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Update AET-H743-Basic - add bmi088 and bmi270 imu #11403

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Update AET-H743-Basic - add bmi088 and bmi270 imu #11403

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6 changes: 6 additions & 0 deletions src/main/target/AETH743Basic/target.c
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Original file line number Diff line number Diff line change
Expand Up @@ -26,9 +26,15 @@
#include "drivers/pinio.h"
#include "drivers/sensor.h"

// V1：two ICM42688
BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_0, DEVHW_ICM42605, ICM42688_0_SPI_BUS, ICM42688_0_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42688_0_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_1, DEVHW_ICM42605, ICM42688_1_SPI_BUS, ICM42688_1_CS_PIN, NONE, 2, DEVFLAGS_NONE, IMU_ICM42688_1_ALIGN);

// V2：BMI088 + BMI270
BUSDEV_REGISTER_SPI_TAG(busdev_bmi088_gyro, DEVHW_BMI088_GYRO, BMI088_SPI_BUS, BMI088_GYRO_CS_PIN, BMI088_GYRO_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_BMI088_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_bmi088_acc, DEVHW_BMI088_ACC, BMI088_SPI_BUS, BMI088_ACC_CS_PIN, BMI088_ACC_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_BMI088_ALIGN);
BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, NONE, 3, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
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1. Bmi270 tag mismatch 🐞 Bug ✓ Correctness

BMI270 is registered with tag=3 while the SPI4 IMU slot is tag=2 (used by the existing
ICM42688-on-SPI4 descriptor). Since dual-gyro selection uses gyro_to_use as the registry tag,
selecting tag=2 on a BMI270-based board will never match the BMI270 descriptor and can result in no
gyro/acc being detected.
Agent Prompt 
### Issue description
`gyro_to_use` is used as the bus device registry tag for both gyro and accelerometer detection. In `AETH743Basic`, the SPI4 IMU slot is currently tag `2` (ICM42688_1), but BMI270 on SPI4 is registered with tag `3`, making BMI270 unselectable when choosing the SPI4 slot.

### Issue Context
- `gyro_to_use` is copied into `imuSensorToUse` and passed into `busDeviceInit()`, which matches on `descriptor->tag`.

### Fix Focus Areas
- src/main/target/AETH743Basic/target.c[29-36]

### Proposed fix
- Change BMI270 registration tag from `3` to `2`:
  - `BUSDEV_REGISTER_SPI_TAG(..., DEVHW_BMI270, ..., /*tag*/ 2, ...)`
- Ensure any documentation/comments for tag mapping (“IMU0/SPI1” vs “IMU1/SPI4”) remain consistent.

ⓘ Copy this prompt and use it to remediate the issue with your preferred AI generation tools


timerHardware_t timerHardware[] = {
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 1), // S2
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24 changes: 20 additions & 4 deletions src/main/target/AETH743Basic/target.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,26 +36,41 @@
#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
#define USE_SPI
#define USE_IMU_ICM42605
#define USE_IMU_BMI088
#define USE_IMU_BMI270

// *************** SPI1 IMU0 ICM42688 ****************
// *************** SPI1 IMU0 ICM42688 or BMI088 ****************
#define USE_SPI_DEVICE_1
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PD7
#define SPI1_NSS_PIN PC15

#define IMU_ICM42688_0_ALIGN CW0_DEG_FLIP
#define ICM42688_0_SPI_BUS BUS_SPI1
#define ICM42688_0_CS_PIN PC15
#define ICM42688_0_CS_PIN SPI1_NSS_PIN

// *************** SPI4 IMU1 ICM42688 **************
#define IMU_BMI088_ALIGN CW270_DEG_FLIP
#define BMI088_SPI_BUS BUS_SPI1
#define BMI088_GYRO_CS_PIN PE11
#define BMI088_GYRO_EXTI_PIN PE2
#define BMI088_ACC_CS_PIN SPI1_NSS_PIN
#define BMI088_ACC_EXTI_PIN PD4

// *************** SPI4 IMU1 ICM42688 or BMI270 **************
#define USE_SPI_DEVICE_4
#define SPI4_SCK_PIN PE12
#define SPI4_MISO_PIN PE13
#define SPI4_MOSI_PIN PE14
#define SPI4_NSS_PIN PC13

#define IMU_ICM42688_1_ALIGN CW90_DEG_FLIP
#define ICM42688_1_SPI_BUS BUS_SPI4
#define ICM42688_1_CS_PIN PC13
#define ICM42688_1_CS_PIN SPI4_NSS_PIN

#define IMU_BMI270_ALIGN CW270_DEG_FLIP
#define BMI270_SPI_BUS BUS_SPI4
#define BMI270_CS_PIN SPI4_NSS_PIN

// *************** SPI2 OSD ***********************
#define USE_SPI_DEVICE_2
Expand All @@ -80,6 +95,7 @@
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2
#define USE_BARO_SPL06
#define USE_BARO_DPS310

#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
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