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[target] HAKRCF722D add BMI270, ICM42688P; retain mpu6000 CW180 (questionable) #1018

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merged 1 commit into from
Apr 17, 2024
Merged

[target] HAKRCF722D add BMI270, ICM42688P; retain mpu6000 CW180 (questionable) #1018

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42 changes: 23 additions & 19 deletions src/main/target/HAKRCF722D/target.h
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,10 @@

#define USE_TARGET_CONFIG

#define TARGET_BOARD_IDENTIFIER "HK7D"
#define USBD_PRODUCT_STRING "HAKRCF722D"
#define BOARD_NAME HAKRCF722D
#define MANUFACTURER_ID HARC
#define TARGET_BOARD_IDENTIFIER "S7X2" // generic ID
#define FC_TARGET_MCU STM32F7X2 // not used in EmuF

#define ENABLE_DSHOT_DMAR true

Expand All @@ -42,34 +44,36 @@
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7

#define USE_DUAL_GYRO
#define USE_EXTI
#define GYRO_1_EXTI_PIN PC4
#define GYRO_2_EXTI_PIN PC3
#define MPU_INT_EXTI

#define GYRO_1_CS_PIN PB2
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_2_CS_PIN PC15
#define GYRO_2_SPI_INSTANCE SPI1
#define USE_SPI_GYRO
#define USE_GYRO_EXTI

#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_SPI_MPU6500
#define USE_GYRO_SPI_ICM42688P

#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
#define USE_ACC_SPI_ICM42688P
#define USE_ACCGYRO_BMI270

#define GYRO_MPU6000_1_ALIGN CW180_DEG
#define ACC_MPU6000_1_ALIGN CW180_DEG
#define GYRO_1_ALIGN GYRO_MPU6000_1_ALIGN
#define ACC_1_ALIGN ACC_MPU6000_1_ALIGN
#define ACC_1_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define GYRO_1_CS_PIN PB2
#define GYRO_1_EXTI_PIN PC4
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_MPU6000_1_ALIGN CW180_DEG
#define ACC_MPU6000_1_ALIGN CW180_DEG

#define USE_DUAL_GYRO

#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 ACC_2_ALIGN CW90_DEG
#define GYRO_2_ALIGN CW90_DEG
#define GYRO_2_CS_PIN PC15
#define GYRO_2_EXTI_PIN PC3
#define GYRO_2_SPI_INSTANCE SPI1

#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
Expand Down
4 changes: 3 additions & 1 deletion src/main/target/HAKRCF722D/target.mk
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Expand Up @@ -6,10 +6,12 @@ TARGET_SRC = \
drivers/accgyro/accgyro_spi_mpu6500.c \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/accgyro/accgyro_spi_icm426xx.c \
drivers/accgyro/accgyro_spi_bmi270.c \
drivers/barometer/barometer_bmp280.c \
drivers/barometer/barometer_bmp085.c \
drivers/barometer/barometer_ms5611.c \
drivers/compass/compass_hmc5883l.c \
drivers/compass/compass_qmc5883l.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip.c \
drivers/max7456.c
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