From b2c840bfc682126fa8df2d17934160e999b95d77 Mon Sep 17 00:00:00 2001
From: mikefenghao <757518319@qq.com>
Date: Fri, 10 Jan 2025 15:05:34 +0800
Subject: [PATCH 1/3] AP_HAL_ChibiOS: add hwdef MFE_AirSpeed_CAN

---
 .../hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat       |  6 +++++
 .../hwdef/MFE_AirSpeed_CAN/hwdef.dat          | 27 +++++++++++++++++++
 2 files changed, 33 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat
new file mode 100644
index 0000000000000..175e176fb8247
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat
@@ -0,0 +1,6 @@
+include ../f103-periph/hwdef-bl.inc
+
+# board ID for firmware load
+APJ_BOARD_ID 6103
+undef PA4
+PA10 LED_BOOTLOADER OUTPUT LOW
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
new file mode 100644
index 0000000000000..5e4a73feaff4e
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
@@ -0,0 +1,27 @@
+include ../f103-periph/hwdef.inc
+
+# board ID for firmware load
+APJ_BOARD_ID 6103
+
+undef PA4
+undef PA9
+undef PA10
+# a LED to flash
+PA10 LED OUTPUT LOW
+
+# order of UARTs
+#undef SERIAL_ORDER
+
+SERIAL_ORDER EMPTY EMPTY EMPTY USART2
+
+# USART2 for debug (disabled)
+ PA2 USART2_TX USART2 SPEED_HIGH NODMA
+ PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+ define HAL_AIRSPEED_BUS_DEFAULT 0
+
+# 10" DLVR sensor by default
+define HAL_AIRSPEED_TYPE_DEFAULT 1
+define AIRSPEED_MAX_SENSORS 1
+
+define HAL_PERIPH_ENABLE_AIRSPEED

From 1c5366380364848ee34b6006ab3e024c6ca9dbce Mon Sep 17 00:00:00 2001
From: mikefenghao <757518319@qq.com>
Date: Fri, 10 Jan 2025 15:05:35 +0800
Subject: [PATCH 2/3] Tools: add hwdef MFE_AirSpeed_CAN

---
 Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin       | Bin 0 -> 15316 bytes
 .../hwdef/MFE_AirSpeed_CAN/hwdef.dat            |   2 --
 modules/DroneCAN/DSDL                           |   2 +-
 modules/mavlink                                 |   2 +-
 4 files changed, 2 insertions(+), 4 deletions(-)
 create mode 100644 Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin

diff --git a/Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin b/Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin
new file mode 100644
index 0000000000000000000000000000000000000000..6f5079808e9d9467fc32c83fb6f28538ba3b0c3d
GIT binary patch
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CxD3Jo

literal 0
HcmV?d00001

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
index 5e4a73feaff4e..3d7644855fa11 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
@@ -10,8 +10,6 @@ undef PA10
 PA10 LED OUTPUT LOW
 
 # order of UARTs
-#undef SERIAL_ORDER
-
 SERIAL_ORDER EMPTY EMPTY EMPTY USART2
 
 # USART2 for debug (disabled)
diff --git a/modules/DroneCAN/DSDL b/modules/DroneCAN/DSDL
index 0856687a5acb4..993be80a62ec9 160000
--- a/modules/DroneCAN/DSDL
+++ b/modules/DroneCAN/DSDL
@@ -1 +1 @@
-Subproject commit 0856687a5acb42b55d29bbad8f4fc9e19b4989fc
+Subproject commit 993be80a62ec957c01fb41115b83663959a49f46
diff --git a/modules/mavlink b/modules/mavlink
index 4c64b9522f9bb..83e75ffdb2709 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 4c64b9522f9bb9815b089ab98cf2f33f11bded52
+Subproject commit 83e75ffdb2709f4821b9746477639e2ae6df103f

From 9e865d1d800d540062e0f4970fcf2a356e1ac462 Mon Sep 17 00:00:00 2001
From: mikefenghao <757518319@qq.com>
Date: Fri, 10 Jan 2025 15:36:04 +0800
Subject: [PATCH 3/3] AP_HAL_ChibiOS: add hwdef MFE_AirSpeed_CAN

---
 Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin     | Bin 0 -> 15316 bytes
 .../hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat       |   6 ++++
 .../hwdef/MFE_AirSpeed_CAN/hwdef.dat          |  27 ++++++++++++++++++
 3 files changed, 33 insertions(+)
 create mode 100644 Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat

diff --git a/Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin b/Tools/bootloaders/MFE_AirSpeed_CAN_bl.bin
new file mode 100644
index 0000000000000000000000000000000000000000..6f5079808e9d9467fc32c83fb6f28538ba3b0c3d
GIT binary patch
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CxD3Jo

literal 0
HcmV?d00001

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat
new file mode 100644
index 0000000000000..175e176fb8247
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef-bl.dat
@@ -0,0 +1,6 @@
+include ../f103-periph/hwdef-bl.inc
+
+# board ID for firmware load
+APJ_BOARD_ID 6103
+undef PA4
+PA10 LED_BOOTLOADER OUTPUT LOW
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
new file mode 100644
index 0000000000000..5e4a73feaff4e
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MFE_AirSpeed_CAN/hwdef.dat
@@ -0,0 +1,27 @@
+include ../f103-periph/hwdef.inc
+
+# board ID for firmware load
+APJ_BOARD_ID 6103
+
+undef PA4
+undef PA9
+undef PA10
+# a LED to flash
+PA10 LED OUTPUT LOW
+
+# order of UARTs
+#undef SERIAL_ORDER
+
+SERIAL_ORDER EMPTY EMPTY EMPTY USART2
+
+# USART2 for debug (disabled)
+ PA2 USART2_TX USART2 SPEED_HIGH NODMA
+ PA3 USART2_RX USART2 SPEED_HIGH NODMA
+
+ define HAL_AIRSPEED_BUS_DEFAULT 0
+
+# 10" DLVR sensor by default
+define HAL_AIRSPEED_TYPE_DEFAULT 1
+define AIRSPEED_MAX_SENSORS 1
+
+define HAL_PERIPH_ENABLE_AIRSPEED