From efc8da9f9a8615780d4faf054b5f462bd7a195fb Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 14 Feb 2019 07:22:44 +1100
Subject: [PATCH] HAL_ChibiOS: enable TX DMA on uarts on H7

---
 libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat  | 16 ++++++++--------
 .../AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py |  2 +-
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat
index a30d2ee8c4..f491a838d0 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat
@@ -33,7 +33,7 @@ UART_ORDER OTG1 UART4 USART2 USART3 UART8 UART7
 
 # UART4 serial GPS
 PA0 UART4_TX UART4
-PA1 UART4_RX UART4
+PA1 UART4_RX UART4 NODMA
 
 PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
 PA3 BATT_CURRENT_SENS ADC1 SCALE(1)
@@ -106,7 +106,7 @@ PC4 AUX_ADC2 ADC1 SCALE(1)
 PC5 PRESSURE_SENS ADC1 SCALE(2)
 
 #  USART6 to IO
-PC6 USART6_TX USART6 NODMA
+PC6 USART6_TX USART6
 PC7 USART6_RX USART6 NODMA
 
 # Now setup the pins for the microSD card, if available.
@@ -131,14 +131,14 @@ PE4 MPU_EXT_CS CS
 
 # Another USART, this one for telem1. This one has RTS and CTS lines.
 # USART2 serial2 telem1
-PD3 USART2_CTS USART2 NODMA
-PD4 USART2_RTS USART2 NODMA
-PD5 USART2_TX USART2 NODMA
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+PD5 USART2_TX USART2
 PD6 USART2_RX USART2 NODMA
 
 # The telem2 USART, also with RTS/CTS available.
 # USART3 serial3 telem2
-PD8 USART3_TX USART3 NODMA
+PD8 USART3_TX USART3
 PD9 USART3_RX USART3 NODMA
 PD11 USART3_CTS USART3 NODMA
 PD12 USART3_RTS USART3 NODMA
@@ -172,7 +172,7 @@ PD15 MPU_DRDY INPUT
 # the 2nd GPS UART
 # UART8 serial4 GPS2
 PE0 UART8_RX UART8 NODMA
-PE1 UART8_TX UART8 NODMA
+PE1 UART8_TX UART8
 
 # Now setup SPI bus4.
 PE2 SPI4_SCK  SPI4
@@ -186,7 +186,7 @@ PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH
 
 # UART7 maps to uartF in the HAL (serial5 in SERIALn_ parameters).
 PE7 UART7_RX UART7 NODMA
-PE8 UART7_TX UART7 NODMA
+PE8 UART7_TX UART7
 
 # Define a LED, mapping it to GPIO(0). LOW will illuminate the LED
 PE12 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
index 126bcfe5dc..170c8c1cba 100755
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/dma_resolver.py
@@ -182,7 +182,7 @@ def write_dma_header(f, peripheral_list, mcu_type, dma_exclude=[],
             shared = ' // shared %s' % ','.join(stream_assign[stream])
         if curr_dict[key] == "STM32_DMA_STREAM_ID_ANY":
             f.write("#define %-30s STM32_DMA_STREAM_ID_ANY\n" % (chibios_dma_define_name(key)+'STREAM'))
-            f.write("#define %-30s 0U\n" % (chibios_dma_define_name(key)+'CHAN'))
+            f.write("#define %-30s STM32_DMAMUX1_%s\n" % (chibios_dma_define_name(key)+'CHAN', key))
             continue
         else:
                 f.write("#define %-30s STM32_DMA_STREAM_ID(%u, %u)%s\n" %