#pragma once
// --- Core IDs ---
#include <stdint.h>
#define BMI270_CHIP_ID 0x00
#define BMI270_REV_ID 0x01

// --- Power / system ---
#define BMI270_PWR_CONF 0x7C
#define BMI270_PWR_CTRL 0x7D
#define BMI270_CMD 0x7E

// --- Accel config ---
#define BMI270_ACC_CONF 0x40
#define BMI270_ACC_RANGE 0x41

// --- Gyro config ---
#define BMI270_GYR_CONF 0x42
#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_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

// --- 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)

// --- Config presets (minimal usable defaults) ---
#define BMI270_ACC_CONF_100HZ 0xA8
#define BMI270_GYR_CONF_100HZ 0xA9

typedef struct {
  int16_t ax, ay, az;
  int16_t gx, gy, gz;
} bmi270_data_t;

void bmi270_init(void);

void bmi270_read(bmi270_data_t *d);