From 77bb69fa2e8e51483035dc8883940fba17195c96 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Wed, 30 May 2018 08:12:17 +1000
Subject: [PATCH] HAL_ChibiOS: enabled UARTs for FMUv5

---
 .../AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat      | 48 ++++++++++++++++---
 1 file changed, 42 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
index 7a86097a20..d8f44c89c6 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat
@@ -31,7 +31,7 @@ STM32_VDD 330U
 FLASH_SIZE_KB 2048
 
 # order of UARTs (and USB)
-UART_ORDER OTG1
+UART_ORDER OTG1 USART1 USART2 USART3 UART4 USART6
 
 # now we define the pins that USB is connected on
 PA11 OTG_FS_DM OTG1
@@ -82,13 +82,47 @@ PG5  VDD_5V_RC_EN OUTPUT HIGH
 PG6  VDD_5V_WIFI_EN OUTPUT HIGH
 PG7  VDD_3V3_SD_CARD_EN OUTPUT HIGH
 
-# now the 2nd GPS UART
-# UART8 serial4 GPS2
-#PE0 UART8_RX UART8
-#PE1 UART8_TX UART8
+# UARTs
+
+# USART2 is telem1
+PD6 USART2_RX USART2
+PD5 USART2_TX USART2
+PD3 USART2_CTS USART2
+PD4 USART2_RTS USART2
+
+# USART1 is GPS1
+PB7 USART1_RX USART1 NODMA
+PB6 USART1_TX USART1 NODMA
+
+# USART3 is telem2
+PD9 USART3_RX USART3
+PD8 USART3_TX USART3
+PD11 USART3_CTS USART3
+PD12 USART3_RTS USART3
+
+# UART4 GPS2
+PD0 UART4_RX UART4 NODMA
+PD1 UART4_TX UART4 NODMA
+
+# USART6 is telem3
+PG9 USART6_RX USART6 NODMA
+PG14 USART6_TX USART6 NODMA
+PG15 USART6_CTS USART6
+PG8 USART6_RTS USART6
+
+# UART7 is debug
+PF6 UART7_RX UART7 NODMA
+PE8 UART7_TX UART7 NODMA
+
+# UART8 is for IOMCU
+PE0 UART8_RX UART8
+PE1 UART8_TX UART8
 
 # UART for IOMCU
-#IOMCU_UART UART8
+IOMCU_UART UART8
+
+# enable RTSCTS support
+define AP_FEATURE_RTSCTS 1
 
 # enable SBUS_OUT on IOMCU (if you have an IOMCU)
 define AP_FEATURE_SBUS_OUT 1
@@ -110,6 +144,8 @@ define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
 
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
 
+DMA_PRIORITY UART8* TIM* SPI*
+
 define CH_DBG_ENABLE_ASSERTS TRUE
 define CH_DBG_ENABLE_CHECKS TRUE
 define CH_DBG_SYSTEM_STATE_CHECK TRUE