HAL_ChibiOS: fmuv5 tweaks

libraries/AP_HAL_ChibiOS/hwdef/fmuv5/hwdef.dat

@@ -60,20 +60,20 @@ PE2 SPI4_SCK SPI4
 PE13 SPI4_MISO SPI4
 PE6 SPI4_MOSI SPI4
 
-# SPI5 - external1
-PF7 SPI5_SCK SPI5
-PF8 SPI5_MISO SPI5
-PF9 SPI5_MOSI SPI5
+# SPI5 - external1 (disabled to save DMA channels)
+# PF7 SPI5_SCK SPI5
+# PF8 SPI5_MISO SPI5
+# PF9 SPI5_MOSI SPI5
 
-# SPI6 - external2
-PG13 SPI6_SCK SPI6
-PG12 SPI6_MISO SPI6
-PB5 SPI6_MOSI SPI6
+# SPI6 - external2 (disabled to save DMA channels)
+# PG13 SPI6_SCK SPI6
+# PG12 SPI6_MISO SPI6
+# PB5 SPI6_MOSI SPI6
 
 # sensor CS
 PF10 MS5611_CS CS
-PF2  ICM20689_CS CS
-PF3  ICM20602_CS CS
+PF2  ICM20689_CS CS SPEED_VERYLOW
+PF3  ICM20602_CS CS SPEED_VERYLOW
 PF4  BMI055_G_CS CS
 PG10 BMI055_A_CS CS
 PF5  FRAM_CS CS SPEED_VERYLOW
@@ -198,12 +198,19 @@ PB10 nSPI5_RESET_EXTERNAL1 OUTPUT HIGH
 
 # SPI devices
 SPIDEV ms5611         SPI4 DEVID1  MS5611_CS    MODE3 20*MHZ 20*MHZ
-SPIDEV icm20689       SPI1 DEVID1  ICM20689_CS  MODE0  1*MHZ  8*MHZ
-SPIDEV icm20602       SPI1 DEVID2  ICM20602_CS  MODE0  1*MHZ  8*MHZ
+SPIDEV icm20689       SPI1 DEVID1  ICM20689_CS  MODE0  2*MHZ  8*MHZ
+SPIDEV icm20602       SPI1 DEVID2  ICM20602_CS  MODE0  2*MHZ  8*MHZ
 SPIDEV bmi055_g       SPI1 DEVID3  BMI055_G_CS  MODE3  8*MHZ  8*MHZ
 SPIDEV bmi055_a       SPI1 DEVID4  BMI055_A_CS  MODE3  8*MHZ  8*MHZ
 SPIDEV ramtron        SPI2 DEVID1  FRAM_CS      MODE3  8*MHZ  8*MHZ 
 
+# microSD support
+#PC8 SDMMC_D0 SDMMC1
+#PC9 SDMMC_D1 SDMMC1
+#PC10 SDMMC_D2 SDMMC1
+#PC11 SDMMC_D3 SDMMC1
+#PC12 SDMMC_CK SDMMC1
+
 # enable RAMTROM parameter storage
 define HAL_STORAGE_SIZE 16384
 define HAL_WITH_RAMTRON 1
@@ -214,7 +221,7 @@ define HAL_BARO_DEFAULT HAL_BARO_MS5611_SPI
 
 define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
 
-DMA_PRIORITY UART8* TIM* SPI*
+DMA_PRIORITY UART8* ADC* SPI* TIM*
 
 define CH_DBG_ENABLE_ASSERTS TRUE
 define CH_DBG_ENABLE_CHECKS TRUE