add icm42605 in MatekH743 as substitution for icm20602

iNavFlight · Sep 4, 2021 · 8e0c578 · 8e0c578
1 parent 37ac80f
commit 8e0c578
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Showing 3 changed files with 23 additions and 13 deletions.
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -307,7 +307,7 @@ groups:
       - name: gyro_to_use
         condition: USE_DUAL_GYRO
         min: 0
-        max: 1
+        max: 2
         default_value: 0
       - name: gyro_abg_alpha
         description: "Alpha factor for Gyro Alpha-Beta-Gamma filter"

diff --git a/src/main/target/MATEKH743/target.c b/src/main/target/MATEKH743/target.c
@@ -26,8 +26,9 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_imu1_6000,   DEVHW_MPU6000,  IMU1_SPI_BUS,   IMU1_CS_PIN,    IMU1_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU1_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_imu2_6500,   DEVHW_MPU6500,  IMU2_SPI_BUS,   IMU2_CS_PIN,    IMU2_EXTI_PIN,  1,  DEVFLAGS_NONE,  IMU2_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_imu0,   DEVHW_MPU6000,  MPU6000_SPI_BUS,   MPU6000_CS_PIN,   MPU6000_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_imu1,   DEVHW_MPU6500,  MPU6500_SPI_BUS,   MPU6500_CS_PIN,   MPU6500_EXTI_PIN,   1,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_imu2,   DEVHW_ICM42605, ICM42605_SPI_BUS,  ICM42605_CS_PIN,  ICM42605_EXTI_PIN,  2,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
 
 const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S1

diff --git a/src/main/target/MATEKH743/target.h b/src/main/target/MATEKH743/target.h
@@ -37,7 +37,7 @@
 #define USE_EXTI
 #define USE_MPU_DATA_READY_SIGNAL
 
-// *************** SPI1 IMU1 *************************
+// *************** SPI1 IMU0 MPU6000 ****************
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 #define SPI1_SCK_PIN            PA5
@@ -46,23 +46,32 @@
 
 #define USE_IMU_MPU6000
 
-#define IMU1_ALIGN              CW0_DEG_FLIP
-#define IMU1_SPI_BUS            BUS_SPI1
-#define IMU1_CS_PIN             PC15
-#define IMU1_EXTI_PIN           PB2
+#define IMU_MPU6000_ALIGN       CW0_DEG_FLIP
+#define MPU6000_SPI_BUS          BUS_SPI1
+#define MPU6000_CS_PIN          PC15
+#define MPU6000_EXTI_PIN        PB2
 
-// *************** SPI4 IMU2 *************************
+// *************** SPI4 IMU1  ICM20602 **************
 #define USE_SPI_DEVICE_4
 #define SPI4_SCK_PIN            PE12
 #define SPI4_MISO_PIN           PE13
 #define SPI4_MOSI_PIN           PE14
 
 #define USE_IMU_MPU6500
 
-#define IMU2_ALIGN              CW0_DEG_FLIP
-#define IMU2_SPI_BUS            BUS_SPI4
-#define IMU2_CS_PIN             PE11
-#define IMU2_EXTI_PIN           PE15
+#define IMU_MPU6500_ALIGN       CW0_DEG_FLIP
+#define MPU6500_SPI_BUS         BUS_SPI4
+#define MPU6500_CS_PIN          PE11
+#define MPU6500_EXTI_PIN        PE15
+
+// *************** SPI4 IMU2 ICM42605 **************
+#define USE_IMU_ICM42605
+
+#define IMU_ICM42605_ALIGN      CW90_DEG_FLIP
+#define ICM42605_SPI_BUS        BUS_SPI4
+#define ICM42605_CS_PIN         PC13
+#define ICM42605_EXTI_PIN       PC14
+
 
 // *************** SPI2 OSD ***********************
 #define USE_SPI_DEVICE_2