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MATEKF722SE - allow mpu6500 on gyro 1 and/or mpu6000 on gyro 2 #928

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merged 1 commit into from
Aug 24, 2023
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MATEKF722SE - allow mpu6500 on gyro 1 and/or mpu6000 on gyro 2 #928

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14 changes: 9 additions & 5 deletions src/main/target/MATEKF722SE/target.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
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1 change: 1 addition & 0 deletions src/main/target/MATEKF722SE/target.mk
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Original file line number Diff line number Diff line change
Expand Up @@ -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 \
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