nuttx/drivers/sensors/bme680_uorb.c

/****************************************************************************
 * drivers/sensors/bme680_uorb.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 <nuttx/nuttx.h>

#include <stdio.h>
#include <stdlib.h>
#include <fixedmath.h>
#include <errno.h>
#include <debug.h>
#include <string.h>

#include <nuttx/kmalloc.h>
#include <nuttx/kthread.h>
#include <nuttx/signal.h>
#include <nuttx/fs/fs.h>
#include <nuttx/i2c/i2c_master.h>
#include <nuttx/sensors/bme680.h>
#include <nuttx/sensors/sensor.h>

#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_BME680)

/****************************************************************************
 * Pre-processor Definitions
 ****************************************************************************/

#define BME680_ADDR 0x76 /* I2C Slave Address */
#define BME680_FREQ CONFIG_BME680_I2C_FREQUENCY
#define BME680_DEVID 0x61

/* Sub-sensor definitions */

#ifdef CONFIG_BME680_DISABLE_PRESS_MEAS
#  define BME680_TEMP_IDX (0)
#else
#  define BME680_TEMP_IDX (-1)
#endif

#define BME680_TEMP_IDX_OFF BME680_TEMP_IDX

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
#  define BME680_PRESS_IDX (BME680_TEMP_IDX_OFF + (1))
#  define BME680_PRESS_IDX_OFF BME680_PRESS_IDX
#else
#  define BME680_PRESS_IDX (-1)
#  define BME680_PRESS_IDX_OFF BME680_TEMP_IDX_OFF
#endif

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
#  define BME680_HUM_IDX (BME680_PRESS_IDX_OFF + (1))
#  define BME680_HUM_IDX_OFF BME680_HUM_IDX
#else
#  define BME680_HUM_IDX (-1)
#  define BME680_HUM_IDX_OFF BME680_PRESS_IDX_OFF
#endif

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
#  define BME680_GAS_IDX (BME680_HUM_IDX_OFF + (1))
#  define BME680_GAS_IDX_OFF BME680_GAS_IDX
#else
#  define BME680_GAS_IDX (-1)
#  define BME680_GAS_IDX_OFF BME680_HUM_IDX_OFF
#endif

#define BME680_SENSORS_COUNT (BME680_GAS_IDX_OFF + (1))

/* Register addresses */

#define BME680_STATUS_REG_ADDR 0X73
#define BME680_RESET_REG_ADDR 0xE0
#define BME680_ID_REG_ADDR 0xD0

/* Registers controlling oversampling */

#define BME680_CTRL_HUM_ADDR 0x72
#define BME680_CTRL_MEAS_ADDR 0x74
#define BME680_CONFIG_REG_ADDR 0x75

/* Gas control register */
#define BME680_CTRL_GAS0 0x70
#define BME680_CTRL_GAS1 0x71

/* Data registers */

/* Pressure data */

#define BME680_PRESS_MSB 0x1F
#define BME680_PRESS_LSB 0x20
#define BME680_PRESS_XLSB 0x21

/* Temperature data */

#define BME680_TEMP_MSB 0x22
#define BME680_TEMP_LSB 0x23
#define BME680_TEMP_XLSB 0x24

/* Humidity data */

#define BME680_HUM_MSB 0x25
#define BME680_HUM_LSB 0x26

/* Gas sensor resistance data */

#define BME680_GAS_R_MSB 0x2A
#define BME680_GAS_R_LSB 0x2B

#define BME680_IDAC_HEAT_ADDR 0x50
#define BME680_RES_HEAT_ADDR 0x5A
#define BME680_GAS_WAIT_ADDR 0x64

/* Status registers */

#define BME680_MEAS_STAT0 0x1D

/* nbconv boundaries */

#define BME680_NBCONV_MIN (0)
#define BME680_NBCONV_MAX (9)

/* Power modes */

#define BME680_SLEEP_MODE (0x00)
#define BME680_FORCED_MODE (0x01)

/* Soft reset, same effect as a power-on reset */

#define BME680_SOFT_RESET (0xB6)

/* Start addresses for coefficient arrays */

#define BME680_COEFF_ADDR1 (0x89)
#define BME680_COEFF_ADDR2 (0xE1)

#define BME680_COEFF_SIZE (41)
#define BME680_COEFF_ADDR1_LEN (25)
#define BME680_COEFF_ADDR2_LEN (16)

/* Start address for measurements and status regs */

#define BME680_DATA_ADDR (0x1D)
#define BME680_DATA_LEN (15)

/* Gas coefficients */
#define BME680_RES_HEAT_RANGE_ADDR (0x02)
#define BME680_RES_HEAT_VAL_ADDR (0x00)
#define BME680_RANGE_SW_ERR_ADDR (0x04)

/* Array index for mapping calibration data */

#define BME680_T2_LSB_REG (1)
#define BME680_T2_MSB_REG (2)
#define BME680_T3_REG (3)
#define BME680_P1_LSB_REG (5)
#define BME680_P1_MSB_REG (6)
#define BME680_P2_LSB_REG (7)
#define BME680_P2_MSB_REG (8)
#define BME680_P3_REG (9)
#define BME680_P4_LSB_REG (11)
#define BME680_P4_MSB_REG (12)
#define BME680_P5_LSB_REG (13)
#define BME680_P5_MSB_REG (14)
#define BME680_P7_REG (15)
#define BME680_P6_REG (16)
#define BME680_P8_LSB_REG (19)
#define BME680_P8_MSB_REG (20)
#define BME680_P9_LSB_REG (21)
#define BME680_P9_MSB_REG (22)
#define BME680_P10_REG (23)
#define BME680_H2_MSB_REG (25)
#define BME680_H2_LSB_REG (26)
#define BME680_H1_LSB_REG (26)
#define BME680_H1_MSB_REG (27)
#define BME680_H3_REG (28)
#define BME680_H4_REG (29)
#define BME680_H5_REG (30)
#define BME680_H6_REG (31)
#define BME680_H7_REG (32)
#define BME680_T1_LSB_REG (33)
#define BME680_T1_MSB_REG (34)
#define BME680_GH2_LSB_REG (35)
#define BME680_GH2_MSB_REG (36)
#define BME680_GH1_REG (37)
#define BME680_GH3_REG (38)

/* Masks for register values */

#define BME680_GAS_MEAS_MSK (0x30)
#define BME680_NBCONV_MSK (0X0F)
#define BME680_FILTER_MSK (0X1C)
#define BME680_OST_MSK (0XE0)
#define BME680_OSP_MSK (0X1C)
#define BME680_OSH_MSK (0X07)
#define BME680_HCTRL_MSK (0x08)
#define BME680_RUN_GAS_MSK (0x10)
#define BME680_MODE_MSK (0x03)
#define BME680_RHRANGE_MSK (0x30)
#define BME680_RSERROR_MSK (0xF0)
#define BME680_NEW_DATA_MSK (0x80)
#define BME680_GAS_INDEX_MSK (0x0F)
#define BME680_GAS_RANGE_MSK (0x0F)
#define BME680_GASM_VALID_MSK (0x20)
#define BME680_HEAT_STAB_MSK (0x10)
#define BME680_MEM_PAGE_MSK (0x10)
#define BME680_BIT_H1_DATA_MSK (0x0F)

/* Bounds for tpg */

#define MIN_HOT_PLATE_TEMP (200) /* Celsius */
#define MAX_HOT_PLATE_TEMP (400) /* Celsius */

#define BME680_MAX_OVERFLOW_VAL (0x40000000ULL)

/* Possible gas range values */

const uint32_t const_array1_int[16] =
{
  2147483647, 2147483647, 2147483647, 2147483647,
  2147483647, 2126008810, 2147483647, 2130303777,
  2147483647, 2147483647, 2143188679, 2136746228,
  2147483647, 2126008810, 2147483647, 2147483647
};

const uint32_t const_array2_int[16] =
{
  4096000000, 2048000000, 1024000000, 512000000,
  255744255, 127110228, 64000000, 32258064, 16016016,
  8000000, 4000000, 2000000, 1000000, 500000,
  250000, 125000
};

const float const_array1[16] =
{
  1.0, 1.0, 1.0, 1.0, 1.0, 0.99, 1.0, 0.992, 1.0, 1.0,
  0.998, 0.995, 1.0, 0.99, 1.0, 1.0
};

const float const_array2[16] =
{
  8000000.0, 4000000.0, 2000000.0, 1000000.0, 499500.4995,
  248262.1648, 125000.0, 63004.03226, 31281.28128, 15625.0,
  7812.5, 3906.25, 1953.125, 976.5625, 488.28125, 244.140625
};

#define CHECK_OS_BOUNDS(type) \
  ((type) >= BME680_OS_SKIPPED && (type) <= BME680_OS_16X)

/****************************************************************************
 * Private Type Definitions
 ****************************************************************************/

struct bme680_data_s
{
  uint64_t timestamp;   /* Units is microseconds */
  float temperature;    /* Temperature in degrees Celsius */
  float pressure;       /* Pressure in millibar or hPa */
  float humidity;       /* Relative humidity in rH */
  float gas_resistance; /* Gas resistance in Ohm */
};

struct bme680_calib_s
{
  /* Temperature coefficients */

  uint16_t t1;
  int16_t t2;
  int8_t t3;

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  /* Pressure coefficients */

  uint16_t p1;
  int16_t p2;
  int8_t p3;
  int16_t p4;
  int16_t p5;
  int8_t p6;
  int8_t p7;
  int16_t p8;
  int16_t p9;
  uint8_t p10;
#endif /* !CONFIG_BME680_DISABLE_PRESS_MEAS */

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS

  /* Humidity coefficients */

  uint16_t h1;
  uint16_t h2;
  int8_t h3;
  int8_t h4;
  int8_t h5;
  uint8_t h6;
  int8_t h7;
#endif /* !CONFIG_BME680_DISABLE_PRESS_MEAS */

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  /* Gas heater coefficients */

  int8_t gh1;
  int16_t gh2;
  int8_t gh3;

  uint8_t res_heat_range; /* Heater resistance range */
  int8_t res_heat_val;    /* Heater resistance value */
  int8_t range_sw_err;    /* Error switching range */

#endif /* !CONFIG_BME680_DISABLE_GAS_MEAS */

  int32_t t_fine;
};

struct bme680_sensor_s
{
  /* Lowerhalfs for every sub-sensor */

  struct sensor_lowerhalf_s lower[BME680_SENSORS_COUNT];
  struct bme680_calib_s calib;   /* Calibration data */
  struct bme680_config_s config; /* Configuration data */
  bool calibrated;               /* Is the device set up? */
};

struct bme680_dev_s
{
  struct bme680_sensor_s dev;   /* Sensor private data */
  FAR struct i2c_master_s *i2c; /* I2C interface */
  mutex_t dev_lock;             /* Manages exclusive access to the device */
  sem_t run;                    /* Locks sensor thread */
  bool enabled;                 /* Enable/Disable BME680 */
};

typedef int (*push_data_func)(FAR struct bme680_dev_s *priv,
                              FAR struct bme680_data_s *data);

/****************************************************************************
 * Private Function Prototypes
 ****************************************************************************/

static uint8_t bme680_getreg8(FAR struct bme680_dev_s *priv,
                              uint8_t regaddr);
static int bme680_putreg8(FAR struct bme680_dev_s *priv, uint8_t regaddr,
                          uint8_t regval);
static int bme680_getregs(FAR struct bme680_dev_s *priv, uint8_t regaddr,
                          uint8_t *rxbuffer, uint8_t length);

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
static int bme680_push_press_data(FAR struct bme680_dev_s *priv,
                                  FAR struct bme680_data_s *data);
#else
static int bme680_push_temp_data(FAR struct bme680_dev_s *priv,
                                 FAR struct bme680_data_s *data);
#endif

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
static int bme680_push_hum_data(FAR struct bme680_dev_s *priv,
                                FAR struct bme680_data_s *data);
#endif

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
static int bme680_push_gas_data(FAR struct bme680_dev_s *priv,
                                FAR struct bme680_data_s *data);
#endif

/* Sensor methods */

static int bme680_activate(FAR struct sensor_lowerhalf_s *lower,
                           FAR struct file *filep,
                           bool enable);
static int bme680_calibrate(FAR struct sensor_lowerhalf_s *lower,
                            FAR struct file *filep,
                            unsigned long arg);
static int bme680_control(FAR struct sensor_lowerhalf_s *lower,
                          FAR struct file *filep,
                          int cmd, unsigned long arg);
/****************************************************************************
 * Private Data
 ****************************************************************************/

static const push_data_func deliver_data[BME680_SENSORS_COUNT] =
{
#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  bme680_push_press_data
#else
  bme680_push_temp_data
#endif

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
  , bme680_push_hum_data
#endif

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  , bme680_push_gas_data
#endif
};

static const struct sensor_ops_s g_sensor_ops =
{
  NULL,             /* open */
  NULL,             /* close */
  bme680_activate,  /* activate */
  NULL,             /* set_interval */
  NULL,             /* batch */
  NULL,             /* fetch */
  NULL,             /* selftest */
  NULL,             /* set_calibvalue */
  bme680_calibrate, /* calibrate */
  bme680_control    /* control */
};

/****************************************************************************
 * Private Functions
 ****************************************************************************/

/****************************************************************************
 * Name: bme680_getreg8
 *
 * Description:
 *   Read from an 8-bit BME680 register
 *
 ****************************************************************************/

static uint8_t bme680_getreg8(FAR struct bme680_dev_s *priv, uint8_t regaddr)
{
  struct i2c_msg_s msg[2];
  uint8_t regval = 0;
  int ret;

  msg[0].frequency = BME680_FREQ;
  msg[0].addr = BME680_ADDR;
  msg[0].flags = 0;
  msg[0].buffer = &regaddr;
  msg[0].length = 1;

  msg[1].frequency = BME680_FREQ;
  msg[1].addr = BME680_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 0;
    }

  return regval;
}

/****************************************************************************
 * Name: bme680_getregs
 *
 * Description:
 *   Read <length> bytes starting from a BME680 register addr
 *
 ****************************************************************************/

static int bme680_getregs(FAR struct bme680_dev_s *priv, uint8_t regaddr,
                          uint8_t *rxbuffer, uint8_t length)
{
  struct i2c_msg_s msg[2];
  int ret;

  msg[0].frequency = BME680_FREQ;
  msg[0].addr = BME680_ADDR;
  msg[0].flags = 0;
  msg[0].buffer = &regaddr;
  msg[0].length = 1;

  msg[1].frequency = BME680_FREQ;
  msg[1].addr = BME680_ADDR;
  msg[1].flags = I2C_M_READ;
  msg[1].buffer = rxbuffer;
  msg[1].length = length;

  ret = I2C_TRANSFER(priv->i2c, msg, 2);
  if (ret < 0)
    {
      snerr("I2C_TRANSFER failed: %d\n", ret);
      return -1;
    }

  return OK;
}

/****************************************************************************
 * Name: bme680_putreg8
 *
 * Description:
 *   Write to an 8-bit BME680 register
 *
 ****************************************************************************/

static int bme680_putreg8(FAR struct bme680_dev_s *priv, uint8_t regaddr,
                          uint8_t regval)
{
  struct i2c_msg_s msg[2];
  uint8_t txbuffer[2];
  int ret;

  txbuffer[0] = regaddr;
  txbuffer[1] = regval;

  msg[0].frequency = BME680_FREQ;
  msg[0].addr = BME680_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);
    }

  return ret;
}

/****************************************************************************
 * Name: bme680_checkid
 *
 * Description:
 *   Read and verify the BME680 chip ID
 *
 ****************************************************************************/

static int bme680_checkid(FAR struct bme680_dev_s *priv)
{
  uint8_t devid = 0;

  /* Read device ID */

  devid = bme680_getreg8(priv, BME680_ID_REG_ADDR);
  up_mdelay(1);
  sninfo("devid: 0x%02x\n", devid);

  if (devid != (uint8_t)BME680_DEVID)
    {
      /* ID is not Correct */

      snerr("Wrong Device ID! %02x\n", devid);
      return -ENODEV;
    }

  return OK;
}

/****************************************************************************
 * Name: bme680_get_calib_data
 *
 * Description:
 *   Read sensor-specific parameters and store them for later
 * use in computing the compensated values.
 *
 ****************************************************************************/

static int bme680_get_calib_data(FAR struct bme680_dev_s *priv)
{
  uint8_t coeff[BME680_COEFF_SIZE];
  uint8_t temp_val;
  int ret;

  /* Get first part of the calibration data. */

  ret = bme680_getregs(priv, BME680_COEFF_ADDR1, coeff,
                       BME680_COEFF_ADDR1_LEN);
  if (ret < 0)
    {
      return ret;
    }

  /* Concatenate the second part of the data to coeff */

  ret = bme680_getregs(priv, BME680_COEFF_ADDR2,
                       &coeff[BME680_COEFF_ADDR1_LEN],
                       BME680_COEFF_ADDR2_LEN);
  if (ret < 0)
    {
      return ret;
    }

  /* Get data */

  priv->dev.calib.t1 = coeff[BME680_T1_MSB_REG] << 8
                      | coeff[BME680_T1_LSB_REG];
  priv->dev.calib.t2 = coeff[BME680_T2_MSB_REG] << 8
                      | coeff[BME680_T2_LSB_REG];
  priv->dev.calib.t3 = coeff[BME680_T3_REG];

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  priv->dev.calib.p1 = coeff[BME680_P1_MSB_REG] << 8
                      | coeff[BME680_P1_LSB_REG];
  priv->dev.calib.p2 = coeff[BME680_P2_MSB_REG] << 8
                      | coeff[BME680_P2_LSB_REG];
  priv->dev.calib.p3 = coeff[BME680_P3_REG];
  priv->dev.calib.p4 = coeff[BME680_P4_MSB_REG] << 8
                      | coeff[BME680_P4_LSB_REG];
  priv->dev.calib.p5 = coeff[BME680_P5_MSB_REG] << 8
                      | coeff[BME680_P5_LSB_REG];
  priv->dev.calib.p6 = coeff[BME680_P6_REG];
  priv->dev.calib.p7 = coeff[BME680_P7_REG];
  priv->dev.calib.p8 = coeff[BME680_P8_MSB_REG] << 8
                      | coeff[BME680_P8_LSB_REG];
  priv->dev.calib.p9 = coeff[BME680_P9_MSB_REG] << 8
                      | coeff[BME680_P9_LSB_REG];
  priv->dev.calib.p10 = coeff[BME680_P10_REG];
#endif /* !CONFIG_BME680_DISABLE_PRESS_MEAS */

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
  priv->dev.calib.h1 = (uint16_t)(((uint16_t)coeff[BME680_H1_MSB_REG] << 4)
                      | (coeff[BME680_H1_LSB_REG] & BME680_BIT_H1_DATA_MSK));
  priv->dev.calib.h2 = (uint16_t)(((uint16_t)coeff[BME680_H2_MSB_REG] << 4)
                      | ((coeff[BME680_H2_LSB_REG]) >> 4));
  priv->dev.calib.h3 = coeff[BME680_H3_REG];
  priv->dev.calib.h4 = coeff[BME680_H4_REG];
  priv->dev.calib.h5 = coeff[BME680_H5_REG];
  priv->dev.calib.h6 = coeff[BME680_H6_REG];
  priv->dev.calib.h7 = coeff[BME680_H7_REG];
#endif /* !CONFIG_BME680_DISABLE_HUM_MEAS */

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS

  /* Gas-related coefficients */

  priv->dev.calib.gh1 = coeff[BME680_GH1_REG];
  priv->dev.calib.gh2 = coeff[BME680_GH2_MSB_REG] << 8
                      | coeff[BME680_GH2_LSB_REG];
  priv->dev.calib.gh3 = coeff[BME680_GH3_REG];

  ret = bme680_getregs(priv, BME680_RES_HEAT_RANGE_ADDR, &temp_val, 1);
  if (ret < 0)
    {
      return ret;
    }

  priv->dev.calib.res_heat_range = ((temp_val & BME680_RHRANGE_MSK)) / 16;

  ret = bme680_getregs(priv, BME680_RES_HEAT_VAL_ADDR, &temp_val, 1);
  if (ret < 0)
    {
      return ret;
    }

  priv->dev.calib.res_heat_val = (int8_t)temp_val;

  ret = bme680_getregs(priv, BME680_RANGE_SW_ERR_ADDR, &temp_val, 1);
  if (ret < 0)
    {
      return ret;
    }

  priv->dev.calib.range_sw_err = ((int8_t)temp_val
                                 & (int8_t)BME680_RSERROR_MSK) / 16;

#endif /* !CONFIG_BME680_DISABLE_GAS_MEAS */

  return ret;
}

/****************************************************************************
 * Name: bme680_set_mode
 *
 * Description:
 *   Set sensor mode and wait for it to change accordingly.
 *
 ****************************************************************************/

static int bme680_set_mode(FAR struct bme680_dev_s *priv, uint8_t mode)
{
  int ret;
  uint8_t power_mode;
  uint8_t regval;

  /* Get current sensor mode */

  ret = bme680_getregs(priv, BME680_CTRL_MEAS_ADDR, &regval, 1);

  if (ret < 0)
    {
      return ret;
    }

  power_mode = regval & BME680_MODE_MSK;

  if (power_mode != mode)
    {
      regval &= (uint8_t)(~BME680_MODE_MSK);
      regval |= (mode & BME680_MODE_MSK);

      ret = bme680_putreg8(priv, BME680_CTRL_MEAS_ADDR, regval);

      if (ret < 0)
        {
          return ret;
        }

      ret = bme680_getregs(priv, BME680_CTRL_MEAS_ADDR, &regval, 1);

      /* Check if the mode has changed and wait if it hasn't */

      while ((regval & BME680_MODE_MSK) != mode)
        {
          up_mdelay(100);
          ret = bme680_getregs(priv, BME680_CTRL_MEAS_ADDR, &regval, 1);
        }
    }

  return OK;
}

/****************************************************************************
 * Name: bme680_set_oversamp
 *
 * Description:
 *   Set temperature, pressure and humidity oversampling.
 *
 ****************************************************************************/

static int bme680_set_oversamp(FAR struct bme680_dev_s *priv)
{
  struct bme680_config_s config = priv->dev.config;

  int ret;
  uint8_t regval;

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
  /* Set humidity oversampling */

  regval = config.hum_os & BME680_OSH_MSK;
  ret = bme680_putreg8(priv, BME680_CTRL_HUM_ADDR, regval);
#endif

  /* Set temperature and pressure oversampling */

  regval = 0;
  ret = bme680_getregs(priv, BME680_CTRL_MEAS_ADDR, &regval, 1);

  if (ret < 0)
    {
      return ret;
    }

  regval &= BME680_MODE_MSK;
  regval |= ((config.temp_os << 5) & BME680_OST_MSK);

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  regval |= ((config.press_os << 2) & BME680_OSP_MSK);
#endif

  ret = bme680_putreg8(priv, BME680_CTRL_MEAS_ADDR, regval);

  if (ret < 0)
    {
      return ret;
    }

  return OK;
}

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
static int bme680_push_press_data(FAR struct bme680_dev_s *priv,
                                  FAR struct bme680_data_s *data)
{
  struct sensor_baro press_data;
  int ret;

  struct sensor_lowerhalf_s lower = priv->dev.lower[BME680_PRESS_IDX];

  press_data.timestamp = data->timestamp;
  press_data.temperature = data->temperature;
  press_data.pressure = data->pressure / 100.f;

  ret = lower.push_event(lower.priv, &press_data,
                         sizeof(struct sensor_baro));

  if (ret < 0)
    {
      snerr("Pushing baro data failed\n");
      return ret;
    }

  return OK;
}
#else
static int bme680_push_temp_data(FAR struct bme680_dev_s *priv,
                                 FAR struct bme680_data_s *data)
{
  struct sensor_temp temp_data;
  int ret;

  struct sensor_lowerhalf_s lower = priv->dev.lower[BME680_TEMP_IDX];

  temp_data.timestamp = data->timestamp;
  temp_data.temperature = data->temperature;

  ret = lower.push_event(lower.priv, &temp_data, sizeof(struct sensor_temp));

  if (ret < 0)
    {
      snerr("Pushing temperature data failed\n");
      return ret;
    }

  return OK;
}
#endif /* !CONFIG_BME680_DISABLE_PRESS_MEAS */

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
static int bme680_push_hum_data(FAR struct bme680_dev_s *priv,
                                FAR struct bme680_data_s *data)
{
  struct sensor_humi hum_data;
  int ret;

  struct sensor_lowerhalf_s lower = priv->dev.lower[BME680_HUM_IDX];

  hum_data.timestamp = data->timestamp;
  hum_data.humidity = data->humidity;

  ret = lower.push_event(lower.priv, &hum_data, sizeof(struct sensor_humi));

  if (ret < 0)
    {
      snerr("Pushing humidity data failed\n");
      return ret;
    }

  return OK;
}
#endif /* !CONFIG_BME680_DISABLE_HUM_MEAS */

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
static int bme680_push_gas_data(FAR struct bme680_dev_s *priv,
                                FAR struct bme680_data_s *data)
{
  struct sensor_gas gas_data;
  int ret;

  struct sensor_lowerhalf_s lower = priv->dev.lower[BME680_GAS_IDX];

  gas_data.timestamp = data->timestamp;
  gas_data.gas_resistance = data->gas_resistance / 1000.f;

  ret = lower.push_event(lower.priv, &gas_data, sizeof(struct sensor_gas));

  if (ret < 0)
    {
      snerr("Pushing gas data failed\n");
      return ret;
    }

  return OK;
}

/****************************************************************************
 * Name: calc_heater_res
 *
 * Description:
 *   Compute the heater resistance using the target temperature.
 *
 ****************************************************************************/

static uint8_t calc_heater_res(FAR const struct bme680_dev_s *priv)
{
  uint8_t res_heat;
  int32_t var1;
  int32_t var2;
  int32_t var3;
  int32_t var4;
  int32_t var5;
  int32_t res_heat_x100;

  int16_t temp;
  int16_t amb_temp;

  struct bme680_sensor_s dev = priv->dev;

  temp = dev.config.target_temp;

  if (temp > 400)
    {
      temp = 400;
    }

  amb_temp = dev.config.amb_temp;

  var1 = (((int32_t)amb_temp * dev.calib.gh3) / 10) * 256;
  var2 = (dev.calib.gh1 + 784) * (((((dev.calib.gh2 + 154009)
        * temp * 5) / 100) + 3276800) / 10);
  var3 = var1 + (var2 / 2);
  var4 = (var3 / (dev.calib.res_heat_range + 4));
  var5 = (131 * dev.calib.res_heat_val) + 65536;
  res_heat_x100 = (int32_t)(((var4 / var5) - 250) * 34);
  res_heat = (uint8_t)((res_heat_x100 + 50) / 100);

  return res_heat;
}

/****************************************************************************
 * Name: calc_heater_dur
 *
 * Description:
 *   Compute the heater duration to be written to heat_dur register.
 *
 ****************************************************************************/

static uint8_t calc_heater_dur(FAR const struct bme680_dev_s *priv)
{
  uint16_t heat_dur = priv->dev.config.heater_duration;
  uint8_t gas_wait_val;
  uint8_t factor;

  /* Max value of duration is 4032 ms */

  if (heat_dur > 0xfc0)
    {
      heat_dur = 0xfc0;
    }

  /* Compute multiplication factor */

  factor = 0;

  while (heat_dur > 0x3f)
    {
      heat_dur = heat_dur / 4;
      factor++;
    }

  gas_wait_val = (factor << 6) | heat_dur;

  return gas_wait_val;
}

static int bme680_set_gas_config(FAR struct bme680_dev_s *priv)
{
  int ret;
  uint8_t heat_res;
  uint8_t heat_dur;
  uint8_t run_gas;
  uint8_t regval;
  uint8_t nb_conv = priv->dev.config.nb_conv;

  /* Set heater resistance */

  heat_res = calc_heater_res(priv);

  ret = bme680_putreg8(priv, (BME680_RES_HEAT_ADDR + nb_conv), heat_res);

  if (ret < 0)
    {
      return ret;
    }

  /* Set heater duration */

  heat_dur = calc_heater_dur(priv);

  ret = bme680_putreg8(priv, (BME680_GAS_WAIT_ADDR + nb_conv), heat_dur);

  if (ret < 0)
    {
      return ret;
    }

  /* Set nbconv and run_gas */

  run_gas = priv->dev.config.target_temp ? 1 : 0;
  regval = (run_gas << 4) | nb_conv;

  ret = bme680_putreg8(priv, BME680_CTRL_GAS1, regval);

  if (ret < 0)
    {
      return ret;
    }

  return OK;
}
#endif /* !CONFIG_BME680_DISABLE_GAS_MEAS */

/****************************************************************************
 * Name: bme680_write_config
 *
 * Description:
 *   Write the configuration of the sensor into its registers
 * (oversampling, heater temp, heater duration, etc).
 *
 ****************************************************************************/

static int bme680_write_config(FAR struct bme680_dev_s *priv)
{
  int ret;

#ifdef CONFIG_BME680_ENABLE_IIR_FILTER
  uint8_t regval;
#endif /* CONFIG_BME680_ENABLE_IIR_FILTER */

  nxmutex_lock(&priv->dev_lock);

  /* Before anything is written, make sure it is in sleep mode */

  ret = bme680_set_mode(priv, BME680_SLEEP_MODE);

  if (ret < 0)
    {
      goto err_out;
    }

  /* Set oversampling */

  ret = bme680_set_oversamp(priv);

  if (ret < 0)
    {
      goto err_out;
    }

#ifdef CONFIG_BME680_ENABLE_IIR_FILTER
  /* Set filter */

  regval = priv->dev.config.filter_coef << 2;
  ret = bme680_putreg8(priv, BME680_CONFIG_REG_ADDR, regval);

  if (ret < 0)
    {
      goto err_out;
    }
#endif /* CONFIG_ENABLE_IIR_FILTER */

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  /* Set gas configs */

  ret = bme680_set_gas_config(priv);

  if (ret < 0)
    {
      goto err_out;
    }
#endif /* !CONFIG_BME680_DISABLE_GAS_MEAS */

  nxmutex_unlock(&priv->dev_lock);
  return OK;

err_out:
  snerr("Failed to calibrate sensor.\n");
  nxmutex_unlock(&priv->dev_lock);
  return ret;
}

static float bme680_comp_temp(FAR struct bme680_dev_s *priv,
                              uint32_t adc_temp)
{
  float var1 = 0.0f;
  float var2 = 0.0f;
  float calc_temp = 0.0f;

  struct bme680_sensor_s dev = priv->dev;

  var1 = ((((float)adc_temp / 16384.0f) - ((float)dev.calib.t1 / 1024.0f))
       * ((float)dev.calib.t2));

  var2 = (((((float)adc_temp / 131072.0f) - ((float)dev.calib.t1 / 8192.0f))
        * (((float)adc_temp / 131072.0f) - ((float)dev.calib.t1 / 8192.0f)))
        * ((float)dev.calib.t3 * 16.0f));

  priv->dev.calib.t_fine = (var1 + var2);

  /* Compensated temperature data */

  calc_temp = (priv->dev.calib.t_fine) / 5120.0f;

  return calc_temp;
}

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
static float bme680_comp_press(FAR struct bme680_dev_s *priv,
                               uint32_t adc_press)
{
  float var1 = 0.0f;
  float var2 = 0.0f;
  float var3 = 0.0f;
  float calc_pres = 0.0f;

  struct bme680_sensor_s dev = priv->dev;

  var1 = (((float)dev.calib.t_fine / 2.0f) - 64000.0f);
  var2 = var1 * var1 * (((float)dev.calib.p6) / (131072.0f));
  var2 = var2 + (var1 * ((float)dev.calib.p5) * 2.0f);
  var2 = (var2 / 4.0f) + (((float)dev.calib.p4) * 65536.0f);
  var1 = (((((float)dev.calib.p3 * var1 * var1) / 16384.0f)
        + ((float)dev.calib.p2 * var1)) / 524288.0f);
  var1 = ((1.0f + (var1 / 32768.0f)) * ((float)dev.calib.p1));
  calc_pres = (1048576.0f - ((float)adc_press));

  /* Avoid exception caused by division by zero */

  if ((int)var1 != 0)
    {
      calc_pres = (((calc_pres - (var2 / 4096.0f)) * 6250.0f) / var1);
      var1 = (((float)dev.calib.p9) * calc_pres * calc_pres) / 2147483648.0f;
      var2 = calc_pres * (((float)dev.calib.p8) / 32768.0f);
      var3 = ((calc_pres / 256.0f) * (calc_pres / 256.0f)
          * (calc_pres / 256.0f) * (dev.calib.p10 / 131072.0f));
      calc_pres = (calc_pres + (var1 + var2 + var3
          + ((float)dev.calib.p7 * 128.0f)) / 16.0f);
    }

  return calc_pres;
}
#endif /* !CONFIG_BME680_DISABLE_PRESS_MEAS */

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
static float bme680_comp_hum(FAR struct bme680_dev_s *priv,
                             uint16_t adc_hum)
{
  float calc_hum = 0.0f;
  float var1 = 0.0f;
  float var2 = 0.0f;
  float var3 = 0.0f;
  float var4 = 0.0f;
  float temp_comp;

  struct bme680_sensor_s dev = priv->dev;

  /* Compensated temperature data */

  temp_comp = ((dev.calib.t_fine) / 5120.0f);

  var1 = (float)((float)adc_hum) - (((float)dev.calib.h1 * 16.0f)
      + (((float)dev.calib.h3 / 2.0f) * temp_comp));

  var2 = var1 * ((float)(((float)dev.calib.h2 / 262144.0f)
      * (1.0f + (((float)dev.calib.h4 / 16384.0f) * temp_comp)
      + (((float)dev.calib.h5 / 1048576.0f) * temp_comp * temp_comp))));

  var3 = (float)dev.calib.h6 / 16384.0f;

  var4 = (float)dev.calib.h7 / 2097152.0f;

  calc_hum = var2 + ((var3 + (var4 * temp_comp)) * var2 * var2);

  if (calc_hum > 100.0f)
    {
      calc_hum = 100.0f;
    }
  else if (calc_hum < 0.0f)
    {
      calc_hum = 0.0f;
    }

  return calc_hum;
}
#endif /* !CONFIG_BME680_DISABLE_HUM_MEAS */

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
static float bme680_calc_gas_res(FAR struct bme680_dev_s *priv,
                                 uint16_t adc_gas_res, uint8_t gas_range)
{
  float calc_gas_res;
  float var1 = 0.0f;

  struct bme680_sensor_s dev = priv->dev;

  var1 = (1340.0f + (5.0f * dev.calib.range_sw_err))
        * const_array1[gas_range];
  calc_gas_res = var1 * const_array2[gas_range]
        / (adc_gas_res - 512.0f + var1);

  return calc_gas_res;
}
#endif /* !CONFIG_BME680_DISABLE_GAS_MEAS */

/****************************************************************************
 * Name: bme680_read_measurements
 *
 * Description:
 *   Reads the raw data from the sensor and computes the compensated
 * values, storing them in the data struct.
 *
 ****************************************************************************/

static int bme680_read_measurements(FAR struct bme680_dev_s *priv,
                                    FAR struct bme680_data_s *data)
{
  uint8_t status;
  uint32_t adc_temp;

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  uint32_t adc_press;
#endif /* !CONFIG_BME680_DISABLE_PRESS_MEAS */

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
  uint16_t adc_hum;
#endif /* !CONFIG_BME680_DISABLE_HUM_MEAS */

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  uint16_t adc_gas_res;
  uint8_t gas_range;
  uint8_t gas_valid;
  uint8_t heat_stab;
#endif /* !CONFIG_BME680_DISABLE_GAS_MEAS */

  int ret;

  uint8_t data_regs[BME680_DATA_LEN];

  ret = bme680_getregs(priv, BME680_DATA_ADDR, data_regs, BME680_DATA_LEN);

  if (ret < 0)
    {
      snerr("Failed to read data registers.\n");
      return ret;
    }

  status = data_regs[0] & BME680_NEW_DATA_MSK;

  /* No new data, return */

  if (!status)
    {
      sninfo("No new data\n");
      return -ENODATA;
    }

  adc_temp = (uint32_t)(((uint32_t)data_regs[5] << 12)
          | ((uint32_t)data_regs[6] << 4)
          | ((uint32_t)data_regs[7] >> 4));

  data->temperature = bme680_comp_temp(priv, adc_temp);

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  adc_press = (uint32_t)(((uint32_t)data_regs[2] << 12)
          | ((uint32_t)data_regs[3] << 4)
          | ((uint32_t)data_regs[4] >> 4));

  data->pressure = bme680_comp_press(priv, adc_press);
#endif /* !CONFIG_BME680_DISABLE_PRESS_MEAS */

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
  adc_hum = (uint16_t)(((uint32_t)data_regs[8] << 8)
          | (uint32_t)data_regs[9]);

  data->humidity = bme680_comp_hum(priv, adc_hum);
#endif /* !CONFIG_BME680_DISABLE_HUM_MEAS */

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  adc_gas_res = (uint16_t)((uint32_t)data_regs[13] << 2
        | (((uint32_t)data_regs[14]) >> 6));
  gas_range = data_regs[14] & BME680_GAS_RANGE_MSK;

  /* Is measured gas valid? */

  gas_valid = data_regs[14] & BME680_GASM_VALID_MSK;

  if (!gas_valid)
    {
      sninfo("Invalid gas measurement.\n");
      return -1;
    }

  heat_stab = data_regs[14] & BME680_HEAT_STAB_MSK;

  if (!heat_stab)
    {
      sninfo("The heater did not stabilize.\n");
      return -1;
    }

  priv->dev.config.amb_temp = data->temperature; /* Update ambient temp */

  data->gas_resistance = bme680_calc_gas_res(priv, adc_gas_res, gas_range);
#endif /* !CONFIG_BME680_DISABLE_GAS_MEAS */

  return OK;
}

/****************************************************************************
 * Name: bme680_get_tphg_dur
 *
 * Description:
 *   Compute the duration of a tphg cycle in us, taking into consideration
 * the settings of the sensor.
 *
 ****************************************************************************/

static uint16_t bme680_get_tphg_dur(FAR struct bme680_dev_s *priv)
{
  uint32_t tph_dur; /* Calculate in us */
  uint32_t meas_cycles;
  uint16_t duration;
  uint8_t os_to_meas_cycles[6] =
  {
    0, 1, 2, 4, 8, 16
  };

  meas_cycles = os_to_meas_cycles[priv->dev.config.temp_os];

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  meas_cycles += os_to_meas_cycles[priv->dev.config.press_os];
#endif

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
  meas_cycles += os_to_meas_cycles[priv->dev.config.hum_os];
#endif

  /* TPH measurement duration */

  tph_dur = meas_cycles * 1963;
  tph_dur += 477 * 4; /* TPH switching duration */

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  tph_dur += 477 * 5; /* Gas measurement duration */
#endif

  tph_dur += 500;
  tph_dur /= 1000; /* Convert to ms */

  tph_dur += 1; /* Wake up duration of 1ms */

  duration = (uint16_t)tph_dur;

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  /* The remaining time should be used for heating */

  duration += priv->dev.config.heater_duration;
#endif

  return duration;
}

static int bme680_activate(FAR struct sensor_lowerhalf_s *lower,
                           FAR struct file *filep, bool enable)
{
  int offset;
  FAR struct bme680_sensor_s *dev;
  FAR struct bme680_dev_s *priv;

  /* Get offset inside array of lowerhalfs */

  switch (lower->type)
    {
      case SENSOR_TYPE_AMBIENT_TEMPERATURE:
        offset = BME680_TEMP_IDX;
        break;

      case SENSOR_TYPE_BAROMETER:
        offset = BME680_PRESS_IDX;
        break;

      case SENSOR_TYPE_RELATIVE_HUMIDITY:
        offset = BME680_HUM_IDX;
        break;

      case SENSOR_TYPE_GAS:
        offset = BME680_GAS_IDX;
        break;

      default:
        offset = 0;
        break;
    }

  dev = (FAR struct bme680_sensor_s *)
        ((uintptr_t)lower - offset * sizeof(*lower));

  priv = container_of(dev, FAR struct bme680_dev_s, dev);

  /* Wake the thread only once (the activate method will be called
   *  multiple times for the bme680 sub-sensors)
   */

  if (!priv->enabled && enable)
    {
      dev->calibrated = false;
      priv->enabled = enable;

      /* Wake up the polling thread */

      nxsem_post(&priv->run);

      return OK;
    }

  priv->enabled = enable;

  return OK;
}

static int bme680_calibrate(FAR struct sensor_lowerhalf_s *lower,
                            FAR struct file *filep, unsigned long arg)
{
  int offset;
  FAR struct bme680_sensor_s *dev;
  FAR struct bme680_dev_s *priv;
  FAR struct bme680_config_s *calibval = (FAR struct bme680_config_s *)arg;
  int ret;

  /* Get offset inside array of lowerhalfs */

  switch (lower->type)
    {
      case SENSOR_TYPE_AMBIENT_TEMPERATURE:
        offset = BME680_TEMP_IDX;
        break;

      case SENSOR_TYPE_BAROMETER:
        offset = BME680_PRESS_IDX;
        break;

      case SENSOR_TYPE_RELATIVE_HUMIDITY:
        offset = BME680_HUM_IDX;
        break;

      case SENSOR_TYPE_GAS:
        offset = BME680_GAS_IDX;
        break;

      default:
        offset = 0;
        break;
    }

  dev = (FAR struct bme680_sensor_s *)
        ((uintptr_t)lower - offset * sizeof(*lower));

  priv = container_of(dev, FAR struct bme680_dev_s, dev);

  /* Sanity checks */

  if (!CHECK_OS_BOUNDS(calibval->temp_os))
    {
      return -EINVAL;
    }

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  if (!CHECK_OS_BOUNDS(calibval->press_os))
    {
      return -EINVAL;
    }
#endif

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
  if (!CHECK_OS_BOUNDS(calibval->hum_os))
    {
      return -EINVAL;
    }
#endif

#ifdef CONFIG_BME680_ENABLE_IIR_FILTER
  if (calibval->filter_coef < BME680_FILTER_COEF0 ||
      calibval->filter_coef > BME680_FILTER_COEF127)
    {
      return -EINVAL;
    }
#endif

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  if (calibval->target_temp < MIN_HOT_PLATE_TEMP ||
      calibval->target_temp > MAX_HOT_PLATE_TEMP)
    {
      return -EINVAL;
    }

  if (calibval->nb_conv > 9)
    {
      return -EINVAL;
    }
#endif

  /* Update config in priv */

  memcpy(&priv->dev.config, calibval, sizeof(struct bme680_config_s));

  ret = bme680_write_config(priv);

  if (ret < 0)
    {
      snerr("Failed to calibrate sensor.\n");
      return ret;
    }

  priv->dev.calibrated = true;

  return ret;
}

static int bme680_control(FAR struct sensor_lowerhalf_s *lower,
                          FAR struct file *filep,
                          int cmd, unsigned long arg)
{
  FAR struct bme680_sensor_s *dev = container_of(lower,
                                                 FAR struct bme680_sensor_s,
                                                 lower);
  FAR struct bme680_dev_s *priv = container_of(dev,
                                               FAR struct bme680_dev_s,
                                               dev);
  int ret;

  switch (cmd)
    {
      case SNIOC_RESET:
        {
          /* Perform Soft Reset */

          uint8_t regval = 0xb6;
          ret = bme680_putreg8(priv, BME680_RESET_REG_ADDR, regval);

          if (ret < 0)
            {
              return ret;
            }

          /* Wait for the device to reset */

          up_mdelay(100);
        }
        break;

      default:
        break;
    }

  return OK;
}

static int bme680_thread(int argc, char **argv)
{
  FAR struct bme680_dev_s *priv =
    (FAR struct bme680_dev_s *)((uintptr_t)strtoul(argv[1], NULL, 16));
  struct bme680_data_s data;
  int ret;

  while (true)
    {
      int sensor;

      if (!priv->enabled)
        {
          /* Wait for the sensor to be enabled */

          nxsem_wait(&priv->run);
        }

      /* No measurements are done unless the sensor is calibrated */

      if (!priv->dev.calibrated)
        {
          sninfo("The sensor is not calibrated!\n");
          goto thread_sleep;
        }

      /* Trigger a measurement */

      ret = bme680_set_mode(priv, BME680_FORCED_MODE);

      /* Wait for the TPHG cycle to complete */

      uint16_t cycle_duration = bme680_get_tphg_dur(priv);

      up_mdelay(cycle_duration);

      ret = bme680_read_measurements(priv, &data);

      if (ret < 0)
        {
          goto thread_sleep;
        }

      data.timestamp = sensor_get_timestamp();

      for (sensor = 0; sensor < BME680_SENSORS_COUNT; sensor++)
        {
          deliver_data[sensor](priv, &data);
        }

    thread_sleep:
      nxsig_usleep(CONFIG_SENSORS_BME680_POLL_INTERVAL);
    }

  return OK;
}

/****************************************************************************
 * Public Functions
 ****************************************************************************/

/****************************************************************************
 * Name: bme680_register
 *
 * Description:
 *   Register the BME680 character device
 *   @devno - The user-specified device number, starting from 0
 *   @i2c   - An instance of the I2C interface to use to communicate with
 *           BME680
 *
 * Return value:
 *   Zero (OK) on success; a negated errno value on failure
 ****************************************************************************/

int bme680_register(int devno, FAR struct i2c_master_s *i2c)
{
  FAR struct sensor_lowerhalf_s *lower;
  FAR struct bme680_dev_s *priv;
  FAR char *argv[2];
  char arg1[32];
  int ret = OK;
  int i;

  DEBUGASSERT(i2c != NULL);

  /* Initialize the BME680 device structure */

  priv = kmm_zalloc(sizeof(struct bme680_dev_s));
  if (priv == NULL)
    {
      snerr("ERROR: Failed to allocate instance (err = %d)\n", ret);
      return -ENOMEM;
    }

  priv->i2c = i2c;
  priv->enabled = false;
  nxmutex_init(&priv->dev_lock);
  nxsem_init(&priv->run, 0, 0);

  /* Check Device ID */

  ret = bme680_checkid(priv);
  if (ret < 0)
    {
      snerr("ERROR: Wrong device ID!\n");
      goto err_init;
    }

  /* Get Calibration Data */

  ret = bme680_get_calib_data(priv);

  if (ret < 0)
    {
      snerr("Failed to read calib data from bme680:%d\n", ret);
      goto err_init;
    }

#ifndef CONFIG_BME680_DISABLE_PRESS_MEAS
  /* Register the barometer driver */

  lower = &priv->dev.lower[BME680_PRESS_IDX];
  lower->ops = &g_sensor_ops;
  lower->type = SENSOR_TYPE_BAROMETER;

  ret = sensor_register(lower, devno);
  if (ret < 0)
    {
      snerr("ERROR: Failed to register barometer driver (err = %d)\n",
            ret);
      goto err_init;
    }
#else
  /* Register the temperature driver */

  lower = &priv->dev.lower[BME680_TEMP_IDX];
  lower->ops = &g_sensor_ops;
  lower->type = SENSOR_TYPE_AMBIENT_TEMPERATURE;

  ret = sensor_register(lower, devno);
  if (ret < 0)
    {
      snerr("ERROR: Failed to register temperature driver (err = %d)\n",
            ret);
      goto err_init;
    }
#endif

#ifndef CONFIG_BME680_DISABLE_HUM_MEAS
  /* Register the humidity driver */

  lower = &priv->dev.lower[BME680_HUM_IDX];
  lower->ops = &g_sensor_ops;
  lower->type = SENSOR_TYPE_RELATIVE_HUMIDITY;

  ret = sensor_register(lower, devno);
  if (ret < 0)
    {
      snerr("ERROR: Failed to register humidity driver (err = %d)\n",
            ret);
      goto err_init;
    }
#endif

#ifndef CONFIG_BME680_DISABLE_GAS_MEAS
  /* Register the gas driver */

  lower = &priv->dev.lower[BME680_GAS_IDX];
  lower->ops = &g_sensor_ops;
  lower->type = SENSOR_TYPE_GAS;

  ret = sensor_register(lower, devno);
  if (ret < 0)
    {
      snerr("ERROR: Failed to register gas driver (err = %d)\n",
            ret);
      goto err_init;
    }
#endif

  /* Create thread for polling sensor data */

  snprintf(arg1, 16, "%p", priv);
  argv[0] = arg1;
  argv[1] = NULL;
  ret = kthread_create("bme680_thread", SCHED_PRIORITY_DEFAULT,
                       CONFIG_SENSORS_BME680_THREAD_STACKSIZE,
                       bme680_thread, argv);
  if (ret < 0)
    {
      snerr("ERROR: Failed to create poll thread (err = %d)\n", ret);
      goto err_register;
    }

  sninfo("BME680 driver loaded successfully!\n");
  return OK;

err_register:
  for (i = 0; i < BME680_SENSORS_COUNT; i++)
    {
      sensor_unregister(&priv->dev.lower[i], devno);
    }

err_init:
  nxsem_destroy(&priv->run);
  nxmutex_destroy(&priv->dev_lock);
  kmm_free(priv);
  return ret;
}

#endif /* CONFIG_I2C && CONFIG_SENSORS_BME680 */