From b8c3537a7cccaa882ef24116f655f45448269d0b Mon Sep 17 00:00:00 2001
From: nerdCopter <56646290+nerdCopter@users.noreply.github.com>
Date: Wed, 17 Apr 2024 07:34:14 -0500
Subject: [PATCH] [target] HGLRCF722 add BMI270 (#1020)

---
 src/main/target/HGLRCF722/target.h  | 17 +++++++++++++----
 src/main/target/HGLRCF722/target.mk |  1 +
 2 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/src/main/target/HGLRCF722/target.h b/src/main/target/HGLRCF722/target.h
index 20c581ef07..e354b80adc 100644
--- a/src/main/target/HGLRCF722/target.h
+++ b/src/main/target/HGLRCF722/target.h
@@ -22,8 +22,10 @@
 
 #define USE_TARGET_CONFIG
 
+#define BOARD_NAME        HGLRCF722
+#define MANUFACTURER_ID   HGLR
 #define TARGET_BOARD_IDENTIFIER "S7X2"
-#define USBD_PRODUCT_STRING  "HGLRCF722"
+#define FC_TARGET_MCU     STM32F7X2     // not used in EmuF
 
 #define ENABLE_DSHOT_DMAR       true
 
@@ -42,20 +44,27 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
+#define USE_SPI_GYRO
 #define USE_EXTI
+#define USE_GYRO_EXTI
 #define MPU_INT_EXTI         PC4
 
-#define MPU6000_CS_PIN           PB2
-#define MPU6000_SPI_INSTANCE     SPI1
-
 #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_FLIP
 #define ACC_MPU6000_ALIGN     CW180_DEG_FLIP
+#define MPU6000_CS_PIN        PB2
+#define MPU6000_SPI_INSTANCE  SPI1
+
+#define ACC_BMI270_ALIGN      CW180_DEG_FLIP
+#define GYRO_BMI270_ALIGN     CW180_DEG_FLIP
+#define BMI270_CS_PIN         PB2
+#define BMI270_SPI_INSTANCE   SPI1
 
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
diff --git a/src/main/target/HGLRCF722/target.mk b/src/main/target/HGLRCF722/target.mk
index aec47e708a..6d9fcdcf0c 100644
--- a/src/main/target/HGLRCF722/target.mk
+++ b/src/main/target/HGLRCF722/target.mk
@@ -3,6 +3,7 @@ FEATURES        +=  VCP ONBOARDFLASH
 
 TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_spi_bmi270.c \
             drivers/accgyro/accgyro_mpu.c \
             drivers/barometer/barometer_bmp280.c \
           	drivers/barometer/barometer_ms5611.c \