Merge pull request #9848 from iNavFlight/mmosca-mambah743-altgyro

Add target to switch to second gyro on MAMBAH743_2022B, instead of first gyro. If you own a MAMBAH743_2022B, it is advisable to recalibrate the gyro when upgrading to INAV 7.1
iNavFlight · Mar 24, 2024 · 5b631f4 · 5b631f4
2 parents 915d3b3 + 79cd891
commit 5b631f4
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diff --git a/docs/boards/MAMBAH743_2022B.md b/docs/boards/MAMBAH743_2022B.md
@@ -2,4 +2,8 @@
 
 Contrary to what the documentation suggests, VTX power is actually on USER2.
 
+# Dual Gyros
+
+INAV 7.1 changed the default gyro of the board from the gyro on SPI4 back to the one on SPI1. A new tagrt ```MAMBAH743_2022B_GYRO2``` was added to use gyro on SPI4, in case you suspect an issue with the gyro on SPI1, you can switch to the gyro on SPI4 by using the new target.
+
 
diff --git a/src/main/target/MAMBAH743/CMakeLists.txt b/src/main/target/MAMBAH743/CMakeLists.txt
@@ -1,2 +1,3 @@
 target_stm32h743xi(MAMBAH743)
-target_stm32h743xi(MAMBAH743_2022B)
+target_stm32h743xi(MAMBAH743_2022B)
+target_stm32h743xi(MAMBAH743_2022B_GYRO2)
diff --git a/src/main/target/MAMBAH743/target.c b/src/main/target/MAMBAH743/target.c
@@ -29,7 +29,7 @@
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,   DEVHW_MPU6000,  MPU6000_SPI_BUS,   MPU6000_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
-#ifdef MAMBAH743_2022B
+#ifdef USE_IMU_ICM42605
 BUSDEV_REGISTER_SPI_TAG(busdev_icm42605,    DEVHW_ICM42605, ICM42605_SPI_BUS,   ICM42605_CS_PIN,    NONE,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
 #endif
 

diff --git a/src/main/target/MAMBAH743/target.h b/src/main/target/MAMBAH743/target.h
@@ -22,6 +22,11 @@
 #define TARGET_BOARD_IDENTIFIER "M743"
 #define USBD_PRODUCT_STRING "MAMBAH743_2022B"
 
+#elif defined(MAMBAH743_2022B_GYRO2)
+
+#define TARGET_BOARD_IDENTIFIER "M743"
+#define USBD_PRODUCT_STRING "MAMBAH743_2022B_GYRO2"
+
 #else
 
 #define TARGET_BOARD_IDENTIFIER "M743"
@@ -58,13 +63,22 @@
 #define BMI270_SPI_BUS BUS_SPI1
 #define BMI270_CS_PIN PA4
 
-#ifdef MAMBAH743_2022B
-
 #define USE_SPI_DEVICE_4
 #define SPI4_SCK_PIN            PE12
 #define SPI4_MISO_PIN           PE13
 #define SPI4_MOSI_PIN           PE14
 
+#ifdef MAMBAH743_2022B
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
+#endif
+
+#ifdef MAMBAH743_2022B_GYRO2
+
 #define USE_IMU_ICM42605
 #define IMU_ICM42605_ALIGN      CW270_DEG
 #define ICM42605_SPI_BUS        BUS_SPI4
@@ -175,7 +189,7 @@
 #define USE_ADC
 #define ADC_INSTANCE ADC3
 
-#ifdef MAMBAH743_2022B
+#if defined(MAMBAH743_2022B) || defined(MAMBAH743_2022B_GYRO2)
 
 #define ADC_CHANNEL_1_PIN PC1
 #define ADC_CHANNEL_2_PIN PC3
@@ -203,7 +217,7 @@
 #define USE_PINIO
 #define USE_PINIOBOX
 
-#ifdef MAMBAH743_2022B
+#if defined(MAMBAH743_2022B) || defined(MAMBAH743_2022B_GYRO2)
 
 #define PINIO1_PIN PC2
 #define PINIO2_PIN PC5