From 62df67a4b8dc56576f41dbf18083ff629aff3441 Mon Sep 17 00:00:00 2001
From: Siddharth Purohit <siddharthbharatpurohit@gmail.com>
Date: Thu, 27 Aug 2020 20:30:22 +0530
Subject: [PATCH] HAL_ChibiOS: hwdef: modify to use HAL CAN driver instead of
 ChibiOS's

---
 libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat       | 4 ++--
 libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat   | 7 +++++--
 libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat      | 7 +++++--
 libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat       | 2 ++
 libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat    | 7 +++++--
 libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat    | 7 +++++--
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 2 +-
 7 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
index be56507159..2ebbad575d 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
@@ -125,8 +125,8 @@ define HAL_DISABLE_LOOP_DELAY
 PB8 CAN1_RX CAN1
 PB9 CAN1_TX CAN1
 PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
-define HAL_USE_CAN TRUE
-define STM32_CAN_USE_CAN1 TRUE
+
+
 
 # use DNA
 define HAL_CAN_DEFAULT_NODE_ID 0
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat
index 2219182062..bf08e066c7 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat
@@ -60,8 +60,8 @@ define HAL_UART_NODMA
 # enable CAN support
 PA11 CAN_RX CAN
 PB9 CAN_TX CAN
-define HAL_USE_CAN TRUE
-define STM32_CAN_USE_CAN1 TRUE
+
+
 
 # no I2C buses
 # I2C_ORDER
@@ -127,3 +127,6 @@ define HAL_STORAGE_SIZE 800
 # Add CS pins to ensure they are high in bootloader
 PA15 BARO_CS CS
 PD2  MAG_CS CS
+
+# reduce the number of CAN RX Buffer
+define HAL_CAN_RX_QUEUE_SIZE 32
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
index 45a6d2c51a..f1dbfbd8af 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
@@ -78,8 +78,8 @@ define HAL_WATCHDOG_ENABLED_DEFAULT true
 # enable CAN support
 PA11 CAN_RX CAN
 PB9 CAN_TX CAN
-define HAL_USE_CAN TRUE
-define STM32_CAN_USE_CAN1 TRUE
+
+
 
 # no I2C buses
 # I2C_ORDER
@@ -162,3 +162,6 @@ define HAL_NO_MONITOR_THREAD
 define HAL_PERIPH_ENABLE_GPS
 define HAL_PERIPH_ENABLE_MAG
 define HAL_PERIPH_ENABLE_BARO
+
+# reduce the number of CAN RX Buffer
+define HAL_CAN_RX_QUEUE_SIZE 32
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat
index 5b8026e6f1..460bafd872 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat
@@ -11,6 +11,8 @@ COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
 
 # and support all external compass types
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+define HAL_DISABLE_I2C_MAGS_BY_DEFAULT
+define HAL_USE_I2C_MAG_HMC5843
 
 # increase TX size for RTCM
 undef HAL_UART_MIN_TX_SIZE
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat
index 28c1a70ff1..6d602025fd 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat
@@ -92,8 +92,8 @@ define HAL_DISABLE_LOOP_DELAY
 # enable CAN support
 PA11 CAN_RX CAN
 PA12 CAN_TX CAN
-define HAL_USE_CAN TRUE
-define STM32_CAN_USE_CAN1 TRUE
+
+
 
 # reduce memory overheads
 define HAL_CAN_POOL_SIZE 2500
@@ -142,3 +142,6 @@ RAM_RESERVE_START 256
 # keep ROMFS uncompressed as we don't have enough RAM
 # to uncompress the bootloader at runtime
 env ROMFS_UNCOMPRESSED True
+
+# reduce the number of CAN RX Buffer
+define HAL_CAN_RX_QUEUE_SIZE 32
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat
index d832abba61..e64ddeaa67 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f303-periph/hwdef.dat
@@ -87,8 +87,8 @@ define HAL_DISABLE_LOOP_DELAY
 # enable CAN support
 PA11 CAN_RX CAN
 PA12 CAN_TX CAN
-define HAL_USE_CAN TRUE
-define STM32_CAN_USE_CAN1 TRUE
+
+
 
 # debugger support
 PA13 JTMS-SWDIO SWD
@@ -138,3 +138,6 @@ RAM_RESERVE_START 256
 # keep ROMFS uncompressed as we don't have enough RAM
 # to uncompress the bootloader at runtime
 env ROMFS_UNCOMPRESSED True
+
+# reduce the number of CAN RX Buffer
+define HAL_CAN_RX_QUEUE_SIZE 32
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index b139967f5e..f0e64c9293 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -645,7 +645,7 @@ def write_mcu_config(f):
         f.write('#define HAL_USE_SERIAL_USB TRUE\n')
     if 'OTG2' in bytype:
         f.write('#define STM32_USB_USE_OTG2                  TRUE\n')
-    if have_type_prefix('CAN') and 'AP_PERIPH' not in env_vars:
+    if have_type_prefix('CAN') and not args.bootloader:
         if 'CAN1' in bytype and 'CAN2' in bytype:
             enable_can(f, 2)
         else: