From b70cee99694ab325aed580b880357f84f266683b Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Mon, 8 Apr 2024 09:36:24 -0500
Subject: [PATCH] [targets] MATEKRXF411/CRAZYBEEF4 add BMI270 ICM42688P

---
 src/main/target/MATEKF411RX/target.h  | 41 +++++++++++++++++++--------
 src/main/target/MATEKF411RX/target.mk | 10 ++++---
 2 files changed, 35 insertions(+), 16 deletions(-)

diff --git a/src/main/target/MATEKF411RX/target.h b/src/main/target/MATEKF411RX/target.h
index 25b100780c..5a03b5da73 100644
--- a/src/main/target/MATEKF411RX/target.h
+++ b/src/main/target/MATEKF411RX/target.h
@@ -21,19 +21,22 @@
 #pragma once
 
 #if defined(CRAZYBEEF4FR)
-#define TARGET_BOARD_IDENTIFIER "C4FR"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 FR"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4FR"
 #elif defined(CRAZYBEEF4FS)
-#define TARGET_BOARD_IDENTIFIER "C4FS"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 FS"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4FS"
 #elif defined(CRAZYBEEF4DX)
-#define TARGET_BOARD_IDENTIFIER "C4DX"
-#define USBD_PRODUCT_STRING     "CrazyBee F4 DX"
+#define TARGET_MANUFACTURER_IDENTIFIER "HAMO"
+#define USBD_PRODUCT_STRING            "CRAZYBEEF4DX"
 #else
-#define TARGET_BOARD_IDENTIFIER "M41R"
-#define USBD_PRODUCT_STRING     "MATEKF411RX"
+#define TARGET_MANUFACTURER_IDENTIFIER "MTKS"
+#define USBD_PRODUCT_STRING            "MATEKF411RX"
 #endif
 
+#define FC_TARGET_MCU     STM32F411     // not used in EmuF
+#define TARGET_BOARD_IDENTIFIER "S411"  // generic ID
+
 #define LED0_PIN                PC13
 
 #define USE_BEEPER
@@ -61,21 +64,35 @@
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_ICM20689
 
+#define USE_ACC_SPI_ICM42688P
+#define USE_GYRO_SPI_ICM42688P
+#define ICM42688P_CS_PIN         PA4
+#define ICM42688P_SPI_INSTANCE   SPI1
+
+#define USE_ACCGYRO_BMI270
+#define BMI270_CS_PIN            PA4
+#define BMI270_SPI_INSTANCE      SPI1
+
+
 #if defined(CRAZYBEEF4FS) || defined(CRAZYBEEF4FR) || defined(CRAZYBEEF4DX)
-#define GYRO_MPU6000_ALIGN      CW90_DEG
+#define GYRO_MPU6000_ALIGN       CW90_DEG
 #define GYRO_ICM20689_ALIGN      CW90_DEG
+#define GYRO_ICM42688P_ALIGN     CW90_DEG
+#define GYRO_BMI270_ALIGN        CW90_DEG
 #else
-#define GYRO_MPU6000_ALIGN      CW180_DEG
+#define GYRO_MPU6000_ALIGN       CW180_DEG
 #define GYRO_ICM20689_ALIGN      CW180_DEG
 #endif
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM20689
 #if defined(CRAZYBEEF4FS) || defined(CRAZYBEEF4FR) || defined(CRAZYBEEF4DX)
-#define ACC_MPU6000_ALIGN       CW90_DEG
+#define ACC_MPU6000_ALIGN        CW90_DEG
 #define ACC_ICM20689_ALIGN       CW90_DEG
+#define ACC_ICM42688P_ALIGN      CW90_DEG
+#define ACC_BMI270_ALIGN         CW90_DEG
 #else
-#define ACC_MPU6000_ALIGN       CW180_DEG
+#define ACC_MPU6000_ALIGN        CW180_DEG
 #define ACC_ICM20689_ALIGN       CW180_DEG
 #endif
 // *************** SPI2 OSD *****************************
diff --git a/src/main/target/MATEKF411RX/target.mk b/src/main/target/MATEKF411RX/target.mk
index df79c2e027..e7b567997d 100644
--- a/src/main/target/MATEKF411RX/target.mk
+++ b/src/main/target/MATEKF411RX/target.mk
@@ -4,14 +4,16 @@ FEATURES        += VCP SDCARD
 
 TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
-						drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_icm426xx.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/max7456.c \
             drivers/rx/rx_cc2500.c \
-						rx/cc2500_common.c \
+            rx/cc2500_common.c \
             rx/cc2500_frsky_shared.c \
             rx/cc2500_frsky_d.c \
-						rx/cc2500_frsky_x.c \
-						rx/cc2500_redpine.c \
+            rx/cc2500_frsky_x.c \
+            rx/cc2500_redpine.c \
             rx/cc2500_sfhss.c
 ifeq ($(TARGET), CRAZYBEEF4FS)
 TARGET_SRC += \