/**************************************************************************** * drivers/sensors/bmi160.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 #include #include #include #include #include #include #include #include #include #include #if defined(CONFIG_SENSORS_BMI160) /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #define DEVID 0xd1 /* I2C Address * * NOTE: If SDO pin is pulled to VDDIO, use 0x69 */ #ifdef CONFIG_BMI160_I2C_ADDR_68 #define BMI160_I2C_ADDR 0x68 #else #define BMI160_I2C_ADDR 0x69 #endif #define BMI160_I2C_FREQ 400000 #define BMI160_CHIP_ID (0x00) /* Chip ID */ #define BMI160_ERROR (0x02) /* Error register */ #define BMI160_PMU_STAT (0x03) /* Current power mode */ #define BMI160_DATA_0 (0x04) /* MAG X 7:0 (LSB) */ #define BMI160_DATA_1 (0x05) /* MAG X 15:8 (MSB) */ #define BMI160_DATA_2 (0x06) /* MAG Y 7:0 (LSB) */ #define BMI160_DATA_3 (0x07) /* MAG Y 15:8 (MSB) */ #define BMI160_DATA_4 (0x08) /* MAG Z 7:0 (LSB) */ #define BMI160_DATA_5 (0x09) /* MAG Z 15:8 (MSB) */ #define BMI160_DATA_6 (0x0A) /* RHALL 7:0 (LSB) */ #define BMI160_DATA_7 (0x0B) /* RHALL 15:8 (MSB) */ #define BMI160_DATA_8 (0x0C) /* GYR X 7:0 (LSB) */ #define BMI160_DATA_9 (0x0D) /* GYR X 15:8 (MSB) */ #define BMI160_DATA_10 (0x0E) /* GYR Y 7:0 (LSB) */ #define BMI160_DATA_11 (0x0F) /* GYR Y 15:8 (MSB) */ #define BMI160_DATA_12 (0x10) /* GYR Z 7:0 (LSB) */ #define BMI160_DATA_13 (0x11) /* GYR Z 15:8 (MSB) */ #define BMI160_DATA_14 (0x12) /* ACC X 7:0 (LSB) */ #define BMI160_DATA_15 (0x13) /* ACC X 15:8 (MSB) */ #define BMI160_DATA_16 (0x14) /* ACC Y 7:0 (LSB) */ #define BMI160_DATA_17 (0x15) /* ACC Y 15:8 (MSB) */ #define BMI160_DATA_18 (0x16) /* ACC Z 7:0 (LSB) */ #define BMI160_DATA_19 (0x17) /* ACC Z 15:8 (MSB) */ #define BMI160_SENSORTIME_0 (0x18) /* Sensor time 0 */ #define BMI160_SENSORTIME_1 (0x19) /* Sensor time 1 */ #define BMI160_SENSORTIME_2 (0x1A) /* Sensor time 2 */ #define BMI160_STAT (0x1B) /* Status register */ #define BMI160_INTR_STAT_0 (0x1C) /* Interrupt status */ #define BMI160_INTR_STAT_1 (0x1D) #define BMI160_INTR_STAT_2 (0x1E) #define BMI160_INTR_STAT_3 (0x1F) #define BMI160_TEMPERATURE_0 (0x20) /* Temperature */ #define BMI160_TEMPERATURE_1 (0x21) #define BMI160_FIFO_LENGTH_0 (0x22) /* FIFO length */ #define BMI160_FIFO_LENGTH_1 (0x23) #define BMI160_FIFO_DATA (0x24) #define BMI160_ACCEL_CONFIG (0x40) /* ACCEL config for ODR, bandwidth and undersampling */ #define BMI160_ACCEL_RANGE (0x41) /* ACCEL range */ #define BMI160_GYRO_CONFIG (0x42) /* GYRO config for ODR and bandwidth */ #define BMI160_GYRO_RANGE (0x43) /* GYRO range */ #define BMI160_MAG_CONFIG (0x44) /* MAG config for ODR */ #define BMI160_FIFO_DOWN (0x45) /* GYRO and ACCEL downsampling rates for FIFO */ #define BMI160_FIFO_CONFIG_0 (0x46) /* FIFO config */ #define BMI160_FIFO_CONFIG_1 (0x47) #define BMI160_MAG_IF_0 (0x4B) /* MAG interface */ #define BMI160_MAG_IF_1 (0x4C) #define BMI160_MAG_IF_2 (0x4D) #define BMI160_MAG_IF_3 (0x4E) #define BMI160_MAG_IF_4 (0x4F) #define BMI160_INTR_ENABLE_0 (0x50) /* Interrupt enable */ #define BMI160_INTR_ENABLE_1 (0x51) #define BMI160_INTR_ENABLE_2 (0x52) #define BMI160_INTR_OUT_CTRL (0x53) #define BMI160_INTR_LATCH (0x54) /* Latch duration */ #define BMI160_INTR_MAP_0 (0x55) /* Map interrupt */ #define BMI160_INTR_MAP_1 (0x56) #define BMI160_INTR_MAP_2 (0x57) #define BMI160_INTR_DATA_0 (0x58) /* Data source */ #define BMI160_INTR_DATA_1 (0x59) #define BMI160_INTR_LOWHIGH_0 (0x5A) /* Threshold interrupt */ #define BMI160_INTR_LOWHIGH_1 (0x5B) #define BMI160_INTR_LOWHIGH_2 (0x5C) #define BMI160_INTR_LOWHIGH_3 (0x5D) #define BMI160_INTR_LOWHIGH_4 (0x5E) #define BMI160_INTR_MOTION_0 (0x5F) #define BMI160_INTR_MOTION_1 (0x60) #define BMI160_INTR_MOTION_2 (0x61) #define BMI160_INTR_MOTION_3 (0x62) #define BMI160_INTR_TAP_0 (0x63) #define BMI160_INTR_TAP_1 (0x64) #define BMI160_INTR_ORIENT_0 (0x65) #define BMI160_INTR_ORIENT_1 (0x66) #define BMI160_INTR_FLAT_0 (0x67) #define BMI160_INTR_FLAT_1 (0x68) #define BMI160_FOC_CONFIG (0x69) /* Fast offset configuration */ #define BMI160_CONFIG (0x6A) /* Miscellaneous configuration */ #define BMI160_IF_CONFIG (0x6B) /* Serial interface configuration */ #define BMI160_PMU_TRIGGER (0x6C) /* GYRO power mode trigger */ #define BMI160_SELF_TEST (0x6D) /* Self test */ #define BMI160_NV_CONFIG (0x70) /* SPI/I2C selection */ #define BMI160_OFFSET_0 (0x71) /* ACCEL and GYRO offset */ #define BMI160_OFFSET_1 (0x72) #define BMI160_OFFSET_2 (0x73) #define BMI160_OFFSET_3 (0x74) #define BMI160_OFFSET_4 (0x75) #define BMI160_OFFSET_5 (0x76) #define BMI160_OFFSET_6 (0x77) #define BMI160_STEP_COUNT_0 (0x78) /* Step counter interrupt */ #define BMI160_STEP_COUNT_1 (0x79) #define BMI160_STEP_CONFIG_0 (0x7A) /* Step counter configuration */ #define BMI160_STEP_CONFIG_1 (0x7B) #define BMI160_CMD (0x7e) /* Command register */ /* 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 (0x00 << 4) #define GYRO_OSR2_MODE (0x01 << 4) #define GYRO_NORMAL_MODE (0x02 << 4) #define GYRO_CIC_MODE (0x03 << 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 0x7b STEP_CONFIG_1 */ #define STEP_CNT_EN (1 << 3) /* Register 0x7e - CMD */ #define ACCEL_PM_SUSPEND (0X10) #define ACCEL_PM_NORMAL (0x11) #define ACCEL_PM_LOWPOWER (0X12) #define GYRO_PM_SUSPEND (0x14) #define GYRO_PM_NORMAL (0x15) #define GYRO_PM_FASTSTARTUP (0x17) #define MAG_PM_SUSPEND (0x18) #define MAG_PM_NORMAL (0x19) #define MAG_PM_LOWPOWER (0x1A) /**************************************************************************** * Private Types ****************************************************************************/ struct bmi160_dev_s { #ifdef CONFIG_SENSORS_BMI160_I2C FAR struct i2c_master_s *i2c; /* I2C interface */ uint8_t addr; /* I2C address */ int freq; /* Frequency <= 3.4MHz */ #else /* CONFIG_SENSORS_BMI160_SPI */ FAR struct spi_dev_s *spi; /* SPI interface */ #endif }; /**************************************************************************** * Private Functions ****************************************************************************/ static uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr); static void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr, uint8_t regval); static uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv, uint8_t regaddr); static void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr, uint8_t *regval, int len); /* Character driver methods */ static int bmi160_open(FAR struct file *filep); static int bmi160_close(FAR struct file *filep); static ssize_t bmi160_read(FAR struct file *filep, FAR char *buffer, size_t len); static int bmi160_ioctl(FAR struct file *filep, int cmd, unsigned long arg); static int bmi160_checkid(FAR struct bmi160_dev_s *priv); /**************************************************************************** * Private Data ****************************************************************************/ /* This the vtable that supports the character driver interface */ static const struct file_operations g_bmi160fops = { bmi160_open, /* open */ bmi160_close, /* close */ bmi160_read, /* read */ NULL, /* write */ NULL, /* seek */ bmi160_ioctl, /* ioctl */ }; /**************************************************************************** * Name: bmi160_configspi * * Description: * ****************************************************************************/ #ifdef CONFIG_SENSORS_BMI160_SPI static inline void bmi160_configspi(FAR struct spi_dev_s *spi) { /* Configure SPI for the BMI160 */ SPI_SETMODE(spi, SPIDEV_MODE3); SPI_SETBITS(spi, 8); SPI_HWFEATURES(spi, 0); SPI_SETFREQUENCY(spi, BMI160_SPI_MAXFREQUENCY); } #endif /**************************************************************************** * Name: bmi160_getreg8 * * Description: * Read from an 8-bit BMI160 register * ****************************************************************************/ static uint8_t bmi160_getreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr) { uint8_t regval = 0; #ifdef CONFIG_SENSORS_BMI160_I2C struct i2c_msg_s msg[2]; int ret; msg[0].frequency = priv->freq; msg[0].addr = priv->addr; msg[0].flags = 0; msg[0].buffer = ®addr; msg[0].length = 1; msg[1].frequency = priv->freq; msg[1].addr = priv->addr; msg[1].flags = I2C_M_READ; msg[1].buffer = ®val; msg[1].length = 1; ret = I2C_TRANSFER(priv->i2c, msg, 2); if (ret < 0) { snerr("I2C_TRANSFER failed: %d\n", ret); } #else /* CONFIG_SENSORS_BMI160_SPI */ /* If SPI bus is shared then lock and configure it */ SPI_LOCK(priv->spi, true); bmi160_configspi(priv->spi); /* Select the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true); /* Send register to read and get the next byte */ SPI_SEND(priv->spi, regaddr | 0x80); SPI_RECVBLOCK(priv->spi, ®val, 1); /* Deselect the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false); /* Unlock bus */ SPI_LOCK(priv->spi, false); #endif return regval; } /**************************************************************************** * Name: bmi160_putreg8 * * Description: * Write a value to an 8-bit BMI160 register * ****************************************************************************/ static void bmi160_putreg8(FAR struct bmi160_dev_s *priv, uint8_t regaddr, uint8_t regval) { #ifdef CONFIG_SENSORS_BMI160_I2C struct i2c_msg_s msg[2]; int ret; uint8_t txbuffer[2]; 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_BMI160_SPI */ /* If SPI bus is shared then lock and configure it */ SPI_LOCK(priv->spi, true); bmi160_configspi(priv->spi); /* Select the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true); /* Send register address and set the value */ SPI_SEND(priv->spi, regaddr); SPI_SEND(priv->spi, regval); /* Deselect the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false); /* Unlock bus */ SPI_LOCK(priv->spi, false); #endif } /**************************************************************************** * Name: bmi160_getreg16 * * Description: * Read 16-bits of data from an BMI160 register * ****************************************************************************/ static uint16_t bmi160_getreg16(FAR struct bmi160_dev_s *priv, uint8_t regaddr) { uint16_t regval = 0; #ifdef CONFIG_SENSORS_BMI160_I2C struct i2c_msg_s msg[2]; int ret; msg[0].frequency = priv->freq; msg[0].addr = priv->addr; msg[0].flags = 0; msg[0].buffer = ®addr; msg[0].length = 1; msg[1].frequency = priv->freq; msg[1].addr = priv->addr; msg[1].flags = I2C_M_READ; msg[1].buffer = (uint8_t *)®val; msg[1].length = 2; ret = I2C_TRANSFER(priv->i2c, msg, 2); if (ret < 0) { snerr("I2C_TRANSFER failed: %d\n", ret); } #else /* CONFIG_SENSORS_BMI160_SPI */ /* If SPI bus is shared then lock and configure it */ SPI_LOCK(priv->spi, true); bmi160_configspi(priv->spi); /* Select the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true); /* Send register to read and get the next 2 bytes */ SPI_SEND(priv->spi, regaddr | 0x80); SPI_RECVBLOCK(priv->spi, ®val, 2); /* Deselect the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false); /* Unlock bus */ SPI_LOCK(priv->spi, false); #endif return regval; } /**************************************************************************** * Name: bmi160_getregs * * Description: * Read cnt bytes from specified dev_addr and reg_addr * ****************************************************************************/ static void bmi160_getregs(FAR struct bmi160_dev_s *priv, uint8_t regaddr, uint8_t *regval, int len) { #ifdef CONFIG_SENSORS_BMI160_I2C struct i2c_msg_s msg[2]; int ret; msg[0].frequency = priv->freq; msg[0].addr = priv->addr; msg[0].flags = 0; msg[0].buffer = ®addr; 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_BMI160_SPI */ /* If SPI bus is shared then lock and configure it */ SPI_LOCK(priv->spi, true); bmi160_configspi(priv->spi); /* Select the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), true); /* Send register to read and get the next 2 bytes */ SPI_SEND(priv->spi, regaddr | 0x80); SPI_RECVBLOCK(priv->spi, regval, len); /* Deselect the BMI160 */ SPI_SELECT(priv->spi, SPIDEV_ACCELEROMETER(0), false); /* Unlock bus */ SPI_LOCK(priv->spi, false); #endif } /**************************************************************************** * Name: bmi160_set_normal_imu * * Description: * set bmi160 to normal IMU mode. * ****************************************************************************/ static void bmi160_set_normal_imu(FAR struct bmi160_dev_s *priv) { /* Set accel & gyro as normal mode. */ bmi160_putreg8(priv, BMI160_CMD, ACCEL_PM_NORMAL); up_mdelay(30); bmi160_putreg8(priv, BMI160_CMD, GYRO_PM_NORMAL); up_mdelay(30); /* Set accel & gyro output data rate. */ bmi160_putreg8(priv, BMI160_ACCEL_CONFIG, ACCEL_NORMAL_AVG4 | ACCEL_ODR_100HZ); bmi160_putreg8(priv, BMI160_GYRO_CONFIG, GYRO_NORMAL_MODE | GYRO_ODR_100HZ); } /**************************************************************************** * Name: bmi160_open * * Description: * Standard character driver open method. * ****************************************************************************/ static int bmi160_open(FAR struct file *filep) { FAR struct inode *inode = filep->f_inode; FAR struct bmi160_dev_s *priv = inode->i_private; bmi160_set_normal_imu(priv); return OK; } /**************************************************************************** * Name: bmi160_close * * Description: * Standard character driver close method. * ****************************************************************************/ static int bmi160_close(FAR struct file *filep) { FAR struct inode *inode = filep->f_inode; FAR struct bmi160_dev_s *priv = inode->i_private; /* Set suspend mode to each sensors. */ bmi160_putreg8(priv, BMI160_CMD, ACCEL_PM_SUSPEND); up_mdelay(30); bmi160_putreg8(priv, BMI160_CMD, GYRO_PM_SUSPEND); up_mdelay(30); return OK; } /**************************************************************************** * Name: bmi160_read * * Description: * Standard character driver read method. * ****************************************************************************/ static ssize_t bmi160_read(FAR struct file *filep, FAR char *buffer, size_t len) { FAR struct inode *inode = filep->f_inode; FAR struct bmi160_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; } bmi160_getregs(priv, BMI160_DATA_8, (FAR uint8_t *)buffer, 15); /* Adjust sensing time into 24 bit */ p->sensor_time >>= 8; return len; } static void bmi160_enable_stepcounter(FAR struct bmi160_dev_s *priv, int enable) { uint8_t val; val = bmi160_getreg8(priv, BMI160_STEP_CONFIG_1); if (enable) { val |= STEP_CNT_EN; } else { val &= ~STEP_CNT_EN; } bmi160_putreg8(priv, BMI160_STEP_CONFIG_1, val); sninfo("Step counter %sabled.\n", val & STEP_CNT_EN ? "en" : "dis"); } /**************************************************************************** * Name: bmi160_ioctl * * Description: * Standard character driver ioctl method. * ****************************************************************************/ static int bmi160_ioctl(FAR struct file *filep, int cmd, unsigned long arg) { FAR struct inode *inode = filep->f_inode; FAR struct bmi160_dev_s *priv = inode->i_private; int ret = OK; switch (cmd) { /* Enable bmi160 step counter. Arg: int value */ case SNIOC_ENABLESC: { bmi160_enable_stepcounter(priv, (int)arg); } break; /* Read bmi160 step count. Arg: int16_t* pointer */ case SNIOC_READSC: { int16_t *ptr = (FAR int16_t *)((uintptr_t)arg); DEBUGASSERT(ptr != NULL); *ptr = bmi160_getreg16(priv, BMI160_STEP_COUNT_0); } break; default: snerr("Unrecognized cmd: %d\n", cmd); ret = -ENOTTY; break; } return ret; } /**************************************************************************** * Name: bmi160_checkid * * Description: * Read and verify the BMI160 chip ID * ****************************************************************************/ static int bmi160_checkid(FAR struct bmi160_dev_s *priv) { uint8_t devid = 0; /* Read device ID */ devid = bmi160_getreg8(priv, BMI160_CHIP_ID); sninfo("devid: %04x\n", devid); if (devid != (uint16_t) DEVID) { /* ID is not Correct */ return -ENODEV; } return OK; } /**************************************************************************** * Name: bmi160_register * * Description: * Register the BMI160 character device as 'devpath' * * Input Parameters: * devpath - The full path to the driver to register. E.g., "/dev/press0" * dev - An instance of the SPI interface to use to communicate with * BMI160 * * Returned Value: * Zero (OK) on success; a negated errno value on failure. * ****************************************************************************/ #ifdef CONFIG_SENSORS_BMI160_I2C int bmi160_register(FAR const char *devpath, FAR struct i2c_master_s *dev) #else /* CONFIG_SENSORS_BMI160_SPI */ int bmi160_register(FAR const char *devpath, FAR struct spi_dev_s *dev) #endif { FAR struct bmi160_dev_s *priv; int ret; priv = (FAR struct bmi160_dev_s *)kmm_malloc(sizeof(struct bmi160_dev_s)); if (!priv) { snerr("Failed to allocate instance\n"); return -ENOMEM; } #ifdef CONFIG_SENSORS_BMI160_I2C priv->i2c = dev; priv->addr = BMI160_I2C_ADDR; priv->freq = BMI160_I2C_FREQ; #else /* CONFIG_SENSORS_BMI160_SPI */ priv->spi = dev; /* BMI160 detects communication bus is SPI by rising edge of CS. */ bmi160_getreg8(priv, 0x7f); bmi160_getreg8(priv, 0x7f); /* workaround: fail to switch SPI, run twice */ up_udelay(200); #endif ret = bmi160_checkid(priv); if (ret < 0) { snerr("Wrong Device ID!\n"); kmm_free(priv); return ret; } /* To avoid gyro wakeup it is required to write 0x00 to 0x6C */ bmi160_putreg8(priv, BMI160_PMU_TRIGGER, 0); ret = register_driver(devpath, &g_bmi160fops, 0666, priv); if (ret < 0) { snerr("Failed to register driver: %d\n", ret); kmm_free(priv); } sninfo("BMI160 driver loaded successfully!\n"); return OK; } #endif /* CONFIG_SENSORS_BMI160 */