/****************************************************************************
 * drivers/sensors/bmi270.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 <stdlib.h>
#include <errno.h>
#include <debug.h>

#include <nuttx/kmalloc.h>
#include <nuttx/fs/fs.h>
#include <nuttx/sensors/bmi270.h>
#ifdef CONFIG_SENSORS_BMI270_I2C
#  include <nuttx/i2c/i2c_master.h>
#else
#  include <nuttx/spi/spi.h>
#endif

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

#define BMI270_SPI_MAXFREQUENCY 10000000
#define BMI270_I2C_FREQ         400000

#define DEVID                   0x24

#define BMI270_CHIP_ID          (0x00) /* Chip ID */
#define BMI270_ERROR            (0x02) /* Error register */
#define BMI270_PMU_STAT         (0x03) /* Current power mode */
#define BMI270_DATA_0           (0x04) /* MAG X  7:0 (LSB) */
#define BMI270_DATA_1           (0x05) /* MAG X 15:8 (MSB) */
#define BMI270_DATA_2           (0x06) /* MAG Y  7:0 (LSB) */
#define BMI270_DATA_3           (0x07) /* MAG Y 15:8 (MSB) */
#define BMI270_DATA_4           (0x08) /* MAG Z  7:0 (LSB) */
#define BMI270_DATA_5           (0x09) /* MAG Z 15:8 (MSB) */
#define BMI270_DATA_6           (0x0A) /* RHALL  7:0 (LSB) */
#define BMI270_DATA_7           (0x0B) /* RHALL 15:8 (MSB) */
#define BMI270_DATA_8           (0x0C) /* GYR X  7:0 (LSB) */
#define BMI270_DATA_9           (0x0D) /* GYR X 15:8 (MSB) */
#define BMI270_DATA_10          (0x0E) /* GYR Y  7:0 (LSB) */
#define BMI270_DATA_11          (0x0F) /* GYR Y 15:8 (MSB) */
#define BMI270_DATA_12          (0x10) /* GYR Z  7:0 (LSB) */
#define BMI270_DATA_13          (0x11) /* GYR Z 15:8 (MSB) */
#define BMI270_DATA_14          (0x12) /* ACC X  7:0 (LSB) */
#define BMI270_DATA_15          (0x13) /* ACC X 15:8 (MSB) */
#define BMI270_DATA_16          (0x14) /* ACC Y  7:0 (LSB) */
#define BMI270_DATA_17          (0x15) /* ACC Y 15:8 (MSB) */
#define BMI270_DATA_18          (0x16) /* ACC Z  7:0 (LSB) */
#define BMI270_DATA_19          (0x17) /* ACC Z 15:8 (MSB) */
#define BMI270_SENSORTIME_0     (0x18) /* Sensor time 0 */
#define BMI270_SENSORTIME_1     (0x19) /* Sensor time 1 */
#define BMI270_SENSORTIME_2     (0x1A) /* Sensor time 2 */
#define BMI270_EVENT            (0x1B) /* Sensor event flags */
#define BMI270_INTR_STAT_0      (0x1C) /* Interrupt status */
#define BMI270_INTR_STAT_1      (0x1D)
#define BMI270_SC_OUT_0         (0x1E) /* Step counting value */
#define BMI270_SC_OUT_1         (0x1f) /* Step counting value */
#define BMI270_WR_GEST_ACT      (0x20) /* Wrist gesture and activity detection */
#define BMI270_INTERNAL_STAT    (0x21) /* Internal status */
#define BMI270_TEMPERATURE_0    (0x22) /* Temperature */
#define BMI270_TEMPERATURE_1    (0x23)
#define BMI270_FIFO_LENGTH_0    (0x24) /* FIFO length */
#define BMI270_FIFO_LENGTH_1    (0x25)
#define BMI270_FIFO_DATA        (0x26)
#define BMI270_FEAT_PAGE        (0x2f) /* Page number for feature configuration and output registers */
                                       /* TODO: Features 0x30-0x3f */
#define BMI270_ACC_CONFIG       (0x40) /* ACCEL config for ODR, bandwidth and undersampling */
#define BMI270_ACC_RANGE        (0x41) /* ACCEL range */
#define BMI270_GYR_CONFIG       (0x42) /* GYRO config for ODR and bandwidth */
#define BMI270_GYR_RANGE        (0x43) /* GYRO range */
#define BMI270_AUX_CONFIG       (0x44) /* AUX config for ODR*/
#define BMI270_FIFO_DOWN        (0x45) /* GYRO and ACCEL downsampling rates for FIFO */
#define BMI270_FIFO_WTM_0       (0x46) /* FIFO Watermark level */
#define BMI270_FIFO_WTM_1       (0x47) /* FIFO Watermark level */
#define BMI270_FIFO_CONFIG_0    (0x48) /* FIFO config */
#define BMI270_FIFO_CONFIG_1    (0x49)
#define BMI270_SATURATION       (0x4A) /* Saturation */
#define BMI270_AUX_DEV_ID       (0x4B) /* Auxiliary interface device_id */
#define BMI270_AUX_IF_CONF      (0x4C) /* Auxiliary interface configuration */
#define BMI270_AUX_RD_ADDR      (0x4C) /* Auxiliary interface read address */
#define BMI270_AUX_WR_ADDR      (0x4E) /* Auxiliary interface write address */
#define BMI270_AUX_WR_DATA      (0x4F) /* Auxiliary interface write data */
#define BMI270_ERR_REG_MSK      (0x52)
#define BMI270_INT1_IO_CTRL     (0x53) /* INT pin configuration */
#define BMI270_INT2_IO_CTRL     (0x54)
#define BMI270_INT_LATCH        (0x55) /* Configure interrupt modes */
#define BMI270_INT1_MAP_FEAT    (0x56) /* Interrupt/Feature mapping on INT1 */
#define BMI270_INT2_MAP_FEAT    (0x57) /* Interrupt/Feature mapping on INT2 */
#define BMI270_INT_MAP_DATA     (0x58) /* Data Interrupt mapping for both INT pins */
#define BMI270_INIT_CTRL        (0x59) /* Start initialization */
#define BMI270_INIT_ADDR_0      (0x5b) /* Base address of the initialization data */
#define BMI270_INIT_ADDR_1      (0x5c)
#define BMI270_INIT_DATA        (0x5e) /* Initialization register */
#define BMI270_INTERNAL_ERROR   (0x5f)
#define BMI270_AUX_IF_TRIM      (0x68) /* Auxiliary interface trim */
#define BMI270_GYR_CRT_CONF     (0x69) /* Component Retrimming for Gyroscope */
#define BMI270_NMV_CONFIG       (0x6A) /* NVM Configuration */
#define BMI270_IF_CONFIG        (0x6B) /* Serial interface configuration */
#define BMI270_DRV              (0x6C) /* Drive strength control */
#define BMI270_ACC_SELF_TEST    (0x6D) /* Acc self test */
#define BMI270_GYR_SELF_TEST    (0x6E) /* Gyro self test */
#define BMI270_NV_CONFIG        (0x70) /* SPI/I2C selection */
#define BMI270_OFFSET_0         (0x71) /* ACCEL and GYRO offset */
#define BMI270_OFFSET_1         (0x72)
#define BMI270_OFFSET_2         (0x73)
#define BMI270_OFFSET_3         (0x74)
#define BMI270_OFFSET_4         (0x75)
#define BMI270_OFFSET_5         (0x76)
#define BMI270_OFFSET_6         (0x77)
#define BMI270_PWR_CONF         (0x7C) /* Power mode configuration */
#define BMI270_PWR_CTRL         (0x7D) /* Power mode control */
#define BMI270_CMD              (0x7e) /* Command register */

/* Register 0x21 - INTERNAL_STATUS */

#define INTSTAT_MSG_MASK        (7)
#define INTSTAT_MSG_NOTINIT     (0x00)
#define INTSTAT_MSG_INITOK      (0x01)

/* Register 0x40 - ACCEL_CONFIG accel bandwidth */

#define ACCEL_OSR4_AVG1         (0 << 4)
#define ACCEL_OSR2_AVG2         (1 << 4)
#define ACCEL_NORMAL_AVG4       (2 << 4)
#define ACCEL_CIC_AVG8          (3 << 4)
#define ACCEL_RES_AVG2          (4 << 4)
#define ACCEL_RES_AVG4          (5 << 4)
#define ACCEL_RES_AVG8          (6 << 4)
#define ACCEL_RES_AVG16         (7 << 4)
#define ACCEL_RES_AVG32         (8 << 4)
#define ACCEL_RES_AVG64         (9 << 4)
#define ACCEL_RES_AVG128        (10 << 4)

#define ACCEL_ODR_0_78HZ        (0x01)
#define ACCEL_ODR_1_56HZ        (0x02)
#define ACCEL_ODR_3_12HZ        (0x03)
#define ACCEL_ODR_6_25HZ        (0x04)
#define ACCEL_ODR_12_5HZ        (0x05)
#define ACCEL_ODR_25HZ          (0x06)
#define ACCEL_ODR_50HZ          (0x07)
#define ACCEL_ODR_100HZ         (0x08)
#define ACCEL_ODR_200HZ         (0x09)
#define ACCEL_ODR_400HZ         (0x0A)
#define ACCEL_ODR_800HZ         (0x0B)
#define ACCEL_ODR_1600HZ        (0x0C)

/* Register 0x42 - GYRO_CONFIG accel bandwidth */

#define GYRO_OSR4_MODE          (0 << 4)
#define GYRO_OSR2_MODE          (1 << 4)
#define GYRO_NORMAL_MODE        (2 << 4)
#define GYRO_CIC_MODE           (3 << 4)

#define GYRO_ODR_25HZ           (0x06)
#define GYRO_ODR_50HZ           (0x07)
#define GYRO_ODR_100HZ          (0x08)
#define GYRO_ODR_200HZ          (0x09)
#define GYRO_ODR_400HZ          (0x0A)
#define GYRO_ODR_800HZ          (0x0B)
#define GYRO_ODR_1600HZ         (0x0C)
#define GYRO_ODR_3200HZ         (0x0D)

/* Register 0x7d - PWR_CONF */

#define PWRCONF_APS_ON          (1 << 0)
#define PWRCONF_FSW_ON          (1 << 1)
#define PWRCONF_FUP_ON          (1 << 2)

/* Register 0x7d - PWR_CTRL */

#define PWRCTRL_AUX_EN          (1 << 0)
#define PWRCTRL_GYR_EN          (1 << 1)
#define PWRCTRL_ACC_EN          (1 << 2)
#define PWRCTRL_TEMP_EN         (1 << 3)

/* Register 0x7e - CMD */

#define CMD_SOFTRESET           (0xB6)

/****************************************************************************
 * Private Types
 ****************************************************************************/

struct bmi270_dev_s
{
#ifdef CONFIG_SENSORS_BMI270_I2C
  FAR struct i2c_master_s *i2c;  /* I2C interface */
  uint8_t                  addr; /* I2C address */
  int                      freq; /* Frequency <= 3.4MHz */
#else /* CONFIG_SENSORS_BMI270_SPI */
  FAR struct spi_dev_s    *spi;  /* SPI interface */
#endif
};

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

static uint8_t bmi270_getreg8(FAR struct bmi270_dev_s *priv,
                              uint8_t regaddr);
static void bmi270_putreg8(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
                           uint8_t regval);

static void bmi270_getregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
                           FAR uint8_t *regval, int len);
static void bmi270_putregs(FAR struct bmi270_dev_s *priv, uint8_t regaddr,
                           FAR uint8_t *regval, int len);

/* Character driver methods */

static int     bmi270_open(FAR struct file *filep);
static int     bmi270_close(FAR struct file *filep);
static ssize_t bmi270_read(FAR struct file *filep, FAR char *buffer,
                            size_t len);
static int     bmi270_ioctl(FAR struct file *filep, int cmd,
                            unsigned long arg);

static int bmi270_checkid(FAR struct bmi270_dev_s *priv);

/****************************************************************************
 * Private Data
 ****************************************************************************/

/* This the vtable that supports the character driver interface */

static const struct file_operations g_bmi270fops =
{
  bmi270_open,     /* open */
  bmi270_close,    /* close */
  bmi270_read,     /* read */
  NULL,            /* write */
  NULL,            /* seek */
  bmi270_ioctl,    /* ioctl */
};

/* BMI270 configuration file - provided by BOSH */

static const uint8_t g_bmi270_config_file[] =
{
  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,
  0xcd, 0x01, 0xa0, 0x00, 0x5f, 0xff, 0x00, 0x40, 0xff, 0x00, 0x00, 0x80,
  0x6d, 0x0f, 0xeb, 0x00, 0x7f, 0xff, 0xc2, 0xf5, 0x68, 0xf7, 0xb3, 0xf1,
  0x67, 0x0f, 0x5b, 0x0f, 0x61, 0x0f, 0x80, 0x0f, 0x58, 0xf7, 0x5b, 0xf7,
  0x83, 0x0f, 0x86, 0x00, 0x72, 0x0f, 0x85, 0x0f, 0xc6, 0xf1, 0x7f, 0x0f,
  0x6c, 0xf7, 0x00, 0xe0, 0x00, 0xff, 0xd1, 0xf5, 0x87, 0x0f, 0x8a, 0x0f,
  0xff, 0x03, 0xf0, 0x3f, 0x8b, 0x00, 0x8e, 0x00, 0x90, 0x00, 0xb9, 0x00,
  0x2d, 0xf5, 0xca, 0xf5, 0xcb, 0x01, 0x20, 0xf2, 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, 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, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
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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, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
  0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1
};

/****************************************************************************
 * Name: bmi270_configspi
 *
 * Description:
 *
 ****************************************************************************/

#ifdef CONFIG_SENSORS_BMI270_SPI
static inline 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

/****************************************************************************
 * Name: bmi270_getreg8
 *
 * Description:
 *   Read from an 8-bit BMI270 register
 *
 ****************************************************************************/

static 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
 *
 ****************************************************************************/

static 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
 *
 ****************************************************************************/

static 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
 *
 ****************************************************************************/

static 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.
 *
 ****************************************************************************/

static 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.
 *
 ****************************************************************************/

static 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_open
 *
 * Description:
 *   Standard character driver open method.
 *
 ****************************************************************************/

static int bmi270_open(FAR struct file *filep)
{
  FAR struct inode        *inode = filep->f_inode;
  FAR struct bmi270_dev_s *priv  = inode->i_private;
  int                      ret   = OK;

  /* Initialization sequence */

  ret = bmi270_init_seq(priv);
  if (ret != 0)
    {
      return ret;
    }

  /* Set normal mode */

  bmi270_set_normal_imu(priv);

  return OK;
}

/****************************************************************************
 * Name: bmi270_close
 *
 * Description:
 *   Standard character driver close method.
 *
 ****************************************************************************/

static int bmi270_close(FAR struct file *filep)
{
  FAR struct inode        *inode = filep->f_inode;
  FAR struct bmi270_dev_s *priv  = inode->i_private;

  /* Disable acquisition of acc and gyro */

  bmi270_putreg8(priv, BMI270_PWR_CTRL, 0);
  up_mdelay(30);

  return OK;
}

/****************************************************************************
 * Name: bmi270_read
 *
 * Description:
 *   Standard character driver read method.
 *
 ****************************************************************************/

static ssize_t bmi270_read(FAR struct file *filep, FAR char *buffer,
                           size_t len)
{
  FAR struct inode           *inode = filep->f_inode;
  FAR struct bmi270_dev_s    *priv  = inode->i_private;
  FAR struct accel_gyro_st_s *p     = (FAR struct accel_gyro_st_s *)buffer;

  if (len < sizeof(struct accel_gyro_st_s))
    {
      snerr("Expected buffer size is %d\n", sizeof(struct accel_gyro_st_s));
      return 0;
    }

  bmi270_getregs(priv, BMI270_DATA_8, (FAR uint8_t *)p, 15);

  /* Adjust sensing time into 24 bit */

  p->sensor_time >>= 8;

  return len;
}

/****************************************************************************
 * Name: bmi270_ioctl
 *
 * Description:
 *   Standard character driver ioctl method.
 *
 ****************************************************************************/

static int bmi270_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
  return -ENOTTY;
}

/****************************************************************************
 * Name: bmi270_checkid
 *
 * Description:
 *   Read and verify the BMI270 chip ID
 *
 ****************************************************************************/

static 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;
}

/****************************************************************************
 * 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/imu0"
 *   dev     - An instance of the SPI or I2C interface to use to communicate
 *             with BMI270
 *   addr - (I2C only) The I2C address
 *
 * Returned Value:
 *   Zero (OK) on success; a negated errno value on failure.
 *
 ****************************************************************************/

#ifdef CONFIG_SENSORS_BMI270_I2C
int bmi270_register(FAR const char *devpath, FAR struct i2c_master_s *dev,
                    uint8_t addr)
#else /* CONFIG_SENSORS_BMI270_SPI */
int bmi270_register(FAR const char *devpath, FAR struct spi_dev_s *dev)
#endif
{
  FAR struct bmi270_dev_s *priv;
  int ret;

  priv = kmm_malloc(sizeof(struct bmi270_dev_s));
  if (!priv)
    {
      snerr("Failed to allocate instance\n");
      return -ENOMEM;
    }

#ifdef CONFIG_SENSORS_BMI270_I2C
  priv->i2c  = dev;
  priv->addr = addr;
  priv->freq = BMI270_I2C_FREQ;
#else /* CONFIG_SENSORS_BMI270_SPI */
  priv->spi = dev;

  /* BMI270 detects communication bus is SPI by rising edge of CS. */

  bmi270_getreg8(priv, 0x00);
  bmi270_getreg8(priv, 0x00);
  up_udelay(200);
#endif

  ret = bmi270_checkid(priv);
  if (ret < 0)
    {
      snerr("Wrong Device ID!\n");
      kmm_free(priv);
      return ret;
    }

  /* Register driver */

  ret = register_driver(devpath, &g_bmi270fops, 0666, priv);
  if (ret < 0)
    {
      snerr("Failed to register driver: %d\n", ret);
      kmm_free(priv);
    }

  sninfo("BMI270 driver loaded successfully!\n");
  return OK;
}