Merge pull request #7939 from iNavFlight/dzikuvx-hglrcf722-bmi270

Add BMI270 to HGLRCF722
iNavFlight · Mar 30, 2022 · 9c3d413 · 9c3d413
2 parents e34619e + 9f7f8c3
commit 9c3d413
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diff --git a/src/main/target/HGLRCF722/target.c b/src/main/target/HGLRCF722/target.c
@@ -34,6 +34,7 @@
 #include "drivers/sensor.h"
 
 BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,       0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,        0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
 const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH1, PB4,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S1   UP1-2   D(1, 4, 5)

diff --git a/src/main/target/HGLRCF722/target.h b/src/main/target/HGLRCF722/target.h
@@ -51,6 +51,12 @@
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_EXTI_PIN        PC4
 
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW180_DEG_FLIP
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PB2
+#define BMI270_EXTI_PIN         PC4
+
 #define USE_EXTI
 #define USE_MPU_DATA_READY_SIGNAL