From 09d044090bf35a4bfec0e4c0ef0621627c04b610 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 15 Oct 2022 10:39:03 +0100 Subject: [PATCH] AP_HAL_ChibiOS: support 8 bi-directional dshot channels on MatekH743 --- .../AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat index f489bea044..32dcab3856 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat @@ -5,7 +5,7 @@ include ../MatekH743/hwdef.dat # undefine the pins we are going to change -undef PC7 PB0 PB1 PA0 PA1 PA15 PD14 PD15 PE5 PE6 +undef PC7 PC6 PB0 PB1 PA0 PA1 PA15 PD14 PD15 PE5 PE6 PA2 PA3 PD12 PD13 PB9 PB8 PE0 PE1 # UART4 (spare) PB9 UART4_TX UART4 NODMA @@ -17,12 +17,17 @@ PE1 UART8_TX UART8 NODMA # USART6 (RC input), SERIAL7 PC7 USART6_RX USART6 +PC6 USART6_TX USART6 # Motors PB0 TIM3_CH3 TIM3 PWM(1) GPIO(50) BIDIR PB1 TIM3_CH4 TIM3 PWM(2) GPIO(51) PA0 TIM2_CH1 TIM2 PWM(3) GPIO(52) BIDIR PA1 TIM2_CH2 TIM2 PWM(4) GPIO(53) +PA2 TIM5_CH3 TIM5 PWM(5) GPIO(54) BIDIR +PA3 TIM5_CH4 TIM5 PWM(6) GPIO(55) +PD12 TIM4_CH1 TIM4 PWM(7) GPIO(56) BIDIR +PD13 TIM4_CH2 TIM4 PWM(8) GPIO(57) # Disable DMA on PWM9-12 so that the LEDs get a channel PD14 TIM4_CH3 TIM4 PWM(9) GPIO(58) NODMA @@ -36,5 +41,7 @@ define HAL_BUZZER_PIN 32 define HAL_BUZZER_ON 1 define HAL_BUZZER_OFF 0 -DMA_PRIORITY S* TIM3* TIM2* -DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* +DMA_PRIORITY SPI1* SPI4* +DMA_NOSHARE SPI1* SPI4* TIM3* TIM2* TIM5* TIM4* +NODMA I2C* +define STM32_I2C_USE_DMA FALSE