From fdd2e93f7edeb514e31c7a473a71bcdcffeff215 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 6 Nov 2019 18:25:34 +1100
Subject: [PATCH] HAL_ChibiOS: disable debug port on f103 to save memory

---
 libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat   |  4 ++++
 .../AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat      | 13 ++++++++-----
 2 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat
index 5f45c4e7d8..0a59e0ff45 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-GPS/hwdef.dat
@@ -12,6 +12,10 @@ COMPASS RM3100 SPI:rm3100 false ROTATION_NONE
 # and support all external compass types
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 
+# increase TX size for RTCM
+undef HAL_UART_MIN_TX_SIZE
+define HAL_UART_MIN_TX_SIZE 256
+
 # GPS+MAG
 define HAL_PERIPH_ENABLE_GPS
 define HAL_PERIPH_ENABLE_MAG
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat
index 6fc2a1fef1..8593eaaf8b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat
@@ -31,7 +31,7 @@ FLASH_SIZE_KB 128
 STM32_VDD 330U
 
 # order of UARTs
-UART_ORDER USART2 USART1
+UART_ORDER EMPTY USART1
 
 # a LED to flash
 PA4 LED OUTPUT LOW
@@ -40,9 +40,9 @@ PA4 LED OUTPUT LOW
 PA9  USART1_TX USART1 SPEED_HIGH NODMA
 PA10 USART1_RX USART1 SPEED_HIGH NODMA
 
-# USART2 for debug
-PA2 USART2_TX USART2 SPEED_HIGH NODMA
-PA3 USART2_RX USART2 SPEED_HIGH NODMA
+# USART2 for debug (disabled)
+# PA2 USART2_TX USART2 SPEED_HIGH NODMA
+# PA3 USART2_RX USART2 SPEED_HIGH NODMA
 
 define HAL_UART_NODMA
 
@@ -97,10 +97,13 @@ PA12 CAN_TX CAN
 define HAL_USE_CAN TRUE
 define STM32_CAN_USE_CAN1 TRUE
 
+# reduce memory overheads
+define HAL_CAN_POOL_SIZE 2500
+
 define HAL_USE_I2C TRUE
 define STM32_I2C_USE_I2C1 TRUE
 
-define HAL_UART_MIN_TX_SIZE 256
+define HAL_UART_MIN_TX_SIZE 128
 define HAL_UART_MIN_RX_SIZE 128
 
 define HAL_UART_STACK_SIZE 256