Init

2026-05-08 14:56:29 +02:00
commit e4a5ccb043
39 changed files with 2481 additions and 0 deletions
@@ -0,0 +1,40 @@
+#include "bmi270.h"
+#include "FreeRTOS.h"
+#include "i2c.h"
+#include "pins.h"
+#include <stdint.h>
+
+void bmi270_init(void) {
+  uint8_t id;
+  i2c_read_reg(IMU_I2C_ADDRESS, BMI270_CHIP_ID, &id);
+
+  if (id != 0x24)
+    return;
+
+  // soft reset
+  i2c_write_reg(IMU_I2C_ADDRESS, 0x7E, 0xB6);
+  vTaskDelay(pdMS_TO_TICKS(10));
+
+  // power on accel + gyro
+  i2c_write_reg(IMU_I2C_ADDRESS, BMI270_PWR_CTRL, 0x0E);
+
+  // accel config (100 Hz-ish)
+  i2c_write_reg(IMU_I2C_ADDRESS, BMI270_ACC_CONF, 0xA8);
+
+  // gyro config
+  i2c_write_reg(IMU_I2C_ADDRESS, BMI270_GYR_CONF, 0xA9);
+}
+
+void bmi270_read(bmi270_data_t *d) {
+  uint8_t buf[12];
+
+  i2c_read_reg_multi(IMU_I2C_ADDRESS, BMI270_ACC_X_L, buf, 12);
+
+  d->ax = (int16_t)(buf[1] << 8 | buf[0]);
+  d->ay = (int16_t)(buf[3] << 8 | buf[2]);
+  d->az = (int16_t)(buf[5] << 8 | buf[4]);
+
+  d->gx = (int16_t)(buf[7] << 8 | buf[6]);
+  d->gy = (int16_t)(buf[9] << 8 | buf[8]);
+  d->gz = (int16_t)(buf[11] << 8 | buf[10]);
+}