From d69b8c2693eb562a547e14f28b137c0c277bd7e0 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Wed, 26 Apr 2023 15:18:36 +0100
Subject: [PATCH] AP_HAL_ChibiOS: fix usage of ADC2 and ADC3 in STM32H730

---
 .../hwdef/common/stm32h7_mcuconf.h            |  2 +-
 .../hwdef/common/stm32h7_type2_mcuconf.h      |  9 +++++
 .../hwdef/scripts/STM32H730xx.py              | 36 +++++++++++++++++++
 3 files changed, 46 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
index be70a5cbca..a71397764f 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_mcuconf.h
@@ -390,7 +390,7 @@
 #endif
 #define STM32_ADC_COMPACT_SAMPLES           FALSE
 #define STM32_ADC_USE_ADC12                 TRUE
-#if !defined(STM32H750xx) && !defined(STM32H730xx)
+#if !defined(STM32H750xx)
 #ifndef STM32_ADC_USE_ADC3
 #define STM32_ADC_USE_ADC3                  TRUE
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
index 5069dc4138..197b3bcb5b 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
+++ b/libraries/AP_HAL_ChibiOS/hwdef/common/stm32h7_type2_mcuconf.h
@@ -322,8 +322,12 @@
 /*
  * ADC driver system settings.
  */
+#ifndef STM32_ADC_DUAL_MODE
 #define STM32_ADC_DUAL_MODE                 FALSE
+#endif
+#ifndef STM32_ADC_SAMPLES_SIZE
 #define STM32_ADC_SAMPLES_SIZE              16
+#endif
 #define STM32_ADC_COMPACT_SAMPLES           FALSE
 #define STM32_ADC_USE_ADC12                 TRUE
 #define STM32_ADC_ADC12_DMA_PRIORITY        2
@@ -597,3 +601,8 @@
 #define STM32_SPI_SPI6_RX_BDMA_STREAM 4
 #define STM32_SPI_SPI6_TX_BDMA_STREAM 5
 #define STM32_ADC_ADC3_BDMA_STREAM 7
+
+// disable DMA on I2C by default on H7
+#ifndef STM32_I2C_USE_DMA
+#define STM32_I2C_USE_DMA FALSE
+#endif
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
index 965e4e3283..9ef0393b84 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/STM32H730xx.py
@@ -1267,3 +1267,39 @@ ADC1_map = {
     "PA4"	:	18,
     "PA5"	:	19,
 }
+
+ADC2_map = {
+    "PF13"	:	2,
+    "PA6"	:	3,
+    "PC4"	:	4,
+    "PB1"	:	5,
+    "PF14"	:	6,
+    "PA7"	:	7,
+    "PC5"	:	8,
+    "PB0"	:	9,
+    "PC0"	:	10,
+    "PC1"	:	11,
+    "PC2"	:	12,
+    "PC3"	:	13,
+    "PA2"	:	14,
+    "PA3"	:	15,
+    "N/A"	:	16,
+    "N/A"	:	17,
+    "PA4"	:	18,
+    "PA5"	:	19,
+}
+
+ADC3_map = {
+    "PF9"	:	2,
+    "PF7"	:	3,
+    "PF5"	:	4,
+    "PF3"	:	5,
+    "PF10"	:	6,
+    "PF8"	:	7,
+    "PF6"	:	8,
+    "PF4"	:	9,
+    "PH2"	:	13,
+    "PH3"	:	14,
+    "PH4"	:	15,
+    "PH5"	:	16,
+}