mirror of https://github.com/ArduPilot/ardupilot
HAL_ChibiOS: disable fatal exceptions for DMA errors
this zeros-watchdog was caused by a SPI DMA error on STM32F405: https://discuss.ardupilot.org/t/crash-with-4-2-0-beta-and-4-3-0-daily-bdshot/83297 we had incorrectly left these internal errors enabled when asserts were not enabled. That led to a osalSysHalt() without these we get an spi_fail internal error, caught by the SPIDevice code
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@ -37,6 +37,12 @@
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// include generated config
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#include "hwdef.h"
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#ifdef HAL_CHIBIOS_ENABLE_ASSERTS
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#define STM32_DMA_ERROR_HOOK(devp) osalSysHalt("DMA failure")
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#else
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#define STM32_DMA_ERROR_HOOK(devp) do {} while(0)
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#endif
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#if defined(STM32F1)
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#include "stm32f1_mcuconf.h"
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#elif defined(STM32F3)
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@ -113,7 +113,7 @@
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#define STM32_I2C_I2C2_IRQ_PRIORITY 5
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#define STM32_I2C_I2C1_DMA_PRIORITY 3
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#define STM32_I2C_I2C2_DMA_PRIORITY 3
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
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/*
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* ICU driver system settings.
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@ -154,7 +154,7 @@
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#define STM32_SPI_SPI2_DMA_PRIORITY 1
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#define STM32_SPI_SPI1_IRQ_PRIORITY 10
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#define STM32_SPI_SPI2_IRQ_PRIORITY 10
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#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
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#define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
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/*
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* ST driver system settings.
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@ -172,7 +172,7 @@
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#define STM32_UART_USART1_DMA_PRIORITY 0
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#define STM32_UART_USART2_DMA_PRIORITY 0
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#define STM32_UART_USART3_DMA_PRIORITY 0
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#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
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#define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
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/*
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* WDG driver system settings.
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@ -127,7 +127,7 @@
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#define STM32_I2C_I2C2_IRQ_PRIORITY 5
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#define STM32_I2C_I2C1_DMA_PRIORITY 3
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#define STM32_I2C_I2C2_DMA_PRIORITY 3
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
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/*
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* ICU driver system settings.
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@ -168,7 +168,7 @@
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#define STM32_SPI_SPI2_DMA_PRIORITY 1
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#define STM32_SPI_SPI1_IRQ_PRIORITY 10
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#define STM32_SPI_SPI2_IRQ_PRIORITY 10
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#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
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#define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
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/*
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* ST driver system settings.
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@ -186,7 +186,7 @@
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#define STM32_UART_USART1_DMA_PRIORITY 0
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#define STM32_UART_USART2_DMA_PRIORITY 0
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#define STM32_UART_USART3_DMA_PRIORITY 0
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#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
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#define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
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/*
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* WDG driver system settings.
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@ -389,7 +389,7 @@
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#define STM32_I2C_I2C1_DMA_PRIORITY 3
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#define STM32_I2C_I2C2_DMA_PRIORITY 3
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#define STM32_I2C_I2C3_DMA_PRIORITY 3
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
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/*
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* I2S driver system settings.
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@ -398,7 +398,7 @@
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#define STM32_I2S_SPI3_IRQ_PRIORITY 10
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#define STM32_I2S_SPI2_DMA_PRIORITY 1
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#define STM32_I2S_SPI3_DMA_PRIORITY 1
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#define STM32_I2S_DMA_ERROR_HOOK(i2sp) osalSysHalt("DMA failure")
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#define STM32_I2S_DMA_ERROR_HOOK(i2sp) STM32_DMA_ERROR_HOOK(i2sp)
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/*
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* ICU driver system settings.
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@ -485,7 +485,7 @@
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#define STM32_SPI_SPI2_IRQ_PRIORITY 10
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#define STM32_SPI_SPI3_IRQ_PRIORITY 10
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#define STM32_SPI_SPI4_IRQ_PRIORITY 10
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#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
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#define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
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/*
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* ST driver system settings.
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@ -523,7 +523,7 @@
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#define STM32_UART_UART4_DMA_PRIORITY 0
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#define STM32_UART_UART5_DMA_PRIORITY 0
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#define STM32_UART_USART6_DMA_PRIORITY 0
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#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
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#define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
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#define STM32_IRQ_UART1_PRIORITY 12
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#define STM32_IRQ_UART2_PRIORITY 12
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@ -239,7 +239,7 @@
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#define STM32_I2C_I2C2_DMA_PRIORITY 3
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#define STM32_I2C_I2C3_DMA_PRIORITY 3
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#define STM32_I2C_I2C4_DMA_PRIORITY 3
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
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/*
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* SPI driver system settings.
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@ -252,7 +252,7 @@
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#define STM32_SPI_SPI2_IRQ_PRIORITY 10
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#define STM32_SPI_SPI3_IRQ_PRIORITY 10
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#define STM32_SPI_SPI4_IRQ_PRIORITY 10
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#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
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#define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
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/*
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* ST driver system settings.
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@ -276,7 +276,7 @@
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#define STM32_UART_USART3_DMA_PRIORITY 0
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#define STM32_UART_UART4_DMA_PRIORITY 0
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#define STM32_UART_UART5_DMA_PRIORITY 0
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#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
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#define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
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/*
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* USB driver system settings.
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@ -420,7 +420,7 @@
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#define STM32_I2C_I2C2_DMA_PRIORITY 3
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#define STM32_I2C_I2C3_DMA_PRIORITY 3
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#define STM32_I2C_I2C4_DMA_PRIORITY 3
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
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/*
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* ICU driver system settings.
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@ -527,7 +527,7 @@
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#define STM32_SPI_SPI4_IRQ_PRIORITY 10
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#define STM32_SPI_SPI5_IRQ_PRIORITY 10
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#define STM32_SPI_SPI6_IRQ_PRIORITY 10
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#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
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#define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
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/*
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* ST driver system settings.
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@ -554,7 +554,7 @@
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#define STM32_UART_USART6_DMA_PRIORITY 0
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#define STM32_UART_UART7_DMA_PRIORITY 0
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#define STM32_UART_UART8_DMA_PRIORITY 0
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#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
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#define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
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#define STM32_IRQ_LPUART1_PRIORITY 12
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@ -220,7 +220,7 @@
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#define STM32_I2C_I2C2_DMA_PRIORITY 3
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#define STM32_I2C_I2C3_DMA_PRIORITY 3
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#define STM32_I2C_I2C4_DMA_PRIORITY 3
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) osalSysHalt("DMA failure")
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#define STM32_I2C_DMA_ERROR_HOOK(i2cp) STM32_DMA_ERROR_HOOK(i2cp)
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/*
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* PWM driver system settings.
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#define STM32_SPI_SPI1_IRQ_PRIORITY 10
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#define STM32_SPI_SPI2_IRQ_PRIORITY 10
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#define STM32_SPI_SPI3_IRQ_PRIORITY 10
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#define STM32_SPI_DMA_ERROR_HOOK(spip) osalSysHalt("DMA failure")
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#define STM32_SPI_DMA_ERROR_HOOK(spip) STM32_DMA_ERROR_HOOK(spip)
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/*
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* ST driver system settings.
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#define STM32_UART_USART3_DMA_PRIORITY 0
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#define STM32_UART_UART4_DMA_PRIORITY 0
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#define STM32_UART_UART5_DMA_PRIORITY 0
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#define STM32_UART_DMA_ERROR_HOOK(uartp) osalSysHalt("DMA failure")
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#define STM32_UART_DMA_ERROR_HOOK(uartp) STM32_DMA_ERROR_HOOK(uartp)
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/*
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* USB driver system settings.
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