From 73170b0bb4e41b0807187e473bd6e6d55e4a0b8b Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Thu, 12 Dec 2024 10:32:55 -0900
Subject: [PATCH] review feedback

---
 .../AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat |  6 ----
 .../AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat    | 30 ++++++++-----------
 2 files changed, 13 insertions(+), 23 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
index 0c115c02c0aae..ef809c34a2615 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef-bl.dat
@@ -8,8 +8,6 @@ FLASH_RESERVE_START_KB 0
 # Location where the bootloader will put the firmware
 FLASH_BOOTLOADER_LOAD_KB 128
 
-env OPTIMIZE -Os
-
 SERIAL_ORDER OTG1 UART7 USART1 USART3
 
 PI9  IMU1_CS CS # SPI1 CS - IIM42653
@@ -35,7 +33,3 @@ PG4 nVDD_5V_PERIPH_EN OUTPUT HIGH
 PE3 LED_ACTIVITY OUTPUT OPENDRAIN HIGH # red
 PE5 LED_BOOTLOADER OUTPUT OPENDRAIN HIGH # blue
 define HAL_LED_ON 0
-
-# No param flash storage for bootloader
-define HAL_USE_EMPTY_STORAGE 1
-define HAL_STORAGE_SIZE 16384
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
index 5d7a0fd5d193d..c5794a09d1871 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat
@@ -17,13 +17,8 @@ STORAGE_FLASH_PAGE 14
 # to use a different RAM_MAP
 env USE_ALT_RAM_MAP 1
 
-env OPTIMIZE -Os
-
 SERIAL_ORDER OTG1 UART7 UART5 USART1 USART2 UART4 USART6 OTG2
 
-define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
-define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_SLCAN
-
 # Debug console
 STDOUT_SERIAL SD3
 STDOUT_BAUDRATE 57600
@@ -56,14 +51,20 @@ PD5 USART2_TX USART2
 define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None # TODO: DJI HDL?
 
 # ESC telem RX only
-PH13 UART4_TX UART4
+PH13 UART4_TX UART4 NODMA
 PH14 UART4_RX UART4
 define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_ESCTelemetry
 define DEFAULT_SERIAL5_BAUD 115
+define HAL_SERIAL_ESC_COMM_ENABLED 1
+define HAL_WITH_ESC_TELEM 1
 
 # RC Input
 PC6 USART6_TX USART6
 PC7 USART6_RX USART6
+define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN
+
+# TODO: build was failing
+# define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_SLCAN
 
 # ADCs
 PA0 SCALED1_V3V3 ADC1 SCALE(2)
@@ -82,11 +83,6 @@ define HAL_BATT_VOLT_SCALE 21
 define HAL_BATT_CURR_SCALE 120
 define HAL_BATT_MONITOR_DEFAULT 4
 
-# ESC Telem on UART4
-define HAL_SERIAL_ESC_COMM_ENABLED 1
-define HAL_WITH_ESC_TELEM 1
-define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_ESCTelemetry
-
 # SPI1 - IIM42653 IMU
 PA5 SPI1_SCK SPI1
 PB5 SPI1_MOSI SPI1
@@ -105,14 +101,14 @@ PD11 DRDY_ADIS16507 INPUT GPIO(93)
 # define ADIS_DRDY_PIN 93
 
 # Motors, see STM32H743xx.py
-PI0  TIM5_CH4 TIM5 PWM(1) GPIO(50) BIDIR
+PI0  TIM5_CH4 TIM5 PWM(1) GPIO(50)
 PH12 TIM5_CH3 TIM5 PWM(2) GPIO(51) BIDIR
-PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52) BIDIR
+PH11 TIM5_CH2 TIM5 PWM(3) GPIO(52)
 PH10 TIM5_CH1 TIM5 PWM(4) GPIO(53) BIDIR
 PI5  TIM8_CH1 TIM8 PWM(5) GPIO(54) BIDIR
-PI6  TIM8_CH2 TIM8 PWM(6) GPIO(55) BIDIR
+PI6  TIM8_CH2 TIM8 PWM(6) GPIO(55)
 PI7  TIM8_CH3 TIM8 PWM(7) GPIO(56) BIDIR
-PI2  TIM8_CH4 TIM8 PWM(8) GPIO(57) BIDIR
+PI2  TIM8_CH4 TIM8 PWM(8) GPIO(57)
 PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
 
 # PWM output for buzzer
@@ -211,8 +207,8 @@ DMA_NOSHARE SPI* TIM5* TIM8*
 # Enable FAT filesystem support (needs a microSD defined via SDMMC)
 define HAL_OS_FATFS_IO 1
 
-# Bootloader embedding / bootloader flashing not available
-define AP_BOOTLOADER_FLASHING_ENABLED 0
+# # Bootloader embedding / bootloader flashing not available
+# define AP_BOOTLOADER_FLASHING_ENABLED 0
 
 # Setup for OSD
 define OSD_ENABLED 1