include ../MatekL431/hwdef.inc

# enable GPS and compass
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

define HAL_PERIPH_ENABLE_MAG

define HAL_COMPASS_MAX_SENSORS 1

SPIDEV  rm3100 SPI1 DEVID1   MAG_CS MODE0  1*MHZ  1*MHZ
COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180

# QMC5883L for different board varients
COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90

# disable USART1
undef PB6
undef PB7

# enable GPS port with DMA
undef PB10
undef PB11
PB10  USART3_TX USART3 SPEED_HIGH
PB11  USART3_RX USART3 SPEED_HIGH

# no ADC pins
define HAL_USE_ADC FALSE

# disable unnecessary threads
define HAL_NO_MONITOR_THREAD
define HAL_NO_RCIN_THREAD
define HAL_NO_RCOUT_THREAD
define HAL_NO_TIMER_THREAD

# maintain GPS port number compatibility with MatekL431-Periph
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

undef PB10
undef PB11
PB10 USART3_TX USART3 SPEED_HIGH
PB11 USART3_RX USART3 SPEED_HIGH