From ee1d2e8edbcdd210db4cffedd6d53d0313331708 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 14 Feb 2019 21:18:39 +1100
Subject: [PATCH] HAL_ChibiOS: adjust H743 DMA settings

---
 .../AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat     | 19 +++++++++++--------
 .../hwdef/Pixhawk4Pro/hwdef.dat               |  3 ++-
 2 files changed, 13 insertions(+), 9 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat
index 307c7654fd..e1366716c9 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat
@@ -32,7 +32,7 @@ UART_ORDER OTG1 UART4 USART2 USART3 UART8 UART7
 IOMCU_UART USART6
 
 # UART4 serial GPS
-PA0 UART4_TX UART4 NODMA
+PA0 UART4_TX UART4
 PA1 UART4_RX UART4 NODMA
 
 PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
@@ -133,13 +133,13 @@ PE4 MPU_EXT_CS CS
 # USART2 serial2 telem1
 PD3 USART2_CTS USART2
 PD4 USART2_RTS USART2
-PD5 USART2_TX USART2 NODMA
-PD6 USART2_RX USART2 NODMA
+PD5 USART2_TX USART2
+PD6 USART2_RX USART2
 
 # The telem2 USART, also with RTS/CTS available.
 # USART3 serial3 telem2
-PD8 USART3_TX USART3 NODMA
-PD9 USART3_RX USART3 NODMA
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
 PD11 USART3_CTS USART3
 PD12 USART3_RTS USART3
 
@@ -171,7 +171,7 @@ PD15 MPU_DRDY INPUT
 
 # the 2nd GPS UART
 # UART8 serial4 GPS2
-PE0 UART8_RX UART8 NODMA
+PE0 UART8_RX UART8
 PE1 UART8_TX UART8 NODMA
 
 # Now setup SPI bus4.
@@ -185,8 +185,8 @@ PE6 SPI4_MOSI SPI4
 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
+PE7 UART7_RX UART7
+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)
@@ -256,3 +256,6 @@ define HAL_BATT_CURR_SCALE 17.0
 # is "ROMFS ROMFS-filename source-filename". Paths are relative to the
 # ardupilot root.
 ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin
+
+DMA_NOSHARE SPI1* SPI4* USART6*
+
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat
index e8d72fc786..9946809aa5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk4Pro/hwdef.dat
@@ -283,4 +283,5 @@ define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
 ROMFS io_firmware.bin Tools/IO_Firmware/fmuv2_IO.bin
 
 # don't share IOMCU DMA
-DMA_NOSHARE UART8*
+DMA_NOSHARE UART8* SPI1* TIM*UP*
+