From b553aa1e9dab77e9dace7af03a032f56eebfeaef Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Wed, 17 Apr 2024 07:36:57 -0500
Subject: [PATCH] [target] ZEUSF722_AIO add BMI270 (#1028)

---
 src/main/target/ZEUSF722_AIO/target.h  | 28 +++++++++++++++++---------
 src/main/target/ZEUSF722_AIO/target.mk |  7 +++----
 2 files changed, 22 insertions(+), 13 deletions(-)

diff --git a/src/main/target/ZEUSF722_AIO/target.h b/src/main/target/ZEUSF722_AIO/target.h
index e447ffaf41..3952f620ca 100644
--- a/src/main/target/ZEUSF722_AIO/target.h
+++ b/src/main/target/ZEUSF722_AIO/target.h
@@ -22,8 +22,10 @@
 
 #define USE_TARGET_CONFIG
 
-#define TARGET_BOARD_IDENTIFIER "S7X2"
-#define USBD_PRODUCT_STRING  "ZEUSF722_AIO"
+#define BOARD_NAME        ZEUSF722_AIO
+#define MANUFACTURER_ID   HGLR
+#define TARGET_BOARD_IDENTIFIER "S7X2"  // generic ID
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
 
 #define ENABLE_DSHOT_DMAR       true
 
@@ -43,22 +45,30 @@
 #define SPI1_MOSI_PIN           PA7
 
 #define USE_EXTI
-#define MPU_INT_EXTI         PC4
+#define USE_SPI_GYRO
+#define USE_GYRO_EXTI
 
-#define MPU6000_CS_PIN           PB2
-#define MPU6000_SPI_INSTANCE     SPI1
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define MPU_INT_EXTI         PC4
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6000
 
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
+#define USE_ACCGYRO_BMI270
 
-#define GYRO_MPU6000_ALIGN    CW180_DEG
-#define ACC_MPU6000_ALIGN     CW180_DEG
+#define ACC_MPU6000_ALIGN        CW180_DEG
+#define GYRO_MPU6000_ALIGN       CW180_DEG
+#define MPU6000_CS_PIN           PB2
+#define MPU6000_SPI_INSTANCE     SPI1
 
-#define USE_MPU_DATA_READY_SIGNAL
-#define ENSURE_MPU_DATA_READY_IS_LOW
+#define ACC_BMI270_ALIGN         CW180_DEG
+#define GYRO_BMI270_ALIGN        CW180_DEG
+#define BMI270_CS_PIN            PB2
+#define BMI270_SPI_INSTANCE      SPI1
 
 // *************** I2C /Baro/Mag *********************
 
diff --git a/src/main/target/ZEUSF722_AIO/target.mk b/src/main/target/ZEUSF722_AIO/target.mk
index 5e915bb8bc..56c919b48b 100644
--- a/src/main/target/ZEUSF722_AIO/target.mk
+++ b/src/main/target/ZEUSF722_AIO/target.mk
@@ -2,14 +2,13 @@ F7X2RE_TARGETS += $(TARGET)
 FEATURES       += VCP ONBOARDFLASH
 
 TARGET_SRC = \
-            drivers/accgyro/accgyro_spi_mpu6500.c \
-            drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/barometer/barometer_bmp280.c \
             drivers/barometer/barometer_bmp085.c \
             drivers/barometer/barometer_ms5611.c \
             drivers/compass/compass_hmc5883l.c \
             drivers/compass/compass_qmc5883l.c \
-						drivers/light_ws2811strip.c \
-						drivers/light_ws2811strip_hal.c \
+            drivers/light_ws2811strip.c \
+            drivers/light_ws2811strip_hal.c \
             drivers/max7456.c