PICO: Further implementation of DMA / SPI

src/platform/PICO/bus_spi_pico.c

@@ -157,6 +157,8 @@ void spiInternalResetStream(dmaChannelDescriptor_t *descriptor)
 
 void spiInternalInitStream(const extDevice_t *dev, bool preInit)
 {
+    UNUSED(preInit);
+
     int dma_tx = dma_claim_unused_channel(true);
     int dma_rx = dma_claim_unused_channel(true);
 
@@ -168,28 +170,24 @@ void spiInternalInitStream(const extDevice_t *dev, bool preInit)
     const spiDevice_t *spi = &spiDevice[spiDeviceByInstance(dev->bus->busType_u.spi.instance)];
     dma_channel_config config = dma_channel_get_default_config(dma_tx);
     channel_config_set_transfer_data_size(&config, DMA_SIZE_8);
-    channel_config_set_dreq(&config, spi_get_dreq(spi, true));
+    channel_config_set_dreq(&config, spi_get_dreq(SPI_INST(spi->dev), true));
 
-    dma_channel_configure(dma_tx, &config, &spi_get_hw(spi)->dr, dev->txBuf, 0, false);
+    dma_channel_configure(dma_tx, &config, &spi_get_hw(SPI_INST(spi->dev))->dr, dev->txBuf, 0, false);
 
     config = dma_channel_get_default_config(dma_rx);
     channel_config_set_transfer_data_size(&config, DMA_SIZE_8);
-    channel_config_set_dreq(&config, spi_get_dreq(spi, false));
+    channel_config_set_dreq(&config, spi_get_dreq(SPI_INST(spi->dev), false));
 
-    dma_channel_configure(dma_rx, &config, dev->rxBuf, &spi_get_hw(spi)->dr, 0, false);
-
-    dev->
+    dma_channel_configure(dma_rx, &config, dev->rxBuf, &spi_get_hw(SPI_INST(spi->dev))->dr, 0, false);
 }
 
 void spiInternalStartDMA(const extDevice_t *dev)
 {
-    const spiDevice_t *spi = &spiDevice[spiDeviceByInstance(dev->bus->busType_u.spi.instance)];
+    dma_channel_set_trans_count(dev->bus->dmaTx->channel, dev->bus->curSegment->len + 1, false);
+    dma_channel_set_trans_count(dev->bus->dmaRx->channel, dev->bus->curSegment->len + 1, false);
 
-    dma_channel_set_trans_count(dev->bus->dmaTx, dev->bus->curSegment->len + 1, false);
-    dma_channel_set_trans_count(dev->bus->dmaRx, dev->bus->curSegment->len + 1, false);
-
-    dma_channel_start(dev->bus->dmaTx);
-    dma_channel_start(dev->bus->dmaRx);
+    dma_channel_start(dev->bus->dmaTx->channel);
+    dma_channel_start(dev->bus->dmaRx->channel);
 }
 
 void spiInternalStopDMA (const extDevice_t *dev)

src/platform/PICO/dma_reqmap_mcu.c

@@ -0,0 +1,108 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_DMA_SPEC
+
+#include "timer_def.h"
+#include "drivers/adc.h"
+#include "drivers/bus_spi.h"
+#include "drivers/dma_reqmap.h"
+#include "drivers/serial.h"
+#include "drivers/serial_uart.h"
+#include "drivers/serial_uart_impl.h"
+#include "pg/timerio.h"
+
+#define DMA(c) { (c), (dmaResource_t *) dma_hw->ch[c] , 0 }
+
+static dmaChannelSpec_t dmaChannelSpec[MAX_PERIPHERAL_DMA_OPTIONS] = {
+    DMA(1),
+    DMA(2),
+    DMA(3),
+    DMA(4),
+    DMA(5),
+    DMA(6),
+    DMA(7),
+    DMA(8),
+    DMA(9),
+    DMA(10),
+    DMA(11),
+    DMA(12),
+#ifdef RP2350
+    DMA(13),
+    DMA(14),
+    DMA(15),
+    DMA(16),
+#endif
+};
+
+#undef DMA
+
+const dmaChannelSpec_t *dmaGetChannelSpecByPeripheral(dmaPeripheral_e device, uint8_t index, int8_t opt)
+{
+    UNUSED(device);
+    UNUSED(index);
+    UNUSED(opt);
+    //TODO : Implementation for PICO
+    return NULL;
+}
+
+dmaoptValue_t dmaoptByTag(ioTag_t ioTag)
+{
+    UNUSED(ioTag);
+    //TODO : Implementation for PICO
+    return DMA_OPT_UNUSED;
+}
+
+const dmaChannelSpec_t *dmaGetChannelSpecByTimerValue(TIM_TypeDef *tim, uint8_t channel, dmaoptValue_t dmaopt)
+{
+    //TODO : Implementation for PICO
+    return NULL;
+}
+
+const dmaChannelSpec_t *dmaGetChannelSpecByTimer(const timerHardware_t *timer)
+{
+    if (!timer) {
+        return NULL;
+    }
+
+    //TODO : Implementation for PICO
+    return NULL;
+}
+
+// dmaGetOptionByTimer is called by pgResetFn_timerIOConfig to find out dmaopt for pre-configured timer.
+dmaoptValue_t dmaGetOptionByTimer(const timerHardware_t *timer)
+{
+    //TODO : Implementation for PICO
+    return DMA_OPT_UNUSED;
+}
+
+// A variant of dmaGetOptionByTimer that looks for matching dmaTimUPRef
+dmaoptValue_t dmaGetUpOptionByTimer(const timerHardware_t *timer)
+{
+    //TODO : Implementation for PICO
+    return DMA_OPT_UNUSED;
+}
+
+#endif // USE_DMA_SPEC

src/platform/PICO/dma_reqmap_mcu.h

@@ -0,0 +1,27 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define MAX_PERIPHERAL_DMA_OPTIONS  14
+#define MAX_TIMER_DMA_OPTIONS       22
+
+#define USE_DMA_MUX

src/platform/PICO/platform_mcu.h

@@ -40,6 +40,7 @@
 #include "RP2350.h"
 #include "pico/stdlib.h"
 #include "hardware/spi.h"
+#include "hardware/dma.h"
 
 #if defined(RP2350A) || defined(RP2350B)
 
@@ -52,7 +53,7 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 #define TIM_TypeDef          void*
 //#define TIM_OCInitTypeDef
 #define DMA_TypeDef          void*
-//#define DMA_InitTypeDef
+#define DMA_InitTypeDef      void*
 //#define DMA_Channel_TypeDef
 #define SPI_TypeDef          SPI0_Type
 #define ADC_TypeDef          void*
@@ -69,6 +70,9 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 //#define EXTI_InitTypeDef
 //#define IRQn_Type           void*
 
+#define SPI_INST(spi) ((spi_inst_t *)(spi))
+
+
 #endif
 
 #define DMA_DATA_ZERO_INIT
@@ -103,3 +107,6 @@ extern uint32_t systemUniqueId[3];
 #define UART_RX_BUFFER_ATTRIBUTE
 
 #define MAX_SPI_PIN_SEL 4
+#define SERIAL_TRAIT_PIN_CONFIG 1
+
+#define xDMA_GetCurrDataCounter(dma_resource) (((dma_channel_hw_t *)(dma_resource))->transfer_count)

src/platform/PICO/pwm_pico.c

@@ -34,6 +34,7 @@
 #include "drivers/io.h"
 #include "drivers/io_impl.h"
 #include "drivers/pwm_output.h"
+#include "drivers/pwm_output_impl.h"
 #include "drivers/motor_types.h"
 
 #include "drivers/time.h"
@@ -65,16 +66,6 @@ void pwmDisableMotors(void)
     pwmShutdownPulsesForAllMotors();
 }
 
-bool pwmEnableMotors(void)
-{
-    return pwmMotorCount > 0;
-}
-
-bool pwmIsMotorEnabled(unsigned index)
-{
-    return pwmMotors[index].enabled;
-}
-
 static void pwmWriteStandard(uint8_t index, float value)
 {
     /* TODO: move value to be a number between 0-1 (i.e. percent throttle from mixer) */

src/platform/PICO/serial_uart_pico.c

@@ -26,6 +26,8 @@
 
 #ifdef USE_UART
 
+#include "build/build_config.h"
+
 #include "drivers/system.h"
 #include "drivers/io.h"
 
@@ -208,4 +210,12 @@ void uartEnableTxInterrupt(uartPort_t *uartPort)
     //TODO: Implement
 }
 
+#ifdef USE_DMA
+void uartTryStartTxDMA(uartPort_t *s)
+{
+    UNUSED(s);
+    //TODO: Implement
+}
+#endif
+
 #endif /* USE_UART */

src/platform/PICO/target/RP2350B/target.h

@@ -47,14 +47,12 @@
 #define USE_VCP
 
 #undef USE_TRANSPONDER
-#undef USE_DMA
 #undef USE_FLASH
 #undef USE_FLASH_CHIP
 #undef USE_SDCARD
 
 #undef USE_TIMER
 #undef USE_I2C
-#undef USE_UART
 #undef USE_RCC
 #undef USE_CLI
 #undef USE_RX_PWM