From a0d1388d8521a1f46b67d6eeb930b4ded0318d52 Mon Sep 17 00:00:00 2001
From: Michael Keller <github@ike.ch>
Date: Sat, 18 May 2019 19:03:01 +1200
Subject: [PATCH] Enabled Multi Gyro on OmnibusF4 Nano V7 (#8267)

Enabled Multi Gyro on OmnibusF4 Nano V7
---
 src/main/target/OMNIBUSF4NANOV7/target.h       | 13 ++++++++++---
 src/main/target/OMNIBUSF4NANOV7/target.mk      |  1 +
 unified_targets/configs/OMNIBUSF4NANOV7.config |  4 +++-
 3 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/src/main/target/OMNIBUSF4NANOV7/target.h b/src/main/target/OMNIBUSF4NANOV7/target.h
index cee3fcee3b..774368c549 100644
--- a/src/main/target/OMNIBUSF4NANOV7/target.h
+++ b/src/main/target/OMNIBUSF4NANOV7/target.h
@@ -41,16 +41,23 @@
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6500
-
-#define GYRO_1_CS_PIN           PD2
-#define GYRO_1_SPI_INSTANCE     SPI3
+#define USE_GYRO_SPI_MPU6000
 
 #define USE_ACC
 #define USE_ACC_SPI_MPU6500
+#define USE_ACC_SPI_MPU6000
 
+#define GYRO_1_CS_PIN           PD2
+#define GYRO_1_SPI_INSTANCE     SPI3
+#define GYRO_1_EXTI_PIN         NONE
 #define GYRO_1_ALIGN            CW0_DEG
 #define ACC_1_ALIGN             CW0_DEG
 
+#define GYRO_2_CS_PIN           PC4
+#define GYRO_2_SPI_INSTANCE     SPI1
+#define GYRO_2_EXTI_PIN         NONE
+#define GYRO_2_ALIGN            CW0_DEG
+
 // *************** OSD **************************
 
 #define USE_SPI_DEVICE_2
diff --git a/src/main/target/OMNIBUSF4NANOV7/target.mk b/src/main/target/OMNIBUSF4NANOV7/target.mk
index 646328a294..52343e2fb8 100644
--- a/src/main/target/OMNIBUSF4NANOV7/target.mk
+++ b/src/main/target/OMNIBUSF4NANOV7/target.mk
@@ -5,4 +5,5 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/max7456.c
diff --git a/unified_targets/configs/OMNIBUSF4NANOV7.config b/unified_targets/configs/OMNIBUSF4NANOV7.config
index b9e2ff05f1..198ed8103e 100644
--- a/unified_targets/configs/OMNIBUSF4NANOV7.config
+++ b/unified_targets/configs/OMNIBUSF4NANOV7.config
@@ -37,6 +37,7 @@ resource ADC_CURR 1 C01
 resource FLASH_CS 1 A02
 resource OSD_CS 1 C15
 resource GYRO_CS 1 D02
+resource GYRO_CS 2 C04
 
 # timer
 timer A15 0
@@ -87,4 +88,5 @@ set flash_spi_bus = 1
 set gyro_1_bustype = SPI
 set gyro_1_spibus = 3
 set gyro_1_sensor_align = CW0
-set gyro_2_spibus = 3
+set gyro_2_spibus = 1
+set gyro_2_sensor_align = CW0