From 6187cd03509973b15e182577b31b6dc6d5359d2e Mon Sep 17 00:00:00 2001 From: mateksys Date: Mon, 29 May 2023 20:52:29 +0800 Subject: [PATCH] hwdef: added MSP support in MatekL431-GPS --- .../AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat index 337ee3010e..e54e19d187 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekL431-GPS/hwdef.dat @@ -28,10 +28,6 @@ COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90 undef PB6 undef PB7 -# disable USART2 -undef PA2 -undef PA3 - # enable GPS port with DMA undef PB10 undef PB11 @@ -48,8 +44,13 @@ define HAL_NO_RCOUT_THREAD define HAL_NO_TIMER_THREAD # maintain GPS port number compatibility with MatekL431-Periph -SERIAL_ORDER EMPTY EMPTY USART3 +SERIAL_ORDER EMPTY USART2 USART3 # larger CAN pool for RTCM data undef HAL_CAN_POOL_SIZE define HAL_CAN_POOL_SIZE 12000 + +# -------------------- MSP -------------------------------- +define HAL_PERIPH_ENABLE_MSP +define HAL_MSP_ENABLED 1 +define AP_PERIPH_MSP_PORT_DEFAULT 1