From 1c2b904160188520bf6675caa4b9c76f54434522 Mon Sep 17 00:00:00 2001 From: Brendan Haines Date: Wed, 15 May 2024 22:46:45 -0600 Subject: [PATCH] add gyro --- app/src/main.c | 54 ++++--- drivers/sensor/bmx055/bmx055.c | 257 ++++++++++++++++++++++++--------- 2 files changed, 224 insertions(+), 87 deletions(-) diff --git a/app/src/main.c b/app/src/main.c index 58b5fd4..62628d7 100644 --- a/app/src/main.c +++ b/app/src/main.c @@ -91,7 +91,7 @@ int main(void) uint8_t ppt; uint8_t font_width; uint8_t font_height; - struct sensor_value voltage, current, pressure, temperature, accel_x, accel_y, accel_z, accel_z_ref, humidity; + struct sensor_value voltage, current, pressure, temperature, accel_x, accel_y, accel_z, accel_z_ref, gyro_x, gyro_y, gyro_z, humidity; char str_v[15] = {0}; char str_i[15] = {0}; @@ -101,6 +101,9 @@ int main(void) char str_ay[16] = {0}; char str_az[16] = {0}; char str_az_ref[16] = {0}; + char str_gx[16] = {0}; + char str_gy[16] = {0}; + char str_gz[16] = {0}; char str_h[16] = {0}; LOG_INF("Starting Mellifera version %s...", APP_VERSION_STRING); @@ -227,10 +230,10 @@ int main(void) { LOG_ERR("Could not get pressure"); } - // if (sensor_channel_get(baro, SENSOR_CHAN_AMBIENT_TEMP, &temperature) < 0) - // { - // LOG_ERR("Could not get temperature"); - // } + if (sensor_channel_get(baro, SENSOR_CHAN_AMBIENT_TEMP, &temperature) < 0) + { + LOG_ERR("Could not get temperature"); + } if (sensor_sample_fetch(imu) < 0) { @@ -252,6 +255,18 @@ int main(void) { LOG_ERR("Could not get acceleration"); } + if (sensor_channel_get(imu, SENSOR_CHAN_GYRO_X, &gyro_x) < 0) + { + LOG_ERR("Could not get gyro"); + } + if (sensor_channel_get(imu, SENSOR_CHAN_GYRO_Y, &gyro_y) < 0) + { + LOG_ERR("Could not get gyro"); + } + if (sensor_channel_get(imu, SENSOR_CHAN_GYRO_Z, &gyro_z) < 0) + { + LOG_ERR("Could not get gyro"); + } if (sensor_sample_fetch(lis) < 0) { @@ -279,31 +294,34 @@ int main(void) sprintf(str_i, "I :%7.5f", current.val1 + current.val2 * 1e-6); sprintf(str_p, "P :%7.4f", pressure.val1 + pressure.val2 * 1e-6); sprintf(str_t, "T :%7.4f", temperature.val1 + temperature.val2 * 1e-6); - sprintf(str_ax, "X :%+7.3f", accel_x.val1 + accel_x.val2 * 1e-6); - sprintf(str_ay, "Y :%+7.3f", accel_y.val1 + accel_y.val2 * 1e-6); - sprintf(str_az, "Z :%+7.3f", accel_z.val1 + accel_z.val2 * 1e-6); + sprintf(str_ax, "AX:%+7.3f", accel_x.val1 + accel_x.val2 * 1e-6); + sprintf(str_ay, "AY:%+7.3f", accel_y.val1 + accel_y.val2 * 1e-6); + sprintf(str_az, "AZ:%+7.3f", accel_z.val1 + accel_z.val2 * 1e-6); + sprintf(str_gx, "GX:%+7.3f", gyro_x.val1 + gyro_x.val2 * 1e-6); + sprintf(str_gy, "GY:%+7.3f", gyro_y.val1 + gyro_y.val2 * 1e-6); + sprintf(str_gz, "GZ:%+7.3f", gyro_z.val1 + gyro_z.val2 * 1e-6); sprintf(str_az_ref, "Zr:%+7.3f", accel_z_ref.val1 + accel_z_ref.val2 * 1e-6); sprintf(str_h, "H :%7.3f", humidity.val1 + humidity.val2 * 1e-6); // LOG_INF("%s\t%s\t%s\t%s", str_v, str_i, str_p, str_t); cfb_framebuffer_clear(display, false); - if (cfb_print(display, str_t, 0, 0)) + if (cfb_print(display, str_gx, 0, 0)) { LOG_ERR("Failed to print a string"); } - if (cfb_print(display, str_h, 0, 16)) + if (cfb_print(display, str_gy, 0, 16)) + { + LOG_ERR("Failed to print a string"); + } + if (cfb_print(display, str_gz, 0, 16 * 2)) + { + LOG_ERR("Failed to print a string"); + } + if (cfb_print(display, str_ax, 0, 16 * 3)) { LOG_ERR("Failed to print a string"); } - // if (cfb_print(display, str_az, 0, 16 * 2)) - // { - // LOG_ERR("Failed to print a string"); - // } - // if (cfb_print(display, str_az_ref, 0, 16 * 3)) - // { - // LOG_ERR("Failed to print a string"); - // } cfb_framebuffer_finalize(display); #if defined(CONFIG_ARCH_POSIX) diff --git a/drivers/sensor/bmx055/bmx055.c b/drivers/sensor/bmx055/bmx055.c index 2ae878f..8888613 100644 --- a/drivers/sensor/bmx055/bmx055.c +++ b/drivers/sensor/bmx055/bmx055.c @@ -15,29 +15,29 @@ LOG_MODULE_REGISTER(bmx055, CONFIG_SENSOR_LOG_LEVEL); // Accelerometer registers -const uint8_t REG_BWG_CHIPID = 0x00; -const uint8_t REG_ACCD_X_LSB = 0x02; -const uint8_t REG_ACCD_X_MSB = 0x03; -const uint8_t REG_ACCD_Y_LSB = 0x04; -const uint8_t REG_ACCD_Y_MSB = 0x05; -const uint8_t REG_ACCD_Z_LSB = 0x06; -const uint8_t REG_ACCD_Z_MSB = 0x07; -const uint8_t REG_ACCD_TEMP = 0x08; -const uint8_t REG_INT_STATUS_0 = 0x09; -const uint8_t REG_INT_STATUS_1 = 0x0A; -const uint8_t REG_INT_STATUS_2 = 0x0B; -const uint8_t REG_INT_STATUS_3 = 0x0C; -const uint8_t REG_FIFO_STATUS = 0x0E; -const uint8_t REG_PMU_RANGE = 0x0F; -typedef enum pmu_range_t +const uint8_t ACCEL_REG_BWG_CHIPID = 0x00; +const uint8_t ACCEL_REG_ACCD_X_LSB = 0x02; +const uint8_t ACCEL_REG_ACCD_X_MSB = 0x03; +const uint8_t ACCEL_REG_ACCD_Y_LSB = 0x04; +const uint8_t ACCEL_REG_ACCD_Y_MSB = 0x05; +const uint8_t ACCEL_REG_ACCD_Z_LSB = 0x06; +const uint8_t ACCEL_REG_ACCD_Z_MSB = 0x07; +const uint8_t ACCEL_REG_ACCD_TEMP = 0x08; +const uint8_t ACCEL_REG_INT_STATUS_0 = 0x09; +const uint8_t ACCEL_REG_INT_STATUS_1 = 0x0A; +const uint8_t ACCEL_REG_INT_STATUS_2 = 0x0B; +const uint8_t ACCEL_REG_INT_STATUS_3 = 0x0C; +const uint8_t ACCEL_REG_FIFO_STATUS = 0x0E; +const uint8_t ACCEL_REG_PMU_RANGE = 0x0F; +typedef enum accel_pmu_range_t { PMU_RANGE_2G = 0b0011, ///< DEFAULT PMU_RANGE_4G = 0b0101, PMU_RANGE_8G = 0b1000, PMU_RANGE_16G = 0b1100, -} pmu_range_t; -const uint8_t REG_PMU_BW = 0x10; -typedef enum pmu_bw_t +} accel_pmu_range_t; +const uint8_t ACCEL_REG_PMU_BW = 0x10; +typedef enum accel_pmu_bw_t { PMU_BW_8HZ = 0b01000, PMU_BW_16HZ = 0b01001, @@ -47,48 +47,115 @@ typedef enum pmu_bw_t PMU_BW_250HZ = 0b01101, PMU_BW_500HZ = 0b01110, PMU_BW_1000HZ = 0b01111, -} pmu_bw_t; -const uint8_t REG_PMU_LPW = 0x11; -const uint8_t REG_PMU_LOW_POWER = 0x12; -const uint8_t REG_ACCD_HBW = 0x13; -const uint8_t REG_BGW_SOFTRESET = 0x14; -const uint8_t BGW_SOFTRESET = 0xB6; ///< Soft reset occurs when this value is written to REG_BGW_SOFTRESET -const uint8_t REG_INT_EN_0 = 0x16; -const uint8_t REG_INT_EN_1 = 0x17; -const uint8_t REG_INT_EN_2 = 0x18; -const uint8_t REG_INT_MAP_0 = 0x19; -const uint8_t REG_INT_MAP_1 = 0x1A; -const uint8_t REG_INT_MAP_2 = 0x1B; -const uint8_t REG_INT_SRC = 0x1E; -const uint8_t REG_INT_OUT_CTRL = 0x20; -const uint8_t REG_INT_RST_LATCH = 0x21; -const uint8_t REG_INT_0 = 0x22; -const uint8_t REG_INT_1 = 0x23; -const uint8_t REG_INT_2 = 0x24; -const uint8_t REG_INT_3 = 0x25; -const uint8_t REG_INT_4 = 0x26; -const uint8_t REG_INT_5 = 0x27; -const uint8_t REG_INT_6 = 0x28; -const uint8_t REG_INT_7 = 0x29; -const uint8_t REG_INT_8 = 0x2A; -const uint8_t REG_INT_9 = 0x2B; -const uint8_t REG_INT_A = 0x2C; -const uint8_t REG_INT_B = 0x2D; -const uint8_t REG_INT_C = 0x2E; -const uint8_t REG_INT_D = 0x2F; -const uint8_t REG_FIFO_CONFIG_0 = 0x30; -const uint8_t REG_PMU_SELF_TEST = 0x32; -const uint8_t REG_TRIM_NVM_CTRL = 0x33; -const uint8_t REG_BGW_SPI3_WDT = 0x34; -const uint8_t REG_OFC_CTRL = 0x36; -const uint8_t REG_OFC_SETTING = 0x37; -const uint8_t REG_OFC_OFFSET_X = 0x38; -const uint8_t REG_OFC_OFFSET_Y = 0x39; -const uint8_t REG_OFC_OFFSET_Z = 0x3A; -const uint8_t REG_TRIM_GP0 = 0x3B; -const uint8_t REG_TRIM_GP1 = 0x3C; -const uint8_t REG_FIFO_CONFIG_1 = 0x3E; -const uint8_t REG_FIFO_DATA = 0x3F; +} accel_pmu_bw_t; +const uint8_t ACCEL_REG_PMU_LPW = 0x11; +const uint8_t ACCEL_REG_PMU_LOW_POWER = 0x12; +const uint8_t ACCEL_REG_ACCD_HBW = 0x13; +const uint8_t ACCEL_REG_BGW_SOFTRESET = 0x14; +const uint8_t BGW_SOFTRESET = 0xB6; ///< Soft reset occurs when this value is written to ACCEL_REG_BGW_SOFTRESET +const uint8_t ACCEL_REG_INT_EN_0 = 0x16; +const uint8_t ACCEL_REG_INT_EN_1 = 0x17; +const uint8_t ACCEL_REG_INT_EN_2 = 0x18; +const uint8_t ACCEL_REG_INT_MAP_0 = 0x19; +const uint8_t ACCEL_REG_INT_MAP_1 = 0x1A; +const uint8_t ACCEL_REG_INT_MAP_2 = 0x1B; +const uint8_t ACCEL_REG_INT_SRC = 0x1E; +const uint8_t ACCEL_REG_INT_OUT_CTRL = 0x20; +const uint8_t ACCEL_REG_INT_RST_LATCH = 0x21; +const uint8_t ACCEL_REG_INT_0 = 0x22; +const uint8_t ACCEL_REG_INT_1 = 0x23; +const uint8_t ACCEL_REG_INT_2 = 0x24; +const uint8_t ACCEL_REG_INT_3 = 0x25; +const uint8_t ACCEL_REG_INT_4 = 0x26; +const uint8_t ACCEL_REG_INT_5 = 0x27; +const uint8_t ACCEL_REG_INT_6 = 0x28; +const uint8_t ACCEL_REG_INT_7 = 0x29; +const uint8_t ACCEL_REG_INT_8 = 0x2A; +const uint8_t ACCEL_REG_INT_9 = 0x2B; +const uint8_t ACCEL_REG_INT_A = 0x2C; +const uint8_t ACCEL_REG_INT_B = 0x2D; +const uint8_t ACCEL_REG_INT_C = 0x2E; +const uint8_t ACCEL_REG_INT_D = 0x2F; +const uint8_t ACCEL_REG_FIFO_CONFIG_0 = 0x30; +const uint8_t ACCEL_REG_PMU_SELF_TEST = 0x32; +const uint8_t ACCEL_REG_TRIM_NVM_CTRL = 0x33; +const uint8_t ACCEL_REG_BGW_SPI3_WDT = 0x34; +const uint8_t ACCEL_REG_OFC_CTRL = 0x36; +const uint8_t ACCEL_REG_OFC_SETTING = 0x37; +const uint8_t ACCEL_REG_OFC_OFFSET_X = 0x38; +const uint8_t ACCEL_REG_OFC_OFFSET_Y = 0x39; +const uint8_t ACCEL_REG_OFC_OFFSET_Z = 0x3A; +const uint8_t ACCEL_REG_TRIM_GP0 = 0x3B; +const uint8_t ACCEL_REG_TRIM_GP1 = 0x3C; +const uint8_t ACCEL_REG_FIFO_CONFIG_1 = 0x3E; +const uint8_t ACCEL_REG_FIFO_DATA = 0x3F; + +const uint8_t GYRO_REG_CHIP_ID = 0x00; +const uint8_t GYRO_REG_RATE_X_LSB = 0x02; +const uint8_t GYRO_REG_RATE_X_MSB = 0x03; +const uint8_t GYRO_REG_RATE_Y_LSB = 0x04; +const uint8_t GYRO_REG_RATE_Y_MSB = 0x05; +const uint8_t GYRO_REG_RATE_Z_LSB = 0x06; +const uint8_t GYRO_REG_RATE_Z_MSB = 0x07; +const uint8_t GYRO_REG_INT_STATUS_0 = 0x09; +const uint8_t GYRO_REG_INT_STATUS_1 = 0x0A; +const uint8_t GYRO_REG_INT_STATUS_2 = 0x0B; +const uint8_t GYRO_REG_INT_STATUS_3 = 0x0C; +const uint8_t GYRO_REG_FIFO_STATUS = 0x0E; +const uint8_t GYRO_REG_RANGE = 0x0F; +const uint8_t GYRO_REG_BW = 0x10; +const uint8_t GYRO_REG_LPM1 = 0x11; +const uint8_t GYRO_REG_LPM2 = 0x12; +const uint8_t GYRO_REG_RATE_HBW = 0x13; +const uint8_t GYRO_REG_BGW_SOFTRESET = 0x14; +const uint8_t GYRO_REG_INT_EN_0 = 0x15; +const uint8_t GYRO_REG_INT_EN_1 = 0x16; +const uint8_t GYRO_REG_INT_MAP_0 = 0x17; +const uint8_t GYRO_REG_INT_MAP_1 = 0x18; +const uint8_t GYRO_REG_INT_MAP_2 = 0x19; +const uint8_t GYRO_REG_INT_SOURCE_1 = 0x1A; +const uint8_t GYRO_REG_INT_SOURCE_2 = 0x1B; +// const uint8_t GYRO_REG_ = 0x1C; +// const uint8_t GYRO_REG_ = 0x1E; +const uint8_t GYRO_REG_INT_RST_LATCH = 0x21; +const uint8_t GYRO_REG_HIGH_TH_X = 0x22; +const uint8_t GYRO_REG_HIGH_DUR_X = 0x23; +const uint8_t GYRO_REG_HIGH_TH_Y = 0x24; +const uint8_t GYRO_REG_HIGH_DUR_Y = 0x25; +const uint8_t GYRO_REG_HIGH_TH_Z = 0x26; +const uint8_t GYRO_REG_HIGH_DUR_Z = 0x27; +const uint8_t GYRO_REG_SOC = 0x31; +const uint8_t GYRO_REG_A_FOC = 0x32; +const uint8_t GYRO_REG_TRIM_NVM_CTRL = 0x33; +const uint8_t GYRO_REG_BGW_SPI3_WDT = 0x34; +const uint8_t GYRO_REG_OFC1 = 0x36; +const uint8_t GYRO_REG_OFC2 = 0x37; +const uint8_t GYRO_REG_OFC3 = 0x38; +const uint8_t GYRO_REG_OFC4 = 0x39; +const uint8_t GYRO_REG_TRIM_GP0 = 0x3A; +const uint8_t GYRO_REG_TRIM_GP1 = 0x3B; +const uint8_t GYRO_REG_BIST = 0x3C; +const uint8_t GYRO_REG_FIFO_CONFIG_0 = 0x3D; +const uint8_t GYRO_REG_FIFO_CONFIG_1 = 0x3E; + +const uint8_t MAG_REG_CHIP_ID = 0x40; +const uint8_t MAG_REG_DATA_X_LSB = 0x42; +const uint8_t MAG_REG_DATA_X_MSB = 0x43; +const uint8_t MAG_REG_DATA_Y_LSB = 0x44; +const uint8_t MAG_REG_DATA_Y_MSB = 0x45; +const uint8_t MAG_REG_DATA_Z_LSB = 0x46; +const uint8_t MAG_REG_DATA_Z_MSB = 0x47; +const uint8_t MAG_REG_RHALL_LSB = 0x48; +const uint8_t MAG_REG_RHALL_MSB = 0x49; +const uint8_t MAG_REG_INT_STATUS = 0x4A; +const uint8_t MAG_REG_POWER = 0x4B; +const uint8_t MAG_REG_MODE = 0x4C; +const uint8_t MAG_REG_INT_ENABLE = 0x4D; +const uint8_t MAG_REG_INT_SETTINGS = 0x4E; +const uint8_t MAG_REG_LOW_THRESH = 0x4F; +const uint8_t MAG_REG_HIGH_THRESH = 0x50; +const uint8_t MAG_REG_REP_XY = 0x51; +const uint8_t MAG_REG_REP_Z = 0x52; struct bmx055_data { @@ -98,6 +165,9 @@ struct bmx055_data int16_t gyro_x; int16_t gyro_y; int16_t gyro_z; + int16_t mag_x; + int16_t mag_y; + int16_t mag_z; int8_t temperature; }; @@ -120,7 +190,7 @@ static int bmx055_sample_fetch(const struct device *dev, int ret; uint8_t accel[6]; - ret = i2c_burst_read_dt(&config->bus, REG_ACCD_X_LSB, accel, sizeof(accel)); + ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_ACCD_X_LSB, accel, sizeof(accel)); if (ret < 0) { LOG_ERR("Failed to read acceleration registers!"); @@ -130,7 +200,20 @@ static int bmx055_sample_fetch(const struct device *dev, data->accel_y = ((int16_t)sys_get_le16(&accel[2])) >> 4; data->accel_z = ((int16_t)sys_get_le16(&accel[4])) >> 4; - ret = i2c_burst_read_dt(&config->bus, REG_ACCD_TEMP, &data->temperature, sizeof(data->temperature)); + uint8_t gyro[6]; + struct i2c_dt_spec gyro_bus = config->bus; + gyro_bus.addr = 0x68; + ret = i2c_burst_read_dt(&gyro_bus, GYRO_REG_RATE_X_LSB, gyro, sizeof(gyro)); + if (ret < 0) + { + LOG_ERR("Failed to read gyro registers!"); + return ret; + } + data->gyro_x = ((int16_t)sys_get_le16(&gyro[0])); + data->gyro_y = ((int16_t)sys_get_le16(&gyro[2])); + data->gyro_z = ((int16_t)sys_get_le16(&gyro[4])); + + ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_ACCD_TEMP, &data->temperature, sizeof(data->temperature)); if (ret < 0) { LOG_ERR("Failed to read temperature register!"); @@ -148,11 +231,13 @@ static int bmx055_channel_get(const struct device *dev, switch (chan) { + // degrees C case SENSOR_CHAN_DIE_TEMP: // 0.5K/LSB, center temperature is 23C val->val1 = 23 + data->temperature / 2; val->val2 = 0; // TODO: don't throw out LSB break; + // m/s^2 case SENSOR_CHAN_ACCEL_X: { float accel = data->accel_x * 0.00098 * 9.80665; // to gees, to m/s^2 @@ -180,10 +265,28 @@ static int bmx055_channel_get(const struct device *dev, val->val2 = (accel - val->val1) * 1000000; break; } + // radians/second case SENSOR_CHAN_GYRO_X: + { + float rate = data->gyro_x * 2000.0 / 32767; + val->val1 = rate; + val->val2 = (rate - val->val1) * 1000000; + break; + } case SENSOR_CHAN_GYRO_Y: + { + float rate = data->gyro_y * 2000.0 / 32767; + val->val1 = rate; + val->val2 = (rate - val->val1) * 1000000; + break; + } case SENSOR_CHAN_GYRO_Z: - return -ENOTSUP; + { + float rate = data->gyro_z * 2000.0 / 32767; + val->val1 = rate; + val->val2 = (rate - val->val1) * 1000000; + break; + } case SENSOR_CHAN_MAGN_X: case SENSOR_CHAN_MAGN_Y: case SENSOR_CHAN_MAGN_Z: @@ -212,7 +315,7 @@ static int bmx055_init(const struct device *dev) } uint8_t chip_id; - ret = i2c_burst_read_dt(&config->bus, REG_BWG_CHIPID, &chip_id, sizeof(chip_id)); + ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_BWG_CHIPID, &chip_id, sizeof(chip_id)); if (ret < 0) { LOG_ERR("Failed to read chip ID register!"); @@ -226,12 +329,12 @@ static int bmx055_init(const struct device *dev) // // Reset the sensor // uint8_t reset_val = BGW_SOFTRESET; - // i2c_burst_write_dt(&config->bus, REG_BGW_SOFTRESET, &reset_val, sizeof(reset_val)); + // i2c_burst_write_dt(&config->bus, ACCEL_REG_BGW_SOFTRESET, &reset_val, sizeof(reset_val)); // // Wait for device to reset uint8_t lpw; - ret = i2c_burst_read_dt(&config->bus, REG_PMU_LPW, &lpw, sizeof(lpw)); + ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_PMU_LPW, &lpw, sizeof(lpw)); if (ret < 0) { LOG_ERR("Failed to read LPW register!"); @@ -241,13 +344,29 @@ static int bmx055_init(const struct device *dev) // Write configuration uint8_t accel_range = PMU_RANGE_2G; - i2c_burst_write_dt(&config->bus, REG_PMU_RANGE, &accel_range, sizeof(accel_range)); + i2c_burst_write_dt(&config->bus, ACCEL_REG_PMU_RANGE, &accel_range, sizeof(accel_range)); uint8_t accel_bw = PMU_BW_8HZ; - i2c_burst_write_dt(&config->bus, REG_PMU_BW, &accel_bw, sizeof(accel_bw)); + i2c_burst_write_dt(&config->bus, ACCEL_REG_PMU_BW, &accel_bw, sizeof(accel_bw)); uint8_t hbw = (1 << 7); // data_high_bw (read filtered data) and enable lsb/msb shadowing - i2c_burst_write_dt(&config->bus, REG_ACCD_HBW, &hbw, sizeof(hbw)); + i2c_burst_write_dt(&config->bus, ACCEL_REG_ACCD_HBW, &hbw, sizeof(hbw)); + + struct i2c_dt_spec gyro_bus = config->bus; + gyro_bus.addr = 0x68; + + uint8_t gyro_chip_id; + ret = i2c_burst_read_dt(&gyro_bus, GYRO_REG_CHIP_ID, &gyro_chip_id, sizeof(gyro_chip_id)); + if (ret < 0) + { + LOG_ERR("Failed to read gyro chip ID register!"); + return ret; + } + const uint8_t GYRO_CHIP_ID = 0x0f; + if (gyro_chip_id != GYRO_CHIP_ID) + { + LOG_ERR("Gyro chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, gyro_chip_id, GYRO_CHIP_ID); + } return 0; }