Add DMA support for ICM-42688-P

[SteveCEvans]

Add DMA support for the ICM-42688-P as used and tested on the SPRACINGH7RF.

[hydra]

@haslinghuis @ctzsnooze This should be in 4.3 RC2 right? This should have been part of the gyro dma work in #10573 but wasn't due to @SteveCEvans not having an FC with the Gyro in time.

[daleckystepan]

Haven't tested as I don't have HW. Code LGTM.

[hydra]

I did a quick test of this code on actual hardware.

I pulled the two commits from this PR into this H7RF branch.

https://github.com/spracing/betaflight/commits/bf-h7rf-and-config-in-memory-mapped-flash-and-elrs-v2

I checked the CLI status which gives this:

# status
MCU H730 Clock=520MHz, Vref=3.28V, Core temp=53degC
...
Devices detected: SPI:1, I2C:1
Gyros detected: gyro 1 locked dma
GYRO=ICM42605, ACC=ICM42605, BARO=BMP388
OSD: SPRACINGOSD
System Uptime: 12 seconds, Current Time: 2021-12-29T12:21:46.574+00:00
CPU:1%, cycle time: 128, GYRO rate: 7812, RX rate: 15, System rate: 10

# dma show

Currently active DMA:
--------------------
DMA1 Stream 0: SPI_MOSI 2
DMA1 Stream 1: SPI_MISO 2
DMA1 Stream 2: SPI_MOSI 3
DMA1 Stream 3: SPI_MISO 3
DMA1 Stream 4: FREE
DMA1 Stream 5: FREE
DMA1 Stream 6: FREE
DMA1 Stream 7: FREE
DMA2 Stream 0: FREE
DMA2 Stream 1: FREE
DMA2 Stream 2: ADC 3
DMA2 Stream 3: FREE
DMA2 Stream 4: LED_STRIP
DMA2 Stream 5: OSD
DMA2 Stream 6: OSD
DMA2 Stream 7: OSD

# get gyro_1
gyro_1_bustype = SPI
Allowed values: NONE, I2C, SPI, SLAVE

gyro_1_spibus = 3
Allowed range: 0 - 6
Default value: 6

Code path seems correct:

Diff:

# diff

# version
# Betaflight / SPRACINGH7RF (SP7R) 4.3.0 Dec 29 2021 / 13:19:20 (12093fbac9) MSP API: 1.44

# start the command batch
batch start

board_name SPRACINGH7RF

# resources
resource SPI_SCK 6 NONE
resource SPI_MISO 6 NONE
resource SPI_MOSI 6 NONE

# master
set gyro_1_spibus = 3

profile 0

rateprofile 0

# end the command batch
batch end

Seems ok to me.

Binaries for testing:

betaflight_4.3.0_SPRACINGH7RF_12093fbac9.zip

[SteveCEvans]

Do not merge as will be included in #11198

[haslinghuis]

Merged with #11198