WIP: IMU SPI DMA

PX4 · Jul 9, 2019 · 4c209bd · 4c209bd
1 parent d1e4673
commit 4c209bd
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Showing 74 changed files with 254 additions and 255 deletions.
diff --git a/boards/aerotenna/ocpoc/src/CMakeLists.txt b/boards/aerotenna/ocpoc/src/CMakeLists.txt
@@ -31,6 +31,6 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
 )
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/CMakeLists.txt b/boards/airmind/mindpx-v2/src/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	can.c
 	init.c
 	led.c

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 6144	// 5120 fat + 1024 spi
 
 /* This board provides the board_on_reset interface */
 

diff --git a/boards/atlflight/eagle/src/CMakeLists.txt b/boards/atlflight/eagle/src/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
 	sitl_led.c
 )
diff --git a/boards/auav/esc35-v1/src/CMakeLists.txt b/boards/auav/esc35-v1/src/CMakeLists.txt
@@ -35,7 +35,7 @@ message(WARNING "Configuraton is incomplete")
 message(WARNING "DO NOT RUN THIS ON HW")
 message(WARNING "IT IS NOT PINED OUT TO HW")
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	init.c
 	led.c
 	usb.c

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/CMakeLists.txt b/boards/auav/x21/src/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	can.c
 	init.c
 	led.c

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 6144	// 5120 fat + 1024 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/CMakeLists.txt b/boards/av/x-v1/src/CMakeLists.txt
@@ -31,17 +31,18 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	init.c
 	manifest.c
 	sdio.c
 	spi.cpp
 	timer_config.c
 )
+
 target_link_libraries(drivers_board
 	PRIVATE
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-)
+)
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 6144	// 5120 fat + 1024 spi
 
 /* This board provides the board_on_reset interface */
 

diff --git a/boards/beaglebone/blue/src/CMakeLists.txt b/boards/beaglebone/blue/src/CMakeLists.txt
@@ -33,7 +33,7 @@
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-error")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-error")
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	init.c
 	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
 )

diff --git a/boards/bitcraze/crazyflie/src/CMakeLists.txt b/boards/bitcraze/crazyflie/src/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	init.c
 	led.c
 	spi.c

diff --git a/boards/bitcraze/crazyflie/src/spi.c b/boards/bitcraze/crazyflie/src/spi.c
@@ -3,7 +3,6 @@
  ************************************************************************************/
 
 #include <px4_config.h>
-#include <px4_log.h>
 
 #include <stdint.h>
 #include <stdbool.h>
@@ -69,15 +68,15 @@ __EXPORT int stm32_spi_bus_initialize(void)
 	spi_expansion = stm32_spibus_initialize(PX4_SPI_BUS_EXPANSION);
 
 	if (!spi_expansion) {
-		PX4_ERR("[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXPANSION);
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", PX4_SPI_BUS_EXPANSION);
 		return -ENODEV;
 	}
 
 #ifdef CONFIG_MMCSD
 	int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
 
 	if (ret != OK) {
-		PX4_ERR("[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
+		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
 		return -ENODEV;
 	}
 

diff --git a/boards/emlid/navio2/src/CMakeLists.txt b/boards/emlid/navio2/src/CMakeLists.txt
@@ -31,6 +31,6 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
 )
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/CMakeLists.txt b/boards/intel/aerofc-v1/src/CMakeLists.txt
@@ -32,7 +32,7 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	init.c
 	led.c
 	spi.c

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 6144	// 5120 fat + 1024 spi
+
 #define MEMORY_CONSTRAINED_SYSTEM
 
 #define BOARD_CRASHDUMP_RESET_ONLY

diff --git a/boards/nxp/fmuk66-v3/src/CMakeLists.txt b/boards/nxp/fmuk66-v3/src/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	autoleds.c
 	automount.c
 	can.c
@@ -49,4 +49,4 @@ target_link_libraries(drivers_board
 		nuttx_drivers # sdio
 		drivers__led # drv_led_start
 		px4_layer
-	)
+	)
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/CMakeLists.txt b/boards/omnibus/f4sd/src/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	init.c
 	led.c
 	spi.c

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 6144	// 5120 fat + 1024 spi
 
 #define BOARD_HAS_ON_RESET 1
 

diff --git a/boards/parrot/bebop/src/CMakeLists.txt b/boards/parrot/bebop/src/CMakeLists.txt
@@ -31,6 +31,6 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	${PX4_SOURCE_DIR}/src/drivers/boards/common/board_identity.c # TODO: this is horrible and should be fixed
 )
diff --git a/boards/px4/cannode-v1/src/CMakeLists.txt b/boards/px4/cannode-v1/src/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 
-px4_add_library(drivers_board
+add_library(drivers_board
 	buttons.c
 	can.c
 	init.c
-Original file line number
+Diff line change
@@ Expand Up / @@ -31,7 +31,7 @@ @@
     #
     ############################################################################
-    px4_add_library(drivers_board
+    add_library(drivers_board
     	can.c
     	init.c
     	led.c
@@ Expand Down @@