HAL_ChibiOS: enable IOMCU for CubeH7

libraries/AP_HAL_ChibiOS/hwdef/CubeH7/hwdef.dat

@@ -29,10 +29,10 @@ UART_ORDER OTG1 UART4 USART2 USART3 UART8 UART7
 # UART to talk to that MCU. Leave it out for boards with no IOMCU.
 
 # UART for IOMCU (disabled for now)
-#IOMCU_UART USART6
+IOMCU_UART USART6
 
 # UART4 serial GPS
-PA0 UART4_TX UART4
+PA0 UART4_TX UART4 NODMA
 PA1 UART4_RX UART4 NODMA
 
 PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1)
@@ -107,7 +107,7 @@ PC5 PRESSURE_SENS ADC1 SCALE(2)
 
 #  USART6 to IO
 PC6 USART6_TX USART6
-PC7 USART6_RX USART6 NODMA
+PC7 USART6_RX USART6
 
 # Now setup the pins for the microSD card, if available.
 #PC8 SDIO_D0 SDIO
@@ -133,15 +133,15 @@ PE4 MPU_EXT_CS CS
 # USART2 serial2 telem1
 PD3 USART2_CTS USART2
 PD4 USART2_RTS USART2
-PD5 USART2_TX USART2
+PD5 USART2_TX USART2 NODMA
 PD6 USART2_RX USART2 NODMA
 
 # The telem2 USART, also with RTS/CTS available.
 # USART3 serial3 telem2
-PD8 USART3_TX USART3
+PD8 USART3_TX USART3 NODMA
 PD9 USART3_RX USART3 NODMA
-PD11 USART3_CTS USART3 NODMA
-PD12 USART3_RTS USART3 NODMA
+PD11 USART3_CTS USART3
+PD12 USART3_RTS USART3
 
 # The CS pin for FRAM (ramtron). This one is marked as using
 # SPEED_VERYLOW, which matches the HAL_PX4 setup.
@@ -172,7 +172,7 @@ PD15 MPU_DRDY INPUT
 # the 2nd GPS UART
 # UART8 serial4 GPS2
 PE0 UART8_RX UART8 NODMA
-PE1 UART8_TX UART8
+PE1 UART8_TX UART8 NODMA
 
 # 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
+PE8 UART7_TX UART7 NODMA
 
 # Define a LED, mapping it to GPIO(0). LOW will illuminate the LED
 PE12 FMU_LED_AMBER OUTPUT HIGH OPENDRAIN GPIO(0)