From e9a8bc804b078a081634475cf92e378570bde4fc Mon Sep 17 00:00:00 2001 From: Farhang <46557204+farhangnaderi@users.noreply.github.com> Date: Wed, 15 Apr 2026 16:23:51 -0400 Subject: [PATCH] feat(boards): fmu-v6x: reduce I2C4 GPIO speed from 50MHz to 25MHz (#26434) * fmu-v6x: reduce I2C4 GPIO speed from 50MHz to 25MHz Lower the I2C4 SCL/SDA GPIO slew rate to 25MHz to improve signal integrity and reduce EMI on the I2C4 bus. * Overriding speed bits Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- boards/px4/fmu-v6x/nuttx-config/include/board.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/boards/px4/fmu-v6x/nuttx-config/include/board.h b/boards/px4/fmu-v6x/nuttx-config/include/board.h index 7907eafad1..a19183c0a0 100644 --- a/boards/px4/fmu-v6x/nuttx-config/include/board.h +++ b/boards/px4/fmu-v6x/nuttx-config/include/board.h @@ -470,11 +470,11 @@ #define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8) #define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8) -#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ -#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ +#define GPIO_I2C4_SCL ((GPIO_I2C4_SCL_2 & ~GPIO_SPEED_MASK) | GPIO_SPEED_25MHz) /* PF14 */ +#define GPIO_I2C4_SDA ((GPIO_I2C4_SDA_2 & ~GPIO_SPEED_MASK) | GPIO_SPEED_25MHz) /* PF15 */ -#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14) -#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15) +#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_25MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14) +#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_25MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15) /* SDMMC2 *