From 4f1be377c5831db63943c599f0ad62c5922328fe Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Tue, 16 Apr 2024 10:28:05 -0500
Subject: [PATCH] [target] HGLRCF411 enable dual gyro; add BMI270 ICM42688P

---
 src/main/target/HGLRCF411/target.h  | 30 +++++++++++++++++++++--------
 src/main/target/HGLRCF411/target.mk |  2 ++
 2 files changed, 24 insertions(+), 8 deletions(-)

diff --git a/src/main/target/HGLRCF411/target.h b/src/main/target/HGLRCF411/target.h
index bae2f2a557..7b97170a1c 100644
--- a/src/main/target/HGLRCF411/target.h
+++ b/src/main/target/HGLRCF411/target.h
@@ -19,9 +19,11 @@
  */
 
 #pragma once
-#define TARGET_BOARD_IDENTIFIER                          "S411"
-#define USBD_PRODUCT_STRING                              "HGLRCF411"
-#define TARGET_MANUFACTURER_IDENTIFIER                   "HGLR"
+
+#define BOARD_NAME        HGLRCF411
+#define MANUFACTURER_ID   HGLR
+#define TARGET_BOARD_IDENTIFIER "S411"  // generic ID
+#define FC_TARGET_MCU     STM32F411     // not used in EmuF
 
 #define ENABLE_DSHOT_DMAR                                true
 
@@ -39,14 +41,26 @@
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
 #define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_BMI270
+
+#define USE_SPI_GYRO
 #define USE_EXTI
+#define USE_GYRO_EXTI
 #define USE_MPU_DATA_READY_SIGNAL
 
-#define MPU_INT_EXTI                                     PA1                    //MPU_INT_EXTI
-#define MPU6000_CS_PIN                                   PA4                    //GYRO_1_CS_PIN
-#define MPU6000_SPI_INSTANCE                             SPI1                   //GYRO_1_SPI_INSTANCE
-#define GYRO_MPU6000_ALIGN                               CW180_DEG
-#define ACC_MPU6000_ALIGN                                CW180_DEG
+#define ACC_1_ALIGN          CW180_DEG
+#define GYRO_1_ALIGN         CW180_DEG
+#define GYRO_1_CS_PIN        PA4
+#define GYRO_1_EXTI_PIN      PA1
+#define GYRO_1_SPI_INSTANCE  SPI1
+
+#define USE_DUAL_GYRO
+
+#define ACC_2_ALIGN          CW0_DEG
+#define GYRO_2_ALIGN         CW0_DEG
+#define GYRO_2_SPI_INSTANCE  SPI1
 
 // OSD
 #define USE_MAX7456
diff --git a/src/main/target/HGLRCF411/target.mk b/src/main/target/HGLRCF411/target.mk
index eb151d2940..dc80441d2f 100644
--- a/src/main/target/HGLRCF411/target.mk
+++ b/src/main/target/HGLRCF411/target.mk
@@ -4,6 +4,8 @@ FEATURES       += VCP ONBOARDFLASH
 TARGET_SRC = \
             drivers/accgyro/accgyro_mpu.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
             drivers/max7456.c