From 93343487e70e4951f08681564cbb84400018ea99 Mon Sep 17 00:00:00 2001
From: Henry Zhang <zhanghui629@gmail.com>
Date: Wed, 17 Aug 2016 13:20:46 +0800
Subject: [PATCH] MindPX: Harmonize with FMUv4.

---
 nuttx-configs/mindpx-v2/nsh/defconfig | 40 ++++++++++++++-------------
 1 file changed, 21 insertions(+), 19 deletions(-)

diff --git a/nuttx-configs/mindpx-v2/nsh/defconfig b/nuttx-configs/mindpx-v2/nsh/defconfig
index 9d97d4543f..45993989fe 100644
--- a/nuttx-configs/mindpx-v2/nsh/defconfig
+++ b/nuttx-configs/mindpx-v2/nsh/defconfig
@@ -294,6 +294,8 @@ CONFIG_STM32_USART=y
 #
 # U[S]ART Configuration
 #
+# Hot fix for lost data
+CONFIG_STM32_RXDMA_BUFFER_SIZE_OVERRIDE=256
 # CONFIG_USART1_RS485 is not set
 CONFIG_USART1_RXDMA=y
 # CONFIG_USART2_RS485 is not set
@@ -367,7 +369,8 @@ CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_DRAM_START=0x20000000
 CONFIG_DRAM_SIZE=262144
 CONFIG_ARCH_HAVE_INTERRUPTSTACK=y
-CONFIG_ARCH_INTERRUPTSTACK=1500
+# The actual usage is 420 bytes
+CONFIG_ARCH_INTERRUPTSTACK=750
 
 #
 # Boot options
@@ -381,7 +384,6 @@ CONFIG_BOOT_RUNFROMFLASH=y
 #
 # Board Selection
 #
-#CONFIG_ARCH_BOARD_PX4FMU_V2=y
 CONFIG_ARCH_BOARD_MINDPX_V2=y
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD=""
@@ -453,7 +455,7 @@ CONFIG_PREALLOC_TIMERS=50
 # Stack and heap information
 #
 CONFIG_IDLETHREAD_STACKSIZE=1000
-CONFIG_USERMAIN_STACKSIZE=3000
+CONFIG_USERMAIN_STACKSIZE=2500
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_PTHREAD_STACK_DEFAULT=2048
 
@@ -561,8 +563,8 @@ CONFIG_USART1_2STOP=0
 #
 # USART2 Configuration
 #
-CONFIG_USART2_RXBUFSIZE=512
-CONFIG_USART2_TXBUFSIZE=512
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_BITS=8
 CONFIG_USART2_PARITY=0
@@ -573,8 +575,8 @@ CONFIG_USART2_OFLOWCONTROL=y
 #
 # USART3 Configuration
 #
-CONFIG_USART3_RXBUFSIZE=512
-CONFIG_USART3_TXBUFSIZE=512
+CONFIG_USART3_RXBUFSIZE=300
+CONFIG_USART3_TXBUFSIZE=300
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_BITS=8
 CONFIG_USART3_PARITY=0
@@ -585,8 +587,8 @@ CONFIG_USART3_2STOP=0
 #
 # UART4 Configuration
 #
-CONFIG_UART4_RXBUFSIZE=512
-CONFIG_UART4_TXBUFSIZE=512
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_TXBUFSIZE=300
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_BITS=8
 CONFIG_UART4_PARITY=0
@@ -597,8 +599,8 @@ CONFIG_UART4_2STOP=0
 #
 # USART6 Configuration
 #
-CONFIG_USART6_RXBUFSIZE=512
-CONFIG_USART6_TXBUFSIZE=512
+CONFIG_USART6_RXBUFSIZE=300
+CONFIG_USART6_TXBUFSIZE=300
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_BITS=8
 CONFIG_USART6_PARITY=0
@@ -609,8 +611,8 @@ CONFIG_USART6_2STOP=0
 #
 # UART7 Configuration
 #
-CONFIG_UART7_RXBUFSIZE=512
-CONFIG_UART7_TXBUFSIZE=512
+CONFIG_UART7_RXBUFSIZE=300
+CONFIG_UART7_TXBUFSIZE=300
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_BITS=8
 CONFIG_UART7_PARITY=0
@@ -621,8 +623,8 @@ CONFIG_UART7_2STOP=0
 #
 # UART8 Configuration
 #
-CONFIG_UART8_RXBUFSIZE=512
-CONFIG_UART8_TXBUFSIZE=512
+CONFIG_UART8_RXBUFSIZE=300
+CONFIG_UART8_TXBUFSIZE=300
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_BITS=8
 CONFIG_UART8_PARITY=0
@@ -664,8 +666,8 @@ CONFIG_CDCACM_EPBULKIN_HSSIZE=512
 CONFIG_CDCACM_NWRREQS=4
 CONFIG_CDCACM_NRDREQS=4
 CONFIG_CDCACM_BULKIN_REQLEN=96
-CONFIG_CDCACM_RXBUFSIZE=1000
-CONFIG_CDCACM_TXBUFSIZE=8000
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=4000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_PRODUCTID=0x0030
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
@@ -794,11 +796,11 @@ CONFIG_SCHED_WORKQUEUE=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_WORKPRIORITY=192
 CONFIG_SCHED_WORKPERIOD=5000
-CONFIG_SCHED_WORKSTACKSIZE=1800
+CONFIG_SCHED_WORKSTACKSIZE=1600
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKPERIOD=50000
-CONFIG_SCHED_LPWORKSTACKSIZE=1800
+CONFIG_SCHED_LPWORKSTACKSIZE=1600
 # CONFIG_LIB_KBDCODEC is not set
 # CONFIG_LIB_SLCDCODEC is not set