From c2177929bc24f7cbf4907a590ec1fb406ca6ea7f Mon Sep 17 00:00:00 2001 From: Ken Van Hoeylandt Date: Sat, 28 Feb 2026 23:29:35 +0100 Subject: [PATCH] Implement BMI270 driver --- Devices/m5stack-tab5/CMakeLists.txt | 2 +- Devices/m5stack-tab5/Source/Configuration.cpp | 6 +- Devices/m5stack-tab5/devicetree.yaml | 1 + Devices/m5stack-tab5/m5stack,tab5.dts | 6 + Drivers/bmi270-module/CMakeLists.txt | 12 + Drivers/bmi270-module/LICENSE-Apache-2.0.md | 195 ++++++++ Drivers/bmi270-module/README.md | 7 + .../bmi270-module/bindings/bosch,bmi270.yaml | 5 + Drivers/bmi270-module/devicetree.yaml | 3 + .../bmi270-module/include/bindings/bmi270.h | 15 + Drivers/bmi270-module/include/bmi270_module.h | 14 + .../bmi270-module/include/drivers/bmi270.h | 33 ++ .../private/drivers/bmi270_config_data.h | 442 ++++++++++++++++++ Drivers/bmi270-module/source/bmi270.cpp | 183 ++++++++ Drivers/bmi270-module/source/module.cpp | 34 ++ Drivers/bmi270-module/source/symbols.c | 8 + 16 files changed, 960 insertions(+), 6 deletions(-) create mode 100644 Drivers/bmi270-module/CMakeLists.txt create mode 100644 Drivers/bmi270-module/LICENSE-Apache-2.0.md create mode 100644 Drivers/bmi270-module/README.md create mode 100644 Drivers/bmi270-module/bindings/bosch,bmi270.yaml create mode 100644 Drivers/bmi270-module/devicetree.yaml create mode 100644 Drivers/bmi270-module/include/bindings/bmi270.h create mode 100644 Drivers/bmi270-module/include/bmi270_module.h create mode 100644 Drivers/bmi270-module/include/drivers/bmi270.h create mode 100644 Drivers/bmi270-module/private/drivers/bmi270_config_data.h create mode 100644 Drivers/bmi270-module/source/bmi270.cpp create mode 100644 Drivers/bmi270-module/source/module.cpp create mode 100644 Drivers/bmi270-module/source/symbols.c diff --git a/Devices/m5stack-tab5/CMakeLists.txt b/Devices/m5stack-tab5/CMakeLists.txt index 53e5abbe..c84b1ada 100644 --- a/Devices/m5stack-tab5/CMakeLists.txt +++ b/Devices/m5stack-tab5/CMakeLists.txt @@ -3,5 +3,5 @@ file(GLOB_RECURSE SOURCE_FILES Source/*.c*) idf_component_register( SRCS ${SOURCE_FILES} INCLUDE_DIRS "Source" - REQUIRES Tactility esp_lvgl_port esp_lcd EspLcdCompat esp_lcd_ili9881c GT911 PwmBacklight driver vfs fatfs pi4ioe5v6408-module + REQUIRES Tactility esp_lvgl_port esp_lcd EspLcdCompat esp_lcd_ili9881c GT911 PwmBacklight driver vfs fatfs ) diff --git a/Devices/m5stack-tab5/Source/Configuration.cpp b/Devices/m5stack-tab5/Source/Configuration.cpp index 4566b6db..0f75154e 100644 --- a/Devices/m5stack-tab5/Source/Configuration.cpp +++ b/Devices/m5stack-tab5/Source/Configuration.cpp @@ -1,13 +1,11 @@ #include "devices/Display.h" #include "devices/SdCard.h" -#include +#include #include #include #include -#include -#include using namespace tt::hal; @@ -58,8 +56,6 @@ constexpr auto GPIO_EXP1_PIN_IP2326_CHG_STAT_LED = 6; constexpr auto GPIO_EXP1_PIN_IP2326_CHG_EN = 7; static void initExpander0(::Device* io_expander0) { - constexpr TickType_t i2c_timeout = pdMS_TO_TICKS(10); - auto* rf_pin = gpio_descriptor_acquire(io_expander0, GPIO_EXP0_PIN_RF_INTERNAL_EXTERNAL, GPIO_OWNER_GPIO); auto* speaker_enable_pin = gpio_descriptor_acquire(io_expander0, GPIO_EXP0_PIN_SPEAKER_ENABLE, GPIO_OWNER_GPIO); auto* external_5v_bus_enable_pin = gpio_descriptor_acquire(io_expander0, GPIO_EXP0_PIN_EXTERNAL_5V_BUS_ENABLE, GPIO_OWNER_GPIO); diff --git a/Devices/m5stack-tab5/devicetree.yaml b/Devices/m5stack-tab5/devicetree.yaml index 51623638..bc6b7b15 100644 --- a/Devices/m5stack-tab5/devicetree.yaml +++ b/Devices/m5stack-tab5/devicetree.yaml @@ -1,4 +1,5 @@ dependencies: - Platforms/platform-esp32 - Drivers/pi4ioe5v6408-module + - Drivers/bmi270-module dts: m5stack,tab5.dts diff --git a/Devices/m5stack-tab5/m5stack,tab5.dts b/Devices/m5stack-tab5/m5stack,tab5.dts index 04be1ce2..2269e690 100644 --- a/Devices/m5stack-tab5/m5stack,tab5.dts +++ b/Devices/m5stack-tab5/m5stack,tab5.dts @@ -5,6 +5,7 @@ #include #include #include +#include #include / { @@ -52,6 +53,11 @@ compatible = "diodes,pi4ioe5v6408"; reg = <0x44>; }; + + bmi270 { + compatible = "bosch,bmi270"; + reg = <0x68>; + }; }; i2c_port_a: i2c1 { diff --git a/Drivers/bmi270-module/CMakeLists.txt b/Drivers/bmi270-module/CMakeLists.txt new file mode 100644 index 00000000..3f05a93a --- /dev/null +++ b/Drivers/bmi270-module/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 3.20) + +include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake") + +file(GLOB_RECURSE SOURCE_FILES "source/*.c*") + +tactility_add_module(bmi270-module + SRCS ${SOURCE_FILES} + INCLUDE_DIRS include/ + PRIV_INCLUDE_DIRS private/ + REQUIRES TactilityKernel +) diff --git a/Drivers/bmi270-module/LICENSE-Apache-2.0.md b/Drivers/bmi270-module/LICENSE-Apache-2.0.md new file mode 100644 index 00000000..f5f4b8b5 --- /dev/null +++ b/Drivers/bmi270-module/LICENSE-Apache-2.0.md @@ -0,0 +1,195 @@ +Apache License +============== + +_Version 2.0, January 2004_ +_<>_ + +### Terms and Conditions for use, reproduction, and distribution + +#### 1. 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We also +recommend that a file or class name and description of purpose be included on +the same “printed page” as the copyright notice for easier identification within +third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + diff --git a/Drivers/bmi270-module/README.md b/Drivers/bmi270-module/README.md new file mode 100644 index 00000000..c447c7b1 --- /dev/null +++ b/Drivers/bmi270-module/README.md @@ -0,0 +1,7 @@ +# BMI270 I2C Driver + +A driver for the `BMI270` 6-axis IMU. + +See https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi270-ds000.pdf + +License: [Apache v2.0](LICENSE-Apache-2.0.md) diff --git a/Drivers/bmi270-module/bindings/bosch,bmi270.yaml b/Drivers/bmi270-module/bindings/bosch,bmi270.yaml new file mode 100644 index 00000000..188955bb --- /dev/null +++ b/Drivers/bmi270-module/bindings/bosch,bmi270.yaml @@ -0,0 +1,5 @@ +description: Bosch BMI270 6-axis IMU + +include: ["i2c-device.yaml"] + +compatible: "bosch,bmi270" diff --git a/Drivers/bmi270-module/devicetree.yaml b/Drivers/bmi270-module/devicetree.yaml new file mode 100644 index 00000000..99f3dfd7 --- /dev/null +++ b/Drivers/bmi270-module/devicetree.yaml @@ -0,0 +1,3 @@ +dependencies: + - TactilityKernel +bindings: bindings \ No newline at end of file diff --git a/Drivers/bmi270-module/include/bindings/bmi270.h b/Drivers/bmi270-module/include/bindings/bmi270.h new file mode 100644 index 00000000..903958b0 --- /dev/null +++ b/Drivers/bmi270-module/include/bindings/bmi270.h @@ -0,0 +1,15 @@ +// SPDX-License-Identifier: Apache-2.0 +#pragma once + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +DEFINE_DEVICETREE(bmi270, struct Bmi270Config) + +#ifdef __cplusplus +} +#endif diff --git a/Drivers/bmi270-module/include/bmi270_module.h b/Drivers/bmi270-module/include/bmi270_module.h new file mode 100644 index 00000000..d1e4f5df --- /dev/null +++ b/Drivers/bmi270-module/include/bmi270_module.h @@ -0,0 +1,14 @@ +// SPDX-License-Identifier: Apache-2.0 +#pragma once + +#include + +#ifdef __cplusplus +extern "C" { +#endif + +extern struct Module bmi270_module; + +#ifdef __cplusplus +} +#endif diff --git a/Drivers/bmi270-module/include/drivers/bmi270.h b/Drivers/bmi270-module/include/drivers/bmi270.h new file mode 100644 index 00000000..aa8227a6 --- /dev/null +++ b/Drivers/bmi270-module/include/drivers/bmi270.h @@ -0,0 +1,33 @@ +// SPDX-License-Identifier: Apache-2.0 +#pragma once + +#include +#include + +struct Device; + +#ifdef __cplusplus +extern "C" { +#endif + +struct Bmi270Config { + /** Address on bus */ + uint8_t address; +}; + +struct Bmi270Data { + float ax, ay, az; // acceleration in g (±8g range) + float gx, gy, gz; // angular rate in °/s (±2000°/s range) +}; + +/** + * Read accelerometer and gyroscope data. + * @param[in] device bmi270 device + * @param[out] data Pointer to Bmi270Data structure to store the data + * @return ERROR_NONE on success + */ +error_t bmi270_read(struct Device* device, struct Bmi270Data* data); + +#ifdef __cplusplus +} +#endif diff --git a/Drivers/bmi270-module/private/drivers/bmi270_config_data.h b/Drivers/bmi270-module/private/drivers/bmi270_config_data.h new file mode 100644 index 00000000..e7742348 --- /dev/null +++ b/Drivers/bmi270-module/private/drivers/bmi270_config_data.h @@ -0,0 +1,442 @@ +#pragma once + +// BMI270 configuration file +// Copyright (c) 2023 Bosch Sensortec GmbH +// SPDX-License-Identifier: BSD-3-Clause +// Source: https://github.com/boschsensortec/BMI270_SensorAPI +#include + +static const uint8_t bmi270_config_data[] = { + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, + 0xb0, 0x80, 0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5, + 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, + 0x00, 0x75, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, + 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, + 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, + 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, + 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, 0x5f, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, 0x00, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, + 0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, 0x11, 0x00, 0x02, 0x00, + 0x2d, 0x01, 0xd4, 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REG_ACC_RANGE = 0x41; // range selector +static constexpr uint8_t REG_GYR_CONF = 0x42; // ODR + BWP +static constexpr uint8_t REG_GYR_RANGE = 0x43; // range selector +static constexpr uint8_t REG_INIT_CTRL = 0x59; // 0=start upload, 1=done +static constexpr uint8_t REG_INIT_ADDR_0 = 0x5B; // burst address low nibble +// REG_INIT_ADDR_1 = 0x5C written together with 0x5B (2-byte burst) +static constexpr uint8_t REG_INIT_DATA = 0x5E; // config burst write target +static constexpr uint8_t REG_PWR_CONF = 0x7C; // 0=disable adv. power save +static constexpr uint8_t REG_PWR_CTRL = 0x7D; // bit1=gyr_en, bit2=acc_en +static constexpr uint8_t REG_CMD = 0x7E; // 0xB6 = soft reset + +// ACC_CONF: filter_perf=1, bwp=normal(2), odr=100Hz(8) → 0xA8 +static constexpr uint8_t ACC_CONF_VAL = 0xA8; +static constexpr uint8_t ACC_RANGE_VAL = 0x02; // ±8g +// GYR_CONF: filter_perf=1, noise_perf=1, bwp=normal(2), odr=100Hz(8) → 0xE8 +static constexpr uint8_t GYR_CONF_VAL = 0xE8; +static constexpr uint8_t GYR_RANGE_VAL = 0x00; // ±2000°/s + +// Scaling: full-scale / 2^15 +static constexpr float ACCEL_SCALE = 8.0f / 32768.0f; // g per LSB (±8g) +static constexpr float GYRO_SCALE = 2000.0f / 32768.0f; // °/s per LSB (±2000°/s) + +// Config upload chunk size (bytes of config data per I2C transaction) +static constexpr size_t CHUNK_SIZE = 64; + +static constexpr TickType_t I2C_TIMEOUT_TICKS = pdMS_TO_TICKS(10); + +#define GET_CONFIG(device) (static_cast((device)->config)) + +// region Helpers + +static bool write_register(Device* i2c_controller, uint8_t address, uint8_t reg, uint8_t val) { + return i2c_controller_register8_set(i2c_controller, address, reg, val, I2C_TIMEOUT_TICKS) == ERROR_NONE; +} + +static bool read_register(Device* i2c_controller, uint8_t address, uint8_t reg, uint8_t* buf) { + return i2c_controller_register8_get(i2c_controller, address, reg, buf, I2C_TIMEOUT_TICKS) == ERROR_NONE; +} + +static bool configure(Device* i2c_controller, uint8_t address) { + // Disable advanced power save before uploading + if (!write_register(i2c_controller, address, REG_PWR_CONF, 0x00)) return false; + vTaskDelay(pdMS_TO_TICKS(1)); + + // Signal start of config upload + if (!write_register(i2c_controller, address, REG_INIT_CTRL, 0x00)) return false; + + // Upload config in CHUNK_SIZE-byte bursts + // The half-word address (hwAddr) increments by CHUNK_SIZE/2 per chunk + const size_t totalSize = sizeof(bmi270_config_data); + for (size_t offset = 0; offset < totalSize; offset += CHUNK_SIZE) { + // Set INIT_ADDR_0 and INIT_ADDR_1 (consecutive registers 0x5B/0x5C) + uint16_t hwAddr = static_cast(offset / 2); + uint8_t addrBuf[2] = { + static_cast(hwAddr & 0x0Fu), // INIT_ADDR_0: bits [3:0] + static_cast((hwAddr >> 4) & 0xFFu) // INIT_ADDR_1: bits [11:4] + }; + + if (i2c_controller_write_register(i2c_controller, address, REG_INIT_ADDR_0, addrBuf, 2, I2C_TIMEOUT_TICKS) != ERROR_NONE) return false; + + // Write chunk to INIT_DATA register. + // Copy to a stack buffer first: the config array may live in DROM (SPI flash) + // which is not DMA-accessible; the I2C driver requires DRAM-backed buffers. + size_t chunkLen = (offset + CHUNK_SIZE <= totalSize) ? CHUNK_SIZE : (totalSize - offset); + uint8_t chunkBuf[CHUNK_SIZE]; + memcpy(chunkBuf, bmi270_config_data + offset, chunkLen); + if (i2c_controller_write_register(i2c_controller, address, REG_INIT_DATA, chunkBuf, static_cast(chunkLen), I2C_TIMEOUT_TICKS) != ERROR_NONE) return false; + } + + // Signal end of config upload + if (!write_register(i2c_controller, address, REG_INIT_CTRL, 0x01)) return false; + vTaskDelay(pdMS_TO_TICKS(20)); + + // Verify initialization + uint8_t status = 0; + if (!read_register(i2c_controller, address, REG_INTERNAL_ST, &status)) return false; + return (status & 0x01u) != 0; // bit 0 = init_ok +} + +// endregion + +// region Driver lifecycle + +static error_t start(Device* device) { + auto* i2c_controller = device_get_parent(device); + + auto address = GET_CONFIG(device)->address; + + // Verify chip ID + uint8_t chip_id= 0; + if (!read_register(i2c_controller, address, REG_CHIP_ID, &chip_id) || chip_id != 0x24) { + return false; + } + + // Soft reset — clears all registers; datasheet specifies 2 ms startup time. + // Use 20 ms to be safe and allow the chip to fully re-initialise before + // any further I2C traffic (a second chip-ID read immediately after reset + // is unreliable and not part of the Bosch SensorAPI init flow). + if (!write_register(i2c_controller, address, REG_CMD, 0xB6)) return false; + vTaskDelay(pdMS_TO_TICKS(20)); + + // Upload 8KB configuration (enables internal feature engine) + if (!configure(i2c_controller, address)) { + return false; + } + + // Configure accelerometer: ODR=100Hz, normal filter, ±8g + if (!write_register(i2c_controller, address, REG_ACC_CONF, ACC_CONF_VAL)) { return false; } + if (!write_register(i2c_controller, address, REG_ACC_RANGE, ACC_RANGE_VAL)) { return false; } + + // Configure gyroscope: ODR=100Hz, normal filter, ±2000°/s + if (!write_register(i2c_controller, address, REG_GYR_CONF, GYR_CONF_VAL)) { return false; } + if (!write_register(i2c_controller, address, REG_GYR_RANGE, GYR_RANGE_VAL)) { return false; } + + // Enable accelerometer and gyroscope + if (!write_register(i2c_controller, address, REG_PWR_CTRL, 0x06)) { return false; } // bit1=gyr_en, bit2=acc_en + vTaskDelay(pdMS_TO_TICKS(2)); + + return ERROR_NONE; +} + +static error_t stop(Device* device) { + return ERROR_NONE; +} + +// endregion + +extern "C" { + +error_t bmi270_read(Device* device, Bmi270Data* data) { + auto* i2c_controller = device_get_parent(device); + + auto address = GET_CONFIG(device)->address; + + // Burst-read 12 bytes: acc X/Y/Z (6 bytes) + gyro X/Y/Z (6 bytes) + // Registers: 0x0C–0x17 are contiguous for acc+gyro in I2C mode (no dummy byte) + uint8_t buffer[12] = {}; + error_t error = i2c_controller_read_register(i2c_controller, address, REG_DATA_ACC, buffer, sizeof(buffer), I2C_TIMEOUT_TICKS); + if (error != ERROR_NONE) return error; + + auto toI16 = [](uint8_t lo, uint8_t hi) -> int16_t { + return static_cast(static_cast(hi) << 8 | lo); + }; + + data->ax = toI16(buffer[0], buffer[1]) * ACCEL_SCALE; + data->ay = toI16(buffer[2], buffer[3]) * ACCEL_SCALE; + data->az = toI16(buffer[4], buffer[5]) * ACCEL_SCALE; + data->gx = toI16(buffer[6], buffer[7]) * GYRO_SCALE; + data->gy = toI16(buffer[8], buffer[9]) * GYRO_SCALE; + data->gz = toI16(buffer[10], buffer[11]) * GYRO_SCALE; + + return ERROR_NONE; +} + +extern Module bmi270_module; + +Driver bmi270_driver = { + .name = "bmi270", + .compatible = (const char*[]) { "bosch,bmi270", nullptr}, + .start_device = start, + .stop_device = stop, + .api = nullptr, + .device_type = nullptr, + .owner = &bmi270_module, + .internal = nullptr +}; + +} \ No newline at end of file diff --git a/Drivers/bmi270-module/source/module.cpp b/Drivers/bmi270-module/source/module.cpp new file mode 100644 index 00000000..b77e8510 --- /dev/null +++ b/Drivers/bmi270-module/source/module.cpp @@ -0,0 +1,34 @@ +// SPDX-License-Identifier: Apache-2.0 +#include +#include +#include + +extern "C" { + +extern Driver bmi270_driver; + +static error_t start() { + /* We crash when construct fails, because if a single driver fails to construct, + * there is no guarantee that the previously constructed drivers can be destroyed */ + check(driver_construct_add(&bmi270_driver) == ERROR_NONE); + return ERROR_NONE; +} + +static error_t stop() { + /* We crash when destruct fails, because if a single driver fails to destruct, + * there is no guarantee that the previously destroyed drivers can be recovered */ + check(driver_remove_destruct(&bmi270_driver) == ERROR_NONE); + return ERROR_NONE; +} + +extern const ModuleSymbol bmi270_module_symbols[]; + +Module bmi270_module = { + .name = "bmi270", + .start = start, + .stop = stop, + .symbols = bmi270_module_symbols, + .internal = nullptr +}; + +} diff --git a/Drivers/bmi270-module/source/symbols.c b/Drivers/bmi270-module/source/symbols.c new file mode 100644 index 00000000..68dc957c --- /dev/null +++ b/Drivers/bmi270-module/source/symbols.c @@ -0,0 +1,8 @@ +// SPDX-License-Identifier: Apache-2.0 +#include +#include + +const struct ModuleSymbol bmi270_module_symbols[] = { + DEFINE_MODULE_SYMBOL(bmi270_read), + MODULE_SYMBOL_TERMINATOR +};