drivers/sensors: add BMI270 IMU support

drivers/sensors/Kconfig

@@ -182,6 +182,35 @@ config BMI160_I2C_ADDR_69
 endchoice
 endif
 
+config SENSORS_BMI270
+	bool "Bosch BMI270 Inertial Measurement Sensor support"
+	default n
+	---help---
+		Enable driver support for the Bosch BMI270 Inertial
+		Measurement sensor
+
+if SENSORS_BMI270
+
+choice
+	prompt "BMI270 Interface"
+	default SENSORS_BMI270_SPI
+
+config SENSORS_BMI270_I2C
+	bool "BMI270 I2C Interface"
+	select I2C
+	---help---
+		Enables support for the I2C interface
+
+config SENSORS_BMI270_SPI
+	bool "BMI270 SPI Interface"
+	select SPI
+	---help---
+		Enables support for the SPI interface
+
+endchoice
+
+endif
+
 config SENSORS_BMP180
 	bool "Bosch BMP180 Barometer Sensor support"
 	default n

drivers/sensors/Make.defs

@@ -132,6 +132,10 @@ ifeq ($(CONFIG_SENSORS_BMI160),y)
   CSRCS += bmi160.c
 endif
 
+ifeq ($(CONFIG_SENSORS_BMI270),y)
+  CSRCS += bmi270.c
+endif
+
 ifeq ($(CONFIG_SENSORS_BMP180),y)
   CSRCS += bmp180.c
 endif

include/nuttx/sensors/bmi270.h

@@ -0,0 +1,103 @@
+/****************************************************************************
+ * include/nuttx/sensors/bmi270.h
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_BMI270_H
+#define __INCLUDE_NUTTX_SENSORS_BMI270_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/compiler.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * struct 6-axis data
+ ****************************************************************************/
+
+struct accel_t
+{
+  int16_t x;
+  int16_t y;
+  int16_t z;
+};
+
+struct gyro_t
+{
+  int16_t x;
+  int16_t y;
+  int16_t z;
+};
+
+struct accel_gyro_st_s
+{
+  struct gyro_t  gyro;
+  struct accel_t accel;
+  uint32_t sensor_time;
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: bmi270_register
+ *
+ * Description:
+ *   Register the BMI270 character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/accel0"
+ *   dev     - An instance of the SPI or I2C interface to use to communicate
+ *             with BMI270
+ *   addr    - (I2C only) I2C address
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SENSORS_BMI270_I2C
+struct i2c_master_s;
+int bmi270_register(FAR const char *devpath, FAR struct i2c_master_s *dev,
+                    uint8_t addr);
+#else /* CONFIG_BMI270_SPI */
+struct spi_dev_s;
+int bmi270_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
+#endif
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INCLUDE_NUTTX_SENSORS_BMI270_H */

include/nuttx/spi/spi.h

@@ -475,6 +475,7 @@
 #define SPIDEV_LPWAN(n)         SPIDEV_ID(SPIDEVTYPE_LPWAN,         (n))
 #define SPIDEV_ADC(n)           SPIDEV_ID(SPIDEVTYPE_ADC,           (n))
 #define SPIDEV_MOTOR(n)         SPIDEV_ID(SPIDEVTYPE_MOTOR,         (n))
+#define SPIDEV_IMU(n)           SPIDEV_ID(SPIDEVTYPE_IMU,           (n))
 #define SPIDEV_USER(n)          SPIDEV_ID(SPIDEVTYPE_USER,          (n))
 
 /****************************************************************************
@@ -515,6 +516,7 @@ enum spi_devtype_e
   SPIDEVTYPE_LPWAN,         /* Select SPI LPWAN controller over SPI */
   SPIDEVTYPE_ADC,           /* Select SPI ADC device */
   SPIDEVTYPE_MOTOR,         /* Select SPI motor device */
+  SPIDEVTYPE_IMU,           /* Select SPI IMU device */
   SPIDEVTYPE_USER           /* Board-specific values start here
                              * This must always be the last definition. */
 };