From 548e054af08b7baa048ca8670d94db22cd2f9bb1 Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Thu, 24 Aug 2023 11:41:26 -0500
Subject: [PATCH] [Target Fix] MATEKF722SE - allow mpu6500 on gyro 1 and/or
 mpu6000 on gyro 2 (#928)

[Target Fix] MATEKF722SE allow MPU6500 on gyro 1 and MPU6000 on gyro 2
---
 src/main/target/MATEKF722SE/target.h  | 14 +++++++++-----
 src/main/target/MATEKF722SE/target.mk |  1 +
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/src/main/target/MATEKF722SE/target.h b/src/main/target/MATEKF722SE/target.h
index df30407eda..dc89a9529d 100755
--- a/src/main/target/MATEKF722SE/target.h
+++ b/src/main/target/MATEKF722SE/target.h
@@ -46,7 +46,7 @@
 #define USE_EXTI
 #define GYRO_1_EXTI_PIN         PC4
 #define GYRO_2_EXTI_PIN         PC3
-#define MPU_INT_EXTI
+#define MPU_INT_EXTI            PC4
 
 #define GYRO_1_CS_PIN           PB2
 #define GYRO_1_SPI_INSTANCE     SPI1
@@ -61,15 +61,19 @@
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_MPU6500
 
+#define GYRO_1_ALIGN            CW180_DEG_FLIP
+#define ACC_1_ALIGN             CW180_DEG_FLIP
 #define GYRO_MPU6000_1_ALIGN    CW180_DEG_FLIP
 #define ACC_MPU6000_1_ALIGN     CW180_DEG_FLIP
-#define GYRO_1_ALIGN            GYRO_MPU6000_1_ALIGN
-#define ACC_1_ALIGN             ACC_MPU6000_1_ALIGN
+#define GYRO_MPU6500_1_ALIGN    CW180_DEG_FLIP
+#define ACC_MPU6500_1_ALIGN     CW180_DEG_FLIP
 
+#define GYRO_2_ALIGN            CW90_DEG
+#define ACC_2_ALIGN             CW90_DEG
 #define GYRO_MPU6500_2_ALIGN    CW90_DEG
 #define ACC_MPU6500_2_ALIGN     CW90_DEG
-#define GYRO_2_ALIGN            GYRO_MPU6500_2_ALIGN
-#define ACC_2_ALIGN             ACC_MPU6500_2_ALIGN
+#define GYRO_MPU6000_2_ALIGN    CW90_DEG
+#define ACC_MPU6000_2_ALIGN     CW90_DEG
 
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
diff --git a/src/main/target/MATEKF722SE/target.mk b/src/main/target/MATEKF722SE/target.mk
index db67145925..cd0322069a 100755
--- a/src/main/target/MATEKF722SE/target.mk
+++ b/src/main/target/MATEKF722SE/target.mk
@@ -3,6 +3,7 @@ FEATURES       += VCP ONBOARDFLASH SDCARD
 
 
 TARGET_SRC = \
+            drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \