From 2f46b8b1cd030597eadd5794cd0187c9b953c3fa Mon Sep 17 00:00:00 2001 From: DTF UHF Date: Mon, 29 Aug 2016 19:26:03 -0400 Subject: [PATCH] Add support for MPU6000 (SPI) to DOGE target. --- src/main/target/DOGE/target.h | 13 +++++++++---- src/main/target/DOGE/target.mk | 1 + 2 files changed, 10 insertions(+), 4 deletions(-) diff --git a/src/main/target/DOGE/target.h b/src/main/target/DOGE/target.h index 3f40c4ab43..80a65fb1d3 100644 --- a/src/main/target/DOGE/target.h +++ b/src/main/target/DOGE/target.h @@ -56,6 +56,8 @@ // tqfp48 pin 3 #define MPU6500_CS_PIN SPI1_NSS_PIN #define MPU6500_SPI_INSTANCE SPI1 +#define MPU6000_CS_PIN SPI1_NSS_PIN +#define MPU6000_SPI_INSTANCE SPI1 // tqfp48 pin 25 #define BMP280_CS_PIN SPI2_NSS_PIN @@ -71,16 +73,19 @@ #define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1 #define GYRO -// #define USE_FAKE_GYRO #define USE_GYRO_MPU6500 #define USE_GYRO_SPI_MPU6500 -#define GYRO_MPU6500_ALIGN CW270_DEG // ?? +#define GYRO_MPU6500_ALIGN CW270_DEG + +#define USE_GYRO_SPI_MPU6000 +#define GYRO_MPU6000_ALIGN CW270_DEG #define ACC -// #define USE_FAKE_ACC #define USE_ACC_MPU6500 #define USE_ACC_SPI_MPU6500 -#define ACC_MPU6500_ALIGN CW270_DEG // ?? +#define ACC_MPU6500_ALIGN CW270_DEG +#define USE_ACC_SPI_MPU6000 +#define ACC_MPU6000_ALIGN CW270_DEG #define BARO #define USE_BARO_BMP280 diff --git a/src/main/target/DOGE/target.mk b/src/main/target/DOGE/target.mk index 8699473185..392c55b3f5 100644 --- a/src/main/target/DOGE/target.mk +++ b/src/main/target/DOGE/target.mk @@ -3,6 +3,7 @@ FEATURES = VCP ONBOARDFLASH TARGET_SRC = \ drivers/accgyro_mpu.c \ + drivers/accgyro_spi_mpu6000.c \ drivers/accgyro_mpu6500.c \ drivers/accgyro_spi_mpu6500.c \ drivers/barometer_bmp280.c \