From fbd44dddd0f2f15b33e44c8b023718d32fff7d07 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 1 Sep 2023 19:55:47 +1000 Subject: [PATCH] HAL_ChibiOS: enable ISRs during flash ops in bootloader this makes a huge difference in AP_Periph bootloader speeed, where disabling interrupts prevents CAN packets from being received --- libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py index 74ec2fecec..9a4fb719f4 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py +++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py @@ -1258,6 +1258,7 @@ class ChibiOSHWDef(object): #ifndef CH_CFG_USE_DYNAMIC #define CH_CFG_USE_DYNAMIC FALSE #endif +#define STM32_FLASH_DISABLE_ISR 0 ''') if not self.env_vars['EXT_FLASH_SIZE_MB'] and not args.signed_fw: f.write('''