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Dakefpvh743xx add lsm6 dxx #11747

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Merged
sensei-hacker merged 1 commit into from
Jul 23, 2026
Merged

Dakefpvh743xx add lsm6 dxx #11747

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15 changes: 12 additions & 3 deletions src/main/target/DAKEFPVH743/target.c
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Expand Up @@ -28,9 +28,18 @@
#include "common/maths.h"
#include "fc/config.h"

BUSDEV_REGISTER_SPI_TAG(busdev_1_ICM42605, DEVHW_ICM42605, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_ICM42605, DEVHW_ICM42605, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);

BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6000, DEVHW_MPU6000, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6500, DEVHW_MPU6500, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_ICM42605, DEVHW_ICM42605, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_BMI270, DEVHW_BMI270, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_lsm6dxx, DEVHW_LSM6D, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);

// // Board hardware definitions - IMU2 slot
BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000, DEVHW_MPU6000, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500, DEVHW_MPU6500, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_ICM42605, DEVHW_ICM42605, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_BMI270, DEVHW_BMI270, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_lsm6dxx, DEVHW_LSM6D , IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);

timerHardware_t timerHardware[] = {
DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0), // M1
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1 change: 1 addition & 0 deletions src/main/target/DAKEFPVH743/target.h
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Expand Up @@ -65,6 +65,7 @@

#define USE_IMU_ICM42605
#define USE_IMU_BMI270
#define USE_IMU_LSM6DXX


// Enable dual gyro mode
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2 changes: 2 additions & 0 deletions src/main/target/DAKEFPVH743PRO/target.c
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Expand Up @@ -33,12 +33,14 @@ BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6000, DEVHW_MPU6000, IMU_1_SPI_BUS, IMU_
BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6500, DEVHW_MPU6500, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_ICM42605, DEVHW_ICM42605, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_BMI270, DEVHW_BMI270, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_lsm6dxx, DEVHW_LSM6D, IMU_1_SPI_BUS, IMU_1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ALIGN);

// // Board hardware definitions - IMU2 slot
BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000, DEVHW_MPU6000, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500, DEVHW_MPU6500, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_ICM42605, DEVHW_ICM42605, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_BMI270, DEVHW_BMI270, IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_lsm6dxx, DEVHW_LSM6D , IMU_2_SPI_BUS, IMU_2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ALIGN);

timerHardware_t timerHardware[] = {
DEF_TIM(TIM2, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0), // M1
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1 change: 1 addition & 0 deletions src/main/target/DAKEFPVH743PRO/target.h
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Expand Up @@ -65,6 +65,7 @@

#define USE_IMU_ICM42605
#define USE_IMU_BMI270
#define USE_IMU_LSM6DXX

// IMU_1 is verified to work on OBF4V6 and Omnibus Fireworks board
# define IMU_1_CS_PIN PA4
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2 changes: 2 additions & 0 deletions src/main/target/DAKEFPVH743_SLIM/target.c
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Expand Up @@ -33,12 +33,14 @@ BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6000, DEVHW_MPU6000, IMU_1_SPI_BUS, IMU_
BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6500, DEVHW_MPU6500, IMU_1_SPI_BUS, IMU_1_CS_PIN, IMU_1_IRQ_PIN, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_ICM42605, DEVHW_ICM42605, IMU_1_SPI_BUS, IMU_1_CS_PIN, IMU_1_IRQ_PIN, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_BMI270, DEVHW_BMI270, IMU_1_SPI_BUS, IMU_1_CS_PIN, IMU_1_IRQ_PIN, 0, DEVFLAGS_NONE, IMU_1_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_1_lsm6dxx, DEVHW_LSM6D, IMU_1_SPI_BUS, IMU_1_CS_PIN, IMU_1_IRQ_PIN, 0, DEVFLAGS_NONE, IMU_1_ALIGN);

// // Board hardware definitions - IMU2 slot
BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000, DEVHW_MPU6000, IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500, DEVHW_MPU6500, IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_ICM42605, DEVHW_ICM42605, IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_BMI270, DEVHW_BMI270, IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_2_lsm6dxx, DEVHW_LSM6D , IMU_2_SPI_BUS, IMU_2_CS_PIN, IMU_2_IRQ_PIN, 1, DEVFLAGS_NONE, IMU_2_ALIGN);

timerHardware_t timerHardware[] = {
DEF_TIM(TIM1, CH1, PE9, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
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1 change: 1 addition & 0 deletions src/main/target/DAKEFPVH743_SLIM/target.h
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Expand Up @@ -65,6 +65,7 @@

#define USE_IMU_ICM42605
#define USE_IMU_BMI270
#define USE_IMU_LSM6DXX

// IMU_1 is verified to work on OBF4V6 and Omnibus Fireworks board
# define IMU_1_CS_PIN PC9
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