From 4cfaf1f39b9206c342bfb4ff55b95009c8c76a53 Mon Sep 17 00:00:00 2001
From: mateksys <tech@mateksys.com>
Date: Sat, 28 Dec 2024 12:31:19 +0800
Subject: [PATCH] AP_HAL_ChibiOS: add MatekG474-GPS hwdef

---
 .../hwdef/MatekG474-GPS/hwdef-bl.dat          |  5 +++
 .../hwdef/MatekG474-GPS/hwdef.dat             | 40 +++++++++++++++++++
 2 files changed, 45 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef.dat

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekG474-GPS/hwdef-bl.dat
new file mode 100644
index 00000000000000..049bf166c925a0
--- /dev/null
+++ 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
new file mode 100644
index 00000000000000..338daa32869d89
--- /dev/null
+++ 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
+