AP_HAL_ChibiOS: add MatekG474-GPS hwdef

MATEKSYS · Dec 28, 2024 · 4cfaf1f · 4cfaf1f
1 parent 7fcd27e
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diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef-bl.dat
@@ -0,0 +1,5 @@
+include ../MatekG474/hwdef-bl.inc
+
+# disable CAN1
+undef PA11
+undef PA12
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef.dat
@@ -0,0 +1,40 @@
+include ../MatekG474/hwdef.inc
+
+# disable CAN1
+undef PA11
+undef PA12
+
+# ----------- GPS
+define HAL_PERIPH_ENABLE_GPS
+define GPS_MAX_RATE_MS 200
+
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+
+define HAL_PERIPH_GPS_PORT_DEFAULT 2
+
+# allow for F9P GPS modules with moving baseline
+define GPS_MOVING_BASELINE 1
+
+
+# ----------- COMPASS
+define HAL_PERIPH_ENABLE_MAG
+
+SPIDEV  rm3100 SPI2 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
+COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
+
+define HAL_COMPASS_MAX_SENSORS 1
+
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
+
+# ----------- MSP
+define HAL_PERIPH_ENABLE_MSP
+define HAL_MSP_ENABLED 1
+define AP_PERIPH_MSP_PORT_DEFAULT 3
+
+
+# larger CAN pool for RTCM data
+undef HAL_CAN_POOL_SIZE
+define HAL_CAN_POOL_SIZE 12000
+