From 13481ce4d8942c9db4bc86edd91ebe6aeb338302 Mon Sep 17 00:00:00 2001
From: Vincent Poon <vincentpoont2@gmail.com>
Date: Tue, 3 Dec 2024 13:43:43 +0800
Subject: [PATCH] add bmi270 support to kakuteh7

---
 libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat
index 5ce9b33c62..adddcffdf6 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat
@@ -130,6 +130,7 @@ DMA_NOSHARE SPI1*
 # spi devices
 SPIDEV mpu6000  SPI4 DEVID1 mpu6000_CS MODE3  1*MHZ  4*MHZ
 SPIDEV icm42688 SPI4 DEVID1 mpu6000_CS MODE3  1*MHZ  16*MHZ
+SPIDEV bmi270   SPI4 DEVID1 mpu6000_CS MODE3  1*MHZ  10*MHZ # Clock is 100Mhz so highest clock <= 10Mhz is 100Mhz/16
 SPIDEV sdcard   SPI1 DEVID1 SDCARD_CS   MODE0 400*KHZ 25*MHZ
 SPIDEV osd      SPI2 DEVID4 MAX7456_CS  MODE0 10*MHZ 10*MHZ
 
@@ -147,6 +148,7 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 # one IMU
 IMU Invensense SPI:mpu6000 ROTATION_YAW_180
 IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270
+IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_270
 
 # one BARO
 BARO BMP280 I2C:0:0x76