From 6d7a6de3b109d174d80ae0647bcd5943e14cd538 Mon Sep 17 00:00:00 2001
From: blckmn <blckmn@betaflight.com>
Date: Thu, 12 Jun 2025 05:28:53 +1000
Subject: [PATCH] PICO: Allow for specific core to be used for DMA interrupts

---
 src/platform/PICO/dma_pico.c              |  6 ++++++
 src/platform/PICO/target/RP2350A/target.h | 10 ++++++++--
 src/platform/PICO/target/RP2350B/target.h |  4 +++-
 3 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/src/platform/PICO/dma_pico.c b/src/platform/PICO/dma_pico.c
index c75713cb78..174d181ce4 100644
--- a/src/platform/PICO/dma_pico.c
+++ b/src/platform/PICO/dma_pico.c
@@ -103,8 +103,14 @@ void dmaSetHandler(dmaIdentifier_e identifier, dmaCallbackHandlerFuncPtr callbac
         - CORE 0 uses DMA_IRQ_0
         - CORE 1 uses DMA_IRQ_1
 
+        If we specify a core to be used for interrupts we will use the corresponding DMA IRQ.
     */
+#ifdef DMA_IRQ_CORE_NUM
+    uint8_t core = DMA_IRQ_CORE_NUM;
+#else
+    // Get the current core number
     uint8_t core = get_core_num();
+#endif
 
     if (core) {
         // Core 1 uses DMA IRQ1
diff --git a/src/platform/PICO/target/RP2350A/target.h b/src/platform/PICO/target/RP2350A/target.h
index a178a84e2c..84dbf76a6c 100644
--- a/src/platform/PICO/target/RP2350A/target.h
+++ b/src/platform/PICO/target/RP2350A/target.h
@@ -64,6 +64,11 @@
 // #define USE_SPI_DMA_ENABLE_EARLY
 #define USE_SPI_DMA_ENABLE_LATE
 
+/* DMA Settings */
+//#undef USE_DMA
+#define DMA_IRQ_CORE_NUM 1 // Use core 1 for DMA IRQs
+#undef USE_DMA_SPEC // not yet required - possibly won't be used at all
+
 #undef USE_SOFTSERIAL1
 #undef USE_SOFTSERIAL2
 
@@ -76,7 +81,7 @@
 
 #undef USE_TIMER
 #undef USE_RCC
-#undef USE_CLI
+
 #undef USE_RX_PWM
 #undef USE_RX_PPM
 #undef USE_RX_SPI
@@ -86,6 +91,7 @@
 #undef USE_SERIAL_4WAY_SK_BOOTLOADER
 #undef USE_MULTI_GYRO
 #undef USE_BARO
+#undef USE_SERIAL_PASSTHROUGH
 
 #undef USE_RANGEFINDER_HCSR04
 #undef USE_CRSF
@@ -103,7 +109,7 @@
 #undef USE_OSD
 #undef USE_SPEKTRUM
 #undef USE_SPEKTRUM_BIND
-#undef USE_MSP
+
 #undef USE_MSP_UART
 #undef USE_MSP_DISPLAYPORT
 #undef USE_GPS
diff --git a/src/platform/PICO/target/RP2350B/target.h b/src/platform/PICO/target/RP2350B/target.h
index 697291a346..bbce3ad339 100644
--- a/src/platform/PICO/target/RP2350B/target.h
+++ b/src/platform/PICO/target/RP2350B/target.h
@@ -108,8 +108,10 @@
 #undef USE_MSP_UART
 #undef USE_MSP_DISPLAYPORT
 
+/* DMA Settings */
 //#undef USE_DMA
-#undef USE_DMA_SPEC
+#define DMA_IRQ_CORE_NUM 1 // Use core 1 for DMA IRQs
+#undef USE_DMA_SPEC // not yet required - possibly won't be used at all
 
 #undef USE_DSHOT_TELEMETRY
 #undef USE_ESC_SENSOR