From ee740d13814ea34c1600250335e06be0c0db3476 Mon Sep 17 00:00:00 2001 From: Steve Evans Date: Sun, 16 Jan 2022 11:38:35 +0000 Subject: [PATCH 1/2] Add support for ICM42605 and ICM42688P for unified targets except STM32F411 (for space reasons) --- make/source.mk | 1 + src/main/target/STM32_UNIFIED/target.h | 7 +++++++ 2 files changed, 8 insertions(+) diff --git a/make/source.mk b/make/source.mk index c3628f54b8..3bed09d3e9 100644 --- a/make/source.mk +++ b/make/source.mk @@ -370,6 +370,7 @@ SIZE_OPTIMISED_SRC := $(SIZE_OPTIMISED_SRC) \ drivers/accgyro/accgyro_spi_mpu6500.c \ drivers/accgyro/accgyro_spi_mpu9250.c \ drivers/accgyro/accgyro_spi_icm20689.c \ + drivers/accgyro/accgyro_spi_icm426xx.c \ drivers/accgyro/accgyro_spi_lsm6dso_init.c diff --git a/src/main/target/STM32_UNIFIED/target.h b/src/main/target/STM32_UNIFIED/target.h index d66ac3b596..0b4f296594 100644 --- a/src/main/target/STM32_UNIFIED/target.h +++ b/src/main/target/STM32_UNIFIED/target.h @@ -239,6 +239,13 @@ #define USE_ACCGYRO_LSM6DSO #define USE_ACCGYRO_BMI270 +#if !defined(STM32F411xE) +#define USE_GYRO_SPI_ICM42605 +#define USE_GYRO_SPI_ICM42688P +#define USE_ACC_SPI_ICM42605 +#define USE_ACC_SPI_ICM42688P +#endif + #define USE_MAG #define USE_MAG_DATA_READY_SIGNAL #define USE_MAG_HMC5883 From bdff13fd2481eb51402ac7e8dee0d08b07c5da11 Mon Sep 17 00:00:00 2001 From: Steve Evans Date: Mon, 17 Jan 2022 18:47:28 +0000 Subject: [PATCH 2/2] Fix merge error of gyro register offset --- src/main/drivers/accgyro/accgyro_mpu.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/drivers/accgyro/accgyro_mpu.c b/src/main/drivers/accgyro/accgyro_mpu.c index 747e450816..067c2d422b 100644 --- a/src/main/drivers/accgyro/accgyro_mpu.c +++ b/src/main/drivers/accgyro/accgyro_mpu.c @@ -217,7 +217,7 @@ bool mpuAccReadSPI(accDev_t *acc) case GYRO_EXTI_INT: case GYRO_EXTI_NO_INT: { - acc->gyro->dev.txBuf[0] = MPU_RA_ACCEL_XOUT_H | 0x80; + acc->gyro->dev.txBuf[0] = acc->gyro->accDataReg | 0x80; busSegment_t segments[] = { {.u.buffers = {NULL, NULL}, 7, true, NULL}, @@ -294,7 +294,7 @@ bool mpuGyroReadSPI(gyroDev_t *gyro) case GYRO_EXTI_INT: case GYRO_EXTI_NO_INT: { - gyro->dev.txBuf[0] = MPU_RA_GYRO_XOUT_H | 0x80; + gyro->dev.txBuf[0] = gyro->gyroDataReg | 0x80; busSegment_t segments[] = { {.u.buffers = {NULL, NULL}, 7, true, NULL},