upd

main/drivers/bmi270.h

@@ -2,12 +2,18 @@
 // --- Core IDs ---
 #include <stdint.h>
 #define BMI270_CHIP_ID 0x00
-#define BMI270_REV_ID 0x01
+#define BMI270_ERR_REG 0x02
+#define BMI270_STATUS 0x03
 
 // --- Power / system ---
 #define BMI270_PWR_CONF 0x7C
 #define BMI270_PWR_CTRL 0x7D
 #define BMI270_CMD 0x7E
+#define BMI270_INIT_CTRL 0x59
+#define BMI270_INIT_ADDR_0 0x5B
+#define BMI270_INIT_ADDR_1 0x5C
+#define BMI270_INIT_DATA 0x5E
+#define BMI270_INTERNAL_STAT 0x21
 
 // --- Accel config ---
 #define BMI270_ACC_CONF 0x40
@@ -18,37 +24,67 @@
 #define BMI270_GYR_RANGE 0x43
 
 // --- Data registers ---
-#define BMI270_ACC_X_L 0x0C
-#define BMI270_ACC_X_H 0x0D
-#define BMI270_ACC_Y_L 0x0E
-#define BMI270_ACC_Y_H 0x0F
-#define BMI270_ACC_Z_L 0x10
-#define BMI270_ACC_Z_H 0x11
+#define BMI270_ACC_DATA_X_LSB 0x0C
+#define BMI270_ACC_DATA_X_HSB 0x0D
+#define BMI270_ACC_DATA_Y_LSB 0x0E
+#define BMI270_ACC_DATA_Y_HSB 0x0F
+#define BMI270_ACC_DATA_Z_LSB 0x10
+#define BMI270_ACC_DATA_Z_HSB 0x11
 
-#define BMI270_GYR_X_L 0x12
-#define BMI270_GYR_X_H 0x13
-#define BMI270_GYR_Y_L 0x14
-#define BMI270_GYR_Y_H 0x15
-#define BMI270_GYR_Z_L 0x16
-#define BMI270_GYR_Z_H 0x17
+#define BMI270_GYR_DATA_X_LSB 0x12
+#define BMI270_GYR_DATA_X_HSB 0x13
+#define BMI270_GYR_DATA_Y_LSB 0x14
+#define BMI270_GYR_DATA_Y_HSB 0x15
+#define BMI270_GYR_DATA_Z_LSB 0x16
+#define BMI270_GYR_DATA_Z_HSB 0x17
+
+#define BMI270_FIFO_LENGTH_0 0x24
+#define BMI270_FIFO_DATA 0x26
+#define BMI270_FIFO_CONFIG_0 0x48
+#define BMI270_FIFO_CONFIG_1 0x49
 
 // --- Commands ---
 #define BMI270_CMD_SOFTRESET 0xB6
 #define BMI270_CMD_FIFO_FLUSH 0xB0
 
 // --- Power bits ---
-#define BMI270_PWR_ACCEL_EN (1 << 3)
-#define BMI270_PWR_GYRO_EN (1 << 2)
+#define BMI270_PWR_TEMP_EN  (1 << 3)  // 0x08
+#define BMI270_PWR_ACCEL_EN (1 << 2)  // 0x04
+#define BMI270_PWR_GYRO_EN  (1 << 1)  // 0x02
+#define BMI270_PWR_AUX_EN   (1 << 0)  // 0x01
 
 // --- Config presets (minimal usable defaults) ---
 #define BMI270_ACC_CONF_100HZ 0xA8
 #define BMI270_GYR_CONF_100HZ 0xA9
 
+#define ACC_SCALE (4.0f / 32768.0f)
+#define G_TO_MS2 9.80665f
+
+#define GYR_SCALE (2000.0f / 32768.0f)
+#define DEG_TO_RAD 0.01745329251f
+
 typedef struct {
-  int16_t ax, ay, az;
-  int16_t gx, gy, gz;
+  int16_t ax_raw;
+  int16_t ay_raw;
+  int16_t az_raw;
+
+  int16_t gx_raw;
+  int16_t gy_raw;
+  int16_t gz_raw;
+
+  float ax;
+  float ay;
+  float az;
+
+  float gx;
+  float gy;
+  float gz;
+
+  uint32_t timestamp_ms;
 } bmi270_data_t;
 
-void bmi270_init(void);
+bool bmi270_init(void);
 
-void bmi270_read(bmi270_data_t *d);
+bool bmi270_read(bmi270_data_t *d);
+
+extern const uint8_t bmi270_config_file[8192];