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nuttx/drivers/sensors/bmi270_base.c

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sensors/bmi270: add support for the new sensor framework bmi270 can be used with the new sensor framework
2024-02-27 19:05:03 +01:00
/****************************************************************************
* drivers/sensors/bmi270_base.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
# include "bmi270_base.h"
/****************************************************************************
* Public Data
****************************************************************************/
sensors/bmi270: fix typo
2024-06-17 06:48:11 +02:00
/* BMI270 configuration file - provided by BOSCH */
sensors/bmi270: add support for the new sensor framework bmi270 can be used with the new sensor framework
2024-02-27 19:05:03 +01:00
const uint8_t g_bmi270_config_file[] =
{
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0xe1, 0x5e, 0x56, 0x42, 0xaf, 0x09, 0x4d, 0xba, 0x23, 0xbd, 0x94, 0x0a,
0xe5, 0x6f, 0x68, 0xbb, 0xeb, 0x08, 0xbd, 0xb9, 0x63, 0xbe, 0xfb, 0x6f,
0x52, 0x42, 0xe3, 0x0a, 0xc0, 0x2e, 0x43, 0x42, 0x90, 0x5f, 0xd1, 0x50,
0x03, 0x2e, 0x25, 0xf3, 0x13, 0x40, 0x00, 0x40, 0x9b, 0xbc, 0x9b, 0xb4,
0x08, 0xbd, 0xb8, 0xb9, 0x98, 0xbc, 0xda, 0x0a, 0x08, 0xb6, 0x89, 0x16,
0xc0, 0x2e, 0x19, 0x00, 0x62, 0x02, 0x10, 0x50, 0xfb, 0x7f, 0x98, 0x2e,
0x81, 0x0d, 0x01, 0x2e, 0xd4, 0x00, 0x31, 0x30, 0x08, 0x04, 0xfb, 0x6f,
0x01, 0x30, 0xf0, 0x5f, 0x23, 0x2e, 0xd6, 0x00, 0x21, 0x2e, 0xd7, 0x00,
0xb8, 0x2e, 0x01, 0x2e, 0xd7, 0x00, 0x03, 0x2e, 0xd6, 0x00, 0x48, 0x0e,
0x01, 0x2f, 0x80, 0x2e, 0x1f, 0x0e, 0xb8, 0x2e, 0xe3, 0x50, 0x21, 0x34,
0x01, 0x42, 0x82, 0x30, 0xc1, 0x32, 0x25, 0x2e, 0x62, 0xf5, 0x01, 0x00,
0x22, 0x30, 0x01, 0x40, 0x4a, 0x0a, 0x01, 0x42, 0xb8, 0x2e, 0xe3, 0x54,
0xf0, 0x3b, 0x83, 0x40, 0xd8, 0x08, 0xe5, 0x52, 0x83, 0x42, 0x00, 0x30,
0x83, 0x30, 0x50, 0x42, 0xc4, 0x32, 0x27, 0x2e, 0x64, 0xf5, 0x94, 0x00,
0x50, 0x42, 0x40, 0x42, 0xd3, 0x3f, 0x84, 0x40, 0x7d, 0x82, 0xe3, 0x08,
0x40, 0x42, 0x83, 0x42, 0xb8, 0x2e, 0xdd, 0x52, 0x00, 0x30, 0x40, 0x42,
0x7c, 0x86, 0xb9, 0x52, 0x09, 0x2e, 0x70, 0x0f, 0xbf, 0x54, 0xc4, 0x42,
0xd3, 0x86, 0x54, 0x40, 0x55, 0x40, 0x94, 0x42, 0x85, 0x42, 0x21, 0x2e,
0xd7, 0x00, 0x42, 0x40, 0x25, 0x2e, 0xfd, 0xf3, 0xc0, 0x42, 0x7e, 0x82,
0x05, 0x2e, 0x7d, 0x00, 0x80, 0xb2, 0x14, 0x2f, 0x05, 0x2e, 0x89, 0x00,
0x27, 0xbd, 0x2f, 0xb9, 0x80, 0x90, 0x02, 0x2f, 0x21, 0x2e, 0x6f, 0xf5,
0x0c, 0x2d, 0x07, 0x2e, 0x71, 0x0f, 0x14, 0x30, 0x1c, 0x09, 0x05, 0x2e,
0x77, 0xf7, 0xbd, 0x56, 0x47, 0xbe, 0x93, 0x08, 0x94, 0x0a, 0x25, 0x2e,
0x77, 0xf7, 0xe7, 0x54, 0x50, 0x42, 0x4a, 0x0e, 0xfc, 0x2f, 0xb8, 0x2e,
0x50, 0x50, 0x02, 0x30, 0x43, 0x86, 0xe5, 0x50, 0xfb, 0x7f, 0xe3, 0x7f,
0xd2, 0x7f, 0xc0, 0x7f, 0xb1, 0x7f, 0x00, 0x2e, 0x41, 0x40, 0x00, 0x40,
0x48, 0x04, 0x98, 0x2e, 0x74, 0xc0, 0x1e, 0xaa, 0xd3, 0x6f, 0x14, 0x30,
0xb1, 0x6f, 0xe3, 0x22, 0xc0, 0x6f, 0x52, 0x40, 0xe4, 0x6f, 0x4c, 0x0e,
0x12, 0x42, 0xd3, 0x7f, 0xeb, 0x2f, 0x03, 0x2e, 0x86, 0x0f, 0x40, 0x90,
0x11, 0x30, 0x03, 0x2f, 0x23, 0x2e, 0x86, 0x0f, 0x02, 0x2c, 0x00, 0x30,
0xd0, 0x6f, 0xfb, 0x6f, 0xb0, 0x5f, 0xb8, 0x2e, 0x40, 0x50, 0xf1, 0x7f,
0x0a, 0x25, 0x3c, 0x86, 0xeb, 0x7f, 0x41, 0x33, 0x22, 0x30, 0x98, 0x2e,
0xc2, 0xc4, 0xd3, 0x6f, 0xf4, 0x30, 0xdc, 0x09, 0x47, 0x58, 0xc2, 0x6f,
0x94, 0x09, 0xeb, 0x58, 0x6a, 0xbb, 0xdc, 0x08, 0xb4, 0xb9, 0xb1, 0xbd,
0xe9, 0x5a, 0x95, 0x08, 0x21, 0xbd, 0xf6, 0xbf, 0x77, 0x0b, 0x51, 0xbe,
0xf1, 0x6f, 0xeb, 0x6f, 0x52, 0x42, 0x54, 0x42, 0xc0, 0x2e, 0x43, 0x42,
0xc0, 0x5f, 0x50, 0x50, 0xf5, 0x50, 0x31, 0x30, 0x11, 0x42, 0xfb, 0x7f,
0x7b, 0x30, 0x0b, 0x42, 0x11, 0x30, 0x02, 0x80, 0x23, 0x33, 0x01, 0x42,
0x03, 0x00, 0x07, 0x2e, 0x80, 0x03, 0x05, 0x2e, 0xd3, 0x00, 0x23, 0x52,
0xe2, 0x7f, 0xd3, 0x7f, 0xc0, 0x7f, 0x98, 0x2e, 0xb6, 0x0e, 0xd1, 0x6f,
0x08, 0x0a, 0x1a, 0x25, 0x7b, 0x86, 0xd0, 0x7f, 0x01, 0x33, 0x12, 0x30,
0x98, 0x2e, 0xc2, 0xc4, 0xd1, 0x6f, 0x08, 0x0a, 0x00, 0xb2, 0x0d, 0x2f,
0xe3, 0x6f, 0x01, 0x2e, 0x80, 0x03, 0x51, 0x30, 0xc7, 0x86, 0x23, 0x2e,
0x21, 0xf2, 0x08, 0xbc, 0xc0, 0x42, 0x98, 0x2e, 0xa5, 0xb7, 0x00, 0x2e,
0x00, 0x2e, 0xd0, 0x2e, 0xb0, 0x6f, 0x0b, 0xb8, 0x03, 0x2e, 0x1b, 0x00,
0x08, 0x1a, 0xb0, 0x7f, 0x70, 0x30, 0x04, 0x2f, 0x21, 0x2e, 0x21, 0xf2,
0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x98, 0x2e, 0x6d, 0xc0, 0x98, 0x2e,
0x5d, 0xc0, 0xed, 0x50, 0x98, 0x2e, 0x44, 0xcb, 0xef, 0x50, 0x98, 0x2e,
0x46, 0xc3, 0xf1, 0x50, 0x98, 0x2e, 0x53, 0xc7, 0x35, 0x50, 0x98, 0x2e,
0x64, 0xcf, 0x10, 0x30, 0x98, 0x2e, 0xdc, 0x03, 0x20, 0x26, 0xc0, 0x6f,
0x02, 0x31, 0x12, 0x42, 0xab, 0x33, 0x0b, 0x42, 0x37, 0x80, 0x01, 0x30,
0x01, 0x42, 0xf3, 0x37, 0xf7, 0x52, 0xfb, 0x50, 0x44, 0x40, 0xa2, 0x0a,
0x42, 0x42, 0x8b, 0x31, 0x09, 0x2e, 0x5e, 0xf7, 0xf9, 0x54, 0xe3, 0x08,
0x83, 0x42, 0x1b, 0x42, 0x23, 0x33, 0x4b, 0x00, 0xbc, 0x84, 0x0b, 0x40,
0x33, 0x30, 0x83, 0x42, 0x0b, 0x42, 0xe0, 0x7f, 0xd1, 0x7f, 0x98, 0x2e,
0x58, 0xb7, 0xd1, 0x6f, 0x80, 0x30, 0x40, 0x42, 0x03, 0x30, 0xe0, 0x6f,
0xf3, 0x54, 0x04, 0x30, 0x00, 0x2e, 0x00, 0x2e, 0x01, 0x89, 0x62, 0x0e,
0xfa, 0x2f, 0x43, 0x42, 0x11, 0x30, 0xfb, 0x6f, 0xc0, 0x2e, 0x01, 0x42,
0xb0, 0x5f, 0xc1, 0x4a, 0x00, 0x00, 0x6d, 0x57, 0x00, 0x00, 0x77, 0x8e,
0x00, 0x00, 0xe0, 0xff, 0xff, 0xff, 0xd3, 0xff, 0xff, 0xff, 0xe5, 0xff,
0xff, 0xff, 0xee, 0xe1, 0xff, 0xff, 0x7c, 0x13, 0x00, 0x00, 0x46, 0xe6,
0xff, 0xff, 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, 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, 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
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: bmi270_configspi
*
* Description:
*
****************************************************************************/
#ifdef CONFIG_SENSORS_BMI270_SPI
static void bmi270_configspi(FAR struct spi_dev_s *spi)
{
/* Configure SPI for the BMI270 */
SPI_SETMODE(spi, SPIDEV_MODE0);
SPI_SETBITS(spi, 8);
SPI_HWFEATURES(spi, 0);
SPI_SETFREQUENCY(spi, BMI270_SPI_MAXFREQUENCY);
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: bmi270_getreg8
*
* Description:
* Read from an 8-bit BMI270 register
*
****************************************************************************/
uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_msg_s msg[2];
uint8_t regval = 0;
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = &regaddr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = &regval;
msg[1].length = 1;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
return regval;
#else /* CONFIG_SENSORS_BMI270_SPI */
uint8_t regval[2];
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi270_configspi(priv->spi);
/* Select the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);
/* Send register to read and get the next 2 bytes */
SPI_SEND(priv->spi, regaddr | 0x80);
SPI_RECVBLOCK(priv->spi, regval, 2);
/* Deselect the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
/* The first byte has to be dropped */
return regval[1];
#endif
}
/****************************************************************************
* Name: bmi270_putreg8
*
* Description:
* Write a value to an 8-bit BMI270 register
*
****************************************************************************/
void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
uint8_t regval)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_msg_s msg[2];
uint8_t txbuffer[2];
int ret;
txbuffer[0] = regaddr;
txbuffer[1] = regval;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = 0;
msg[0].buffer = txbuffer;
msg[0].length = 2;
ret = I2C_TRANSFER(priv->i2c, msg, 1);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else /* CONFIG_SENSORS_BMI270_SPI */
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi270_configspi(priv->spi);
/* Select the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);
/* Send register address and set the value */
SPI_SEND(priv->spi, regaddr);
SPI_SEND(priv->spi, regval);
/* Deselect the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
#endif
}
/****************************************************************************
* Name: bmi270_getregs
*
* Description:
* Read cnt bytes from specified dev_addr and reg_addr
*
****************************************************************************/
void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval, int len)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = &regaddr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = I2C_M_READ;
msg[1].buffer = regval;
msg[1].length = len;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else /* CONFIG_SENSORS_BMI270_SPI */
uint8_t dummy = 0;
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi270_configspi(priv->spi);
/* Select the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);
/* Send register to read and get bytes */
SPI_SEND(priv->spi, regaddr | 0x80);
SPI_RECVBLOCK(priv->spi, &dummy, 1);
SPI_RECVBLOCK(priv->spi, regval, len);
/* Deselect the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
#endif
}
/****************************************************************************
* Name: bmi270_putregs
*
* Description:
* Send cnt bytes for specified dev_addr and reg_addr
*
****************************************************************************/
void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
FAR uint8_t *regval, int len)
{
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_msg_s msg[2];
int ret;
msg[0].frequency = priv->freq;
msg[0].addr = priv->addr;
msg[0].flags = I2C_M_NOSTOP;
msg[0].buffer = &regaddr;
msg[0].length = 1;
msg[1].frequency = priv->freq;
msg[1].addr = priv->addr;
msg[1].flags = 0;
msg[1].buffer = regval;
msg[1].length = len;
ret = I2C_TRANSFER(priv->i2c, msg, 2);
if (ret < 0)
{
snerr("I2C_TRANSFER failed: %d\n", ret);
}
#else /* CONFIG_SENSORS_BMI270_SPI */
/* If SPI bus is shared then lock and configure it */
SPI_LOCK(priv->spi, true);
bmi270_configspi(priv->spi);
/* Select the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), true);
/* Send register to read and get bytes */
SPI_SEND(priv->spi, regaddr);
SPI_SNDBLOCK(priv->spi, regval, len);
/* Deselect the BMI270 */
SPI_SELECT(priv->spi, SPIDEV_IMU(0), false);
/* Unlock bus */
SPI_LOCK(priv->spi, false);
#endif
}
/****************************************************************************
* Name: bmi270_set_normal_imu
*
* Description:
* set bmi270 to normal IMU mode.
*
****************************************************************************/
void bmi270_set_normal_imu(FAR struct bmi270_dev_s *priv)
{
/* Enable acquisition of acc and gyro */
bmi270_putreg8(priv, BMI270_PWR_CTRL, PWRCTRL_GYR_EN | PWRCTRL_ACC_EN);
up_mdelay(30);
/* Set accel and gyro output data rate */
bmi270_putreg8(priv, BMI270_ACC_CONFIG,
ACCEL_NORMAL_AVG4 | ACCEL_ODR_100HZ);
bmi270_putreg8(priv, BMI270_GYR_CONFIG,
GYRO_NORMAL_MODE | GYRO_ODR_100HZ);
/* Disable the adv_power_save bit */
bmi270_putreg8(priv, BMI270_PWR_CONF, PWRCONF_FSW_ON);
}
/****************************************************************************
* Name: bmi270_init_seq
*
* Description:
* set bmi270 to normal IMU mode.
*
****************************************************************************/
int bmi270_init_seq(FAR struct bmi270_dev_s *priv)
{
FAR uint8_t *tmp = NULL;
uint8_t regval = 0;
/* Check if initialization already done */
regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT);
if ((regval & INTSTAT_MSG_MASK) == INTSTAT_MSG_INITOK)
{
return OK;
}
/* Disable PWR_CONF.adv_power_save */
bmi270_putreg8(priv, BMI270_PWR_CONF, 0);
up_mdelay(5);
/* Prepare config load INIT_CTRL=0x00 */
bmi270_putreg8(priv, BMI270_INIT_CTRL, 0);
#ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP
/* Copy configuration to RAM */
tmp = kmm_malloc(sizeof(g_bmi270_config_file));
if (tmp == NULL)
{
snerr("Failed to allocate memory for configuration file\n");
return -ENOMEM;
}
memcpy(tmp, g_bmi270_config_file, sizeof(g_bmi270_config_file));
#else
/* Transfer directly from const data memory */
tmp = (FAR uint8_t *)&g_bmi270_config_file;
#endif
/* Load configuration - start with byte 0 */
bmi270_putregs(priv, BMI270_INIT_DATA,
tmp,
sizeof(g_bmi270_config_file));
#ifdef CONFIG_SENSORS_BMI270_LOAD_FROM_HEAP
kmm_free(tmp);
#endif
/* Complete config load INIT_CTRL=0x01 */
bmi270_putreg8(priv, BMI270_INIT_CTRL, 1);
up_mdelay(150);
/* Check initialization status */
regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT);
if ((regval & INTSTAT_MSG_MASK) != INTSTAT_MSG_INITOK)
{
snerr("Initialization failed status=%d\n", regval);
return -EACCES;
}
return OK;
}
/****************************************************************************
* Name: bmi270_checkid
*
* Description:
* Read and verify the BMI270 chip ID
*
****************************************************************************/
int bmi270_checkid(FAR struct bmi270_dev_s *priv)
{
uint8_t devid = 0;
/* Read device ID */
devid = bmi270_getreg8(priv, BMI270_CHIP_ID);
sninfo("devid: %04x\n", devid);
if (devid != (uint16_t) DEVID)
{
/* ID is not Correct */
return -ENODEV;
}
return OK;
}
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