nxp_mr-canhubk3:fmu use Serial DMA

[davids5]

This is for testing and will be repointed after backports are done.

[dk7xe]

Hi David, did the first test drives with the R6 Rover
https://review.px4.io/plot_app?log=11e76ab2-68eb-4674-a093-8d02809c58f2
and
https://review.px4.io/plot_app?log=562986c5-6493-4aef-b69d-64a973b79239

[dk7xe]

Hi @davids5
some more logs driving outdoors. Unfortunately GPS error has been too high being between the buildings. Therefore no possibility to test any mission.
3) https://logs.px4.io/plot_app?log=eb3977cd-684d-4120-a9c3-b5f94a926fb9
4) https://logs.px4.io/plot_app?log=8a5f1e0b-3254-4b38-ac5a-6c58aa6e052c
5) https://logs.px4.io/plot_app?log=dba90ce5-75f0-4d49-94c0-0864ba8f9c10
6) https://logs.px4.io/plot_app?log=5c65410a-366c-4ade-b777-e17a151dcdd1

Findings

• RROR [SPI_I2C] icm42688p: no instance started (no device on bus?) this seems to be a HW error on my board. Need to check that.
• Mavlink is not working via TELEM1 port (port P5 / ttyS2)

HW Setup:
R6 rover with MR-CANHUBK3 acting as FMU
MR-T1ETH8 T1 ethernet switch
NavQ (i.MX8M-mini) connected via ethernet to CANHUBK3
2nd Pixhawk4 GPS connected via UCANS32K146 to CAN0 of CANHUBK3
BMS772 connected to CAN0 of CANHUBK3 (but not yet enabled in SW)
MavLink communication is done via T1 Ethernet to mavlink-router running on NavQ companion.

[dk7xe]

@davids5 may you be able to merge #20805 into pr-k3-serial-dma please?! that would help me continuing testing the K3. Thank you!

[davids5]

@dk7xe - This is merged so @PetervdPerk-NXP can rebase his PR