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Implement BMI270 driver

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This commit is contained in:
Ken Van Hoeylandt 2026-02-28 23:29:35 +01:00
parent a1470cc870
commit c2177929bc
16 changed files with 960 additions and 6 deletions
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2
Devices/m5stack-tab5/CMakeLists.txt
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@ -3,5 +3,5 @@ file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
idf_component_register( idf_component_register(
SRCS ${SOURCE_FILES} SRCS ${SOURCE_FILES}
INCLUDE_DIRS "Source" 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
) )

6
Devices/m5stack-tab5/Source/Configuration.cpp
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@ -1,13 +1,11 @@
#include "devices/Display.h" #include "devices/Display.h"
#include "devices/SdCard.h" #include "devices/SdCard.h"
#include <driver/gpio.h>
#include <tactility/drivers/gpio_controller.h>
#include <tactility/drivers/i2c_controller.h> #include <tactility/drivers/i2c_controller.h>
#include <Tactility/hal/Configuration.h> #include <Tactility/hal/Configuration.h>
#include <Tactility/hal/i2c/I2c.h> #include <Tactility/hal/i2c/I2c.h>
#include <drivers/pi4ioe5v6408.h>
#include <tactility/drivers/gpio_controller.h>
using namespace tt::hal; 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; constexpr auto GPIO_EXP1_PIN_IP2326_CHG_EN = 7;
static void initExpander0(::Device* io_expander0) { 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* 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* 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); auto* external_5v_bus_enable_pin = gpio_descriptor_acquire(io_expander0, GPIO_EXP0_PIN_EXTERNAL_5V_BUS_ENABLE, GPIO_OWNER_GPIO);

1
Devices/m5stack-tab5/devicetree.yaml
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@ -1,4 +1,5 @@
dependencies: dependencies:
- Platforms/platform-esp32 - Platforms/platform-esp32
- Drivers/pi4ioe5v6408-module - Drivers/pi4ioe5v6408-module
- Drivers/bmi270-module
dts: m5stack,tab5.dts dts: m5stack,tab5.dts

6
Devices/m5stack-tab5/m5stack,tab5.dts
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@ -5,6 +5,7 @@
#include <tactility/bindings/esp32_i2c.h> #include <tactility/bindings/esp32_i2c.h>
#include <tactility/bindings/esp32_i2s.h> #include <tactility/bindings/esp32_i2s.h>
#include <tactility/bindings/esp32_spi.h> #include <tactility/bindings/esp32_spi.h>
#include <bindings/bmi270.h>
#include <bindings/pi4ioe5v6408.h> #include <bindings/pi4ioe5v6408.h>
/ { / {
@ -52,6 +53,11 @@
compatible = "diodes,pi4ioe5v6408"; compatible = "diodes,pi4ioe5v6408";
reg = <0x44>; reg = <0x44>;
}; };
bmi270 {
compatible = "bosch,bmi270";
reg = <0x68>;
};
}; };
i2c_port_a: i2c1 { i2c_port_a: i2c1 {

12
Drivers/bmi270-module/CMakeLists.txt Normal file
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@ -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
)

195
Drivers/bmi270-module/LICENSE-Apache-2.0.md Normal file
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@ -0,0 +1,195 @@
Apache License
==============
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7
Drivers/bmi270-module/README.md Normal file
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@ -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)

5
Drivers/bmi270-module/bindings/bosch,bmi270.yaml Normal file
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@ -0,0 +1,5 @@
description: Bosch BMI270 6-axis IMU
include: ["i2c-device.yaml"]
compatible: "bosch,bmi270"

3
Drivers/bmi270-module/devicetree.yaml Normal file
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@ -0,0 +1,3 @@
dependencies:
- TactilityKernel
bindings: bindings

15
Drivers/bmi270-module/include/bindings/bmi270.h Normal file
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@ -0,0 +1,15 @@
// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <tactility/bindings/bindings.h>
#include <drivers/bmi270.h>
#ifdef __cplusplus
extern "C" {
#endif
DEFINE_DEVICETREE(bmi270, struct Bmi270Config)
#ifdef __cplusplus
}
#endif

14
Drivers/bmi270-module/include/bmi270_module.h Normal file
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@ -0,0 +1,14 @@
// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <tactility/module.h>
#ifdef __cplusplus
extern "C" {
#endif
extern struct Module bmi270_module;
#ifdef __cplusplus
}
#endif

33
Drivers/bmi270-module/include/drivers/bmi270.h Normal file
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@ -0,0 +1,33 @@
// SPDX-License-Identifier: Apache-2.0
#pragma once
#include <stdint.h>
#include <tactility/error.h>
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

442
Drivers/bmi270-module/private/drivers/bmi270_config_data.h Normal file
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@ -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 <stdint.h>
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, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3,
0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, 0x19, 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00,
0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, 0xee,
0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, 0xa8, 0x05, 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00,
0x85, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde,
0x00, 0xeb, 0x00, 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0xc9, 0x01, 0x1e, 0xf2,
0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, 0x66, 0xf5, 0x64, 0xf5, 0xc0, 0xf1, 0xf0, 0x00, 0xe0, 0x00, 0xcd,
0x01, 0xd3, 0x01, 0xdb, 0x01, 0xff, 0x7f, 0xff, 0x01, 0xe4, 0x00, 0x74, 0xf7, 0xf3, 0x00, 0xfa, 0x00, 0xff, 0x3f,
0xca, 0x03, 0x6c, 0x38, 0x56, 0xfe, 0x44, 0xfd, 0xbc, 0x02, 0xf9, 0x06, 0x00, 0xfc, 0x12, 0x02, 0xae, 0x01, 0x58,
0xfa, 0x9a, 0xfd, 0x77, 0x05, 0xbb, 0x02, 0x96, 0x01, 0x95, 0x01, 0x7f, 0x01, 0x82, 0x01, 0x89, 0x01, 0x87, 0x01,
0x88, 0x01, 0x8a, 0x01, 0x8c, 0x01, 0x8f, 0x01, 0x8d, 0x01, 0x92, 0x01, 0x91, 0x01, 0xdd, 0x00, 0x9f, 0x01, 0x7e,
0x01, 0xdb, 0x00, 0xb6, 0x01, 0x70, 0x69, 0x26, 0xd3, 0x9c, 0x07, 0x1f, 0x05, 0x9d, 0x00, 0x00, 0x08, 0xbc, 0x05,
0x37, 0xfa, 0xa2, 0x01, 0xaa, 0x01, 0xa1, 0x01, 0xa8, 0x01, 0xa0, 0x01, 0xa8, 0x05, 0xb4, 0x01, 0xb4, 0x01, 0xce,
0x00, 0xd0, 0x00, 0xfc, 0x00, 0xc5, 0x01, 0xff, 0xfb, 0xb1, 0x00, 0x00, 0x38, 0x00, 0x30, 0xfd, 0xf5, 0xfc, 0xf5,
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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
};

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// SPDX-License-Identifier: Apache-2.0
#include <drivers/bmi270.h>
#include <bmi270_module.h>
#include <drivers/bmi270_config_data.h>
#include <tactility/device.h>
#include <tactility/drivers/i2c_controller.h>
#include <tactility/log.h>
#define TAG "BMI270"
static constexpr uint8_t REG_CHIP_ID = 0x00; // read: expect 0x24
static constexpr uint8_t REG_DATA_ACC = 0x0C; // 6 bytes: acc X/Y/Z LSB/MSB
static constexpr uint8_t REG_DATA_GYR = 0x12; // 6 bytes: gyr X/Y/Z LSB/MSB
static constexpr uint8_t REG_INTERNAL_ST = 0x21; // bit0: init done
static constexpr uint8_t REG_ACC_CONF = 0x40; // ODR + BWP + filter_perf
static constexpr uint8_t 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<const Bmi270Config*>((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<uint16_t>(offset / 2);
uint8_t addrBuf[2] = {
static_cast<uint8_t>(hwAddr & 0x0Fu), // INIT_ADDR_0: bits [3:0]
static_cast<uint8_t>((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<uint16_t>(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<int16_t>(static_cast<uint16_t>(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
};
}

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// SPDX-License-Identifier: Apache-2.0
#include <tactility/check.h>
#include <tactility/driver.h>
#include <tactility/module.h>
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
};
}

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Drivers/bmi270-module/source/symbols.c Normal file
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// SPDX-License-Identifier: Apache-2.0
#include <drivers/bmi270.h>
#include <tactility/module.h>
const struct ModuleSymbol bmi270_module_symbols[] = {
DEFINE_MODULE_SYMBOL(bmi270_read),
MODULE_SYMBOL_TERMINATOR
};