 @@
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
 
 #define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1
 #define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1

diff --git a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
@@ -183,9 +183,11 @@ 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_SPI5=y
 CONFIG_STM32_SPI6=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/px4/fmu-v4pro/src/board_config.h b/boards/px4/fmu-v4pro/src/board_config.h
@@ -334,7 +334,7 @@
 
 /* This board provides a DMA pool and APIs */
 
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 2048)	// 5120 fat + 2048 spi
 
 #define BOARD_HAS_ON_RESET 1
 

diff --git a/boards/px4/fmu-v5/nuttx-config/include/board.h b/boards/px4/fmu-v5/nuttx-config/include/board.h
@@ -382,6 +382,9 @@
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
 #define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
 
+#define DMAMAP_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMAMAP_SPI1_TX DMAMAP_SPI1_TX_2
+
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PI3 */
 #define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PI1 */

diff --git a/boards/px4/fmu-v5/nuttx-config/nsh/defconfig b/boards/px4/fmu-v5/nuttx-config/nsh/defconfig
@@ -182,10 +182,12 @@ 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_SPI4=y
 CONFIG_STM32F7_SPI5=y
 CONFIG_STM32F7_SPI6=y
+CONFIG_STM32F7_SPI_DMA=y
 CONFIG_STM32F7_TIM10=y
 CONFIG_STM32F7_TIM11=y
 CONFIG_STM32F7_TIM1=y

diff --git a/boards/px4/fmu-v5/src/board_config.h b/boards/px4/fmu-v5/src/board_config.h
@@ -621,7 +621,7 @@
 
 /* This board provides a DMA pool and APIs */
 
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 4096)	// 5120 fat + 4096 spi
 
 /* This board provides the board_on_reset interface */