From d9259d8362fe5944a77567ac5fc635af284ee116 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Thu, 20 Oct 2022 11:47:09 +0100
Subject: [PATCH] AP_HAL_ChibiOS: correctly default SERIAL7 to RCIN and SERIAL5
 to ESC telem on MatekH743-bdshot

---
 .../AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/defaults.parm  | 3 +++
 .../AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat      | 9 +++++++++
 2 files changed, 12 insertions(+)
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/defaults.parm

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/defaults.parm
new file mode 100644
index 0000000000..1b77a4b9f3
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/defaults.parm
@@ -0,0 +1,3 @@
+# SERIAL7 is RCIN by default
+SERIAL7_PROTOCOL 23
+SERIAL7_BAUD 115
\ No newline at end of file
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat
index 06e4834e90..f489bea044 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/MatekH743-bdshot/hwdef.dat
@@ -7,6 +7,15 @@ include ../MatekH743/hwdef.dat
 # undefine the pins we are going to change
 undef PC7 PB0 PB1 PA0 PA1 PA15 PD14 PD15 PE5 PE6
 
+# UART4 (spare)
+PB9 UART4_TX UART4 NODMA
+PB8 UART4_RX UART4 NODMA
+
+# UART8 (ESC Telemetry), SERIAL5
+PE0 UART8_RX UART8 NODMA
+PE1 UART8_TX UART8 NODMA
+
+# USART6 (RC input), SERIAL7
 PC7 USART6_RX USART6
 
 # Motors