Merge pull request #9056 from dlt2018/aocodarcf7mini

Update Aocodarcf7mini
iNavFlight · May 23, 2023 · c1ec7cd · c1ec7cd
2 parents f3105b3 + c593b68
commit c1ec7cd
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Showing 2 changed files with 16 additions and 1 deletion.
diff --git a/src/main/target/AOCODARCF7MINI/target.c b/src/main/target/AOCODARCF7MINI/target.c
@@ -1,3 +1,10 @@
+/*
+ * @Author: g05047
+ * @Date: 2023-03-24 17:43:23
+ * @LastEditors: g05047
+ * @LastEditTime: 2023-05-11 15:49:30
+ * @Description: file content
+ */
 /*
  * This file is part of INAV.
  *
@@ -26,7 +33,9 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     MPU6500_EXTI_PIN,       0,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6500_SPI_BUS,    MPU6500_CS_PIN,     MPU6500_EXTI_PIN, 0,  DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN, 0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH3, PA10,  TIM_USE_PPM, 0, 0),                            // PPM, RX1  

diff --git a/src/main/target/AOCODARCF7MINI/target.h b/src/main/target/AOCODARCF7MINI/target.h
@@ -45,8 +45,14 @@
 #define MPU6500_CS_PIN          PB2
 #define MPU6500_SPI_BUS         BUS_SPI1
 
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          PB2
+#define MPU6000_SPI_BUS         BUS_SPI1
+
 #define USE_EXTI
 #define MPU6500_EXTI_PIN        PC4
+#define MPU6000_EXTI_PIN        PC4
 
 #define USE_MPU_DATA_READY_SIGNAL