From 1e16568618e4f198a7d0af123ddf75a527e0f563 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 26 Feb 2024 11:26:20 +0000
Subject: [PATCH] AP_HAL_ChibiOS: remove iomcu dshot from Pixhawk1-1M and add
 to Pixhawk1-bdshot

add support for removing ROMFS from hwdef
---
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat     | 5 +++++
 libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat | 4 ++++
 libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py  | 2 ++
 3 files changed, 11 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat
index 096e1fdfd5ec1..b0c52d2c35225 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-1M/hwdef.dat
@@ -13,3 +13,8 @@ undef STORAGE_FLASH_PAGE
 
 # produce this error if we are on a 2M board and using 1M firmware
 define BOARD_CHECK_F427_USE_2M "2M flash - use Pixhawk1 firmware"
+
+# enable support for dshot on iomcu
+undef ROMFS
+ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin
+undef HAL_WITH_IO_MCU_DSHOT
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat
index 67ea0aae84d5d..3aca8a528df99 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk1-bdshot/hwdef.dat
@@ -36,3 +36,7 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 # produce this error if we are on a 1M board
 undef BOARD_CHECK_F427_USE_1M
 define BOARD_CHECK_F427_USE_1M "ERROR: 1M flash use Pixhawk1-1M"
+
+# enable support for dshot on iomcu
+ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_dshot_lowpolh.bin
+define HAL_WITH_IO_MCU_DSHOT 1
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
index a9d8521ef3076..b883071565f66 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
+++ b/libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
@@ -3049,6 +3049,8 @@ def process_line(self, line):
                     self.baro_list = []
                 if u == 'AIRSPEED':
                     self.airspeed_list = []
+                if u == 'ROMFS':
+                    self.romfs = {}
         elif a[0] == 'env':
             self.progress("Adding environment %s" % ' '.join(a[1:]))
             if len(a[1:]) < 2: