387 lines
12 KiB
C
387 lines
12 KiB
C
/*
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* Copyright (c) 2021 Nordic Semiconductor ASA
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* SPDX-License-Identifier: Apache-2.0
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*/
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#define DT_DRV_COMPAT bosch_bmx055
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#include <zephyr/device.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/drivers/i2c.h>
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#include <zephyr/drivers/sensor.h>
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#include <zephyr/sys/byteorder.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(bmx055, CONFIG_SENSOR_LOG_LEVEL);
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// Accelerometer registers
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const uint8_t ACCEL_REG_BWG_CHIPID = 0x00;
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const uint8_t ACCEL_REG_ACCD_X_LSB = 0x02;
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const uint8_t ACCEL_REG_ACCD_X_MSB = 0x03;
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const uint8_t ACCEL_REG_ACCD_Y_LSB = 0x04;
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const uint8_t ACCEL_REG_ACCD_Y_MSB = 0x05;
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const uint8_t ACCEL_REG_ACCD_Z_LSB = 0x06;
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const uint8_t ACCEL_REG_ACCD_Z_MSB = 0x07;
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const uint8_t ACCEL_REG_ACCD_TEMP = 0x08;
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const uint8_t ACCEL_REG_INT_STATUS_0 = 0x09;
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const uint8_t ACCEL_REG_INT_STATUS_1 = 0x0A;
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const uint8_t ACCEL_REG_INT_STATUS_2 = 0x0B;
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const uint8_t ACCEL_REG_INT_STATUS_3 = 0x0C;
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const uint8_t ACCEL_REG_FIFO_STATUS = 0x0E;
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const uint8_t ACCEL_REG_PMU_RANGE = 0x0F;
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typedef enum accel_pmu_range_t
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{
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PMU_RANGE_2G = 0b0011, ///< DEFAULT
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PMU_RANGE_4G = 0b0101,
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PMU_RANGE_8G = 0b1000,
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PMU_RANGE_16G = 0b1100,
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} accel_pmu_range_t;
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const uint8_t ACCEL_REG_PMU_BW = 0x10;
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typedef enum accel_pmu_bw_t
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{
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PMU_BW_8HZ = 0b01000,
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PMU_BW_16HZ = 0b01001,
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PMU_BW_31HZ = 0b01010,
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PMU_BW_63HZ = 0b01011,
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PMU_BW_125HZ = 0b01100,
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PMU_BW_250HZ = 0b01101,
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PMU_BW_500HZ = 0b01110,
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PMU_BW_1000HZ = 0b01111,
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} accel_pmu_bw_t;
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const uint8_t ACCEL_REG_PMU_LPW = 0x11;
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const uint8_t ACCEL_REG_PMU_LOW_POWER = 0x12;
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const uint8_t ACCEL_REG_ACCD_HBW = 0x13;
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const uint8_t ACCEL_REG_BGW_SOFTRESET = 0x14;
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const uint8_t BGW_SOFTRESET = 0xB6; ///< Soft reset occurs when this value is written to ACCEL_REG_BGW_SOFTRESET
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const uint8_t ACCEL_REG_INT_EN_0 = 0x16;
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const uint8_t ACCEL_REG_INT_EN_1 = 0x17;
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const uint8_t ACCEL_REG_INT_EN_2 = 0x18;
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const uint8_t ACCEL_REG_INT_MAP_0 = 0x19;
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const uint8_t ACCEL_REG_INT_MAP_1 = 0x1A;
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const uint8_t ACCEL_REG_INT_MAP_2 = 0x1B;
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const uint8_t ACCEL_REG_INT_SRC = 0x1E;
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const uint8_t ACCEL_REG_INT_OUT_CTRL = 0x20;
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const uint8_t ACCEL_REG_INT_RST_LATCH = 0x21;
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const uint8_t ACCEL_REG_INT_0 = 0x22;
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const uint8_t ACCEL_REG_INT_1 = 0x23;
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const uint8_t ACCEL_REG_INT_2 = 0x24;
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const uint8_t ACCEL_REG_INT_3 = 0x25;
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const uint8_t ACCEL_REG_INT_4 = 0x26;
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const uint8_t ACCEL_REG_INT_5 = 0x27;
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const uint8_t ACCEL_REG_INT_6 = 0x28;
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const uint8_t ACCEL_REG_INT_7 = 0x29;
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const uint8_t ACCEL_REG_INT_8 = 0x2A;
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const uint8_t ACCEL_REG_INT_9 = 0x2B;
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const uint8_t ACCEL_REG_INT_A = 0x2C;
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const uint8_t ACCEL_REG_INT_B = 0x2D;
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const uint8_t ACCEL_REG_INT_C = 0x2E;
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const uint8_t ACCEL_REG_INT_D = 0x2F;
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const uint8_t ACCEL_REG_FIFO_CONFIG_0 = 0x30;
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const uint8_t ACCEL_REG_PMU_SELF_TEST = 0x32;
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const uint8_t ACCEL_REG_TRIM_NVM_CTRL = 0x33;
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const uint8_t ACCEL_REG_BGW_SPI3_WDT = 0x34;
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const uint8_t ACCEL_REG_OFC_CTRL = 0x36;
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const uint8_t ACCEL_REG_OFC_SETTING = 0x37;
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const uint8_t ACCEL_REG_OFC_OFFSET_X = 0x38;
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const uint8_t ACCEL_REG_OFC_OFFSET_Y = 0x39;
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const uint8_t ACCEL_REG_OFC_OFFSET_Z = 0x3A;
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const uint8_t ACCEL_REG_TRIM_GP0 = 0x3B;
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const uint8_t ACCEL_REG_TRIM_GP1 = 0x3C;
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const uint8_t ACCEL_REG_FIFO_CONFIG_1 = 0x3E;
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const uint8_t ACCEL_REG_FIFO_DATA = 0x3F;
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const uint8_t GYRO_REG_CHIP_ID = 0x00;
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const uint8_t GYRO_REG_RATE_X_LSB = 0x02;
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const uint8_t GYRO_REG_RATE_X_MSB = 0x03;
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const uint8_t GYRO_REG_RATE_Y_LSB = 0x04;
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const uint8_t GYRO_REG_RATE_Y_MSB = 0x05;
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const uint8_t GYRO_REG_RATE_Z_LSB = 0x06;
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const uint8_t GYRO_REG_RATE_Z_MSB = 0x07;
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const uint8_t GYRO_REG_INT_STATUS_0 = 0x09;
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const uint8_t GYRO_REG_INT_STATUS_1 = 0x0A;
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const uint8_t GYRO_REG_INT_STATUS_2 = 0x0B;
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const uint8_t GYRO_REG_INT_STATUS_3 = 0x0C;
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const uint8_t GYRO_REG_FIFO_STATUS = 0x0E;
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const uint8_t GYRO_REG_RANGE = 0x0F;
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const uint8_t GYRO_REG_BW = 0x10;
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const uint8_t GYRO_REG_LPM1 = 0x11;
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const uint8_t GYRO_REG_LPM2 = 0x12;
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const uint8_t GYRO_REG_RATE_HBW = 0x13;
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const uint8_t GYRO_REG_BGW_SOFTRESET = 0x14;
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const uint8_t GYRO_REG_INT_EN_0 = 0x15;
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const uint8_t GYRO_REG_INT_EN_1 = 0x16;
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const uint8_t GYRO_REG_INT_MAP_0 = 0x17;
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const uint8_t GYRO_REG_INT_MAP_1 = 0x18;
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const uint8_t GYRO_REG_INT_MAP_2 = 0x19;
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const uint8_t GYRO_REG_INT_SOURCE_1 = 0x1A;
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const uint8_t GYRO_REG_INT_SOURCE_2 = 0x1B;
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// const uint8_t GYRO_REG_ = 0x1C;
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// const uint8_t GYRO_REG_ = 0x1E;
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const uint8_t GYRO_REG_INT_RST_LATCH = 0x21;
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const uint8_t GYRO_REG_HIGH_TH_X = 0x22;
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const uint8_t GYRO_REG_HIGH_DUR_X = 0x23;
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const uint8_t GYRO_REG_HIGH_TH_Y = 0x24;
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const uint8_t GYRO_REG_HIGH_DUR_Y = 0x25;
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const uint8_t GYRO_REG_HIGH_TH_Z = 0x26;
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const uint8_t GYRO_REG_HIGH_DUR_Z = 0x27;
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const uint8_t GYRO_REG_SOC = 0x31;
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const uint8_t GYRO_REG_A_FOC = 0x32;
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const uint8_t GYRO_REG_TRIM_NVM_CTRL = 0x33;
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const uint8_t GYRO_REG_BGW_SPI3_WDT = 0x34;
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const uint8_t GYRO_REG_OFC1 = 0x36;
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const uint8_t GYRO_REG_OFC2 = 0x37;
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const uint8_t GYRO_REG_OFC3 = 0x38;
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const uint8_t GYRO_REG_OFC4 = 0x39;
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const uint8_t GYRO_REG_TRIM_GP0 = 0x3A;
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const uint8_t GYRO_REG_TRIM_GP1 = 0x3B;
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const uint8_t GYRO_REG_BIST = 0x3C;
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const uint8_t GYRO_REG_FIFO_CONFIG_0 = 0x3D;
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const uint8_t GYRO_REG_FIFO_CONFIG_1 = 0x3E;
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const uint8_t MAG_REG_CHIP_ID = 0x40;
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const uint8_t MAG_REG_DATA_X_LSB = 0x42;
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const uint8_t MAG_REG_DATA_X_MSB = 0x43;
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const uint8_t MAG_REG_DATA_Y_LSB = 0x44;
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const uint8_t MAG_REG_DATA_Y_MSB = 0x45;
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const uint8_t MAG_REG_DATA_Z_LSB = 0x46;
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const uint8_t MAG_REG_DATA_Z_MSB = 0x47;
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const uint8_t MAG_REG_RHALL_LSB = 0x48;
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const uint8_t MAG_REG_RHALL_MSB = 0x49;
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const uint8_t MAG_REG_INT_STATUS = 0x4A;
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const uint8_t MAG_REG_POWER = 0x4B;
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const uint8_t MAG_REG_MODE = 0x4C;
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const uint8_t MAG_REG_INT_ENABLE = 0x4D;
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const uint8_t MAG_REG_INT_SETTINGS = 0x4E;
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const uint8_t MAG_REG_LOW_THRESH = 0x4F;
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const uint8_t MAG_REG_HIGH_THRESH = 0x50;
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const uint8_t MAG_REG_REP_XY = 0x51;
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const uint8_t MAG_REG_REP_Z = 0x52;
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struct bmx055_data
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{
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int16_t accel_x;
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int16_t accel_y;
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int16_t accel_z;
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int16_t gyro_x;
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int16_t gyro_y;
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int16_t gyro_z;
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int16_t mag_x;
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int16_t mag_y;
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int16_t mag_z;
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int8_t temperature;
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};
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struct bmx055_config
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{
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struct i2c_dt_spec bus;
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#ifdef CONFIG_INA230_TRIGGER
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bool trig_enabled;
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uint16_t mask;
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const struct gpio_dt_spec alert_gpio;
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uint16_t alert_limit;
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#endif /* CONFIG_INA230_TRIGGER */
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};
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static int bmx055_sample_fetch(const struct device *dev,
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enum sensor_channel chan)
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{
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const struct bmx055_config *config = dev->config;
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struct bmx055_data *data = dev->data;
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int ret;
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uint8_t accel[6];
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ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_ACCD_X_LSB, accel, sizeof(accel));
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if (ret < 0)
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{
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LOG_ERR("Failed to read acceleration registers!");
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return ret;
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}
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data->accel_x = ((int16_t)sys_get_le16(&accel[0])) >> 4;
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data->accel_y = ((int16_t)sys_get_le16(&accel[2])) >> 4;
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data->accel_z = ((int16_t)sys_get_le16(&accel[4])) >> 4;
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uint8_t gyro[6];
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struct i2c_dt_spec gyro_bus = config->bus;
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gyro_bus.addr = 0x68;
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ret = i2c_burst_read_dt(&gyro_bus, GYRO_REG_RATE_X_LSB, gyro, sizeof(gyro));
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if (ret < 0)
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{
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LOG_ERR("Failed to read gyro registers!");
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return ret;
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}
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data->gyro_x = ((int16_t)sys_get_le16(&gyro[0]));
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data->gyro_y = ((int16_t)sys_get_le16(&gyro[2]));
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data->gyro_z = ((int16_t)sys_get_le16(&gyro[4]));
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ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_ACCD_TEMP, &data->temperature, sizeof(data->temperature));
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if (ret < 0)
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{
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LOG_ERR("Failed to read temperature register!");
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return ret;
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}
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return 0;
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}
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static int bmx055_channel_get(const struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct bmx055_data *data = dev->data;
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switch (chan)
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{
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// degrees C
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case SENSOR_CHAN_DIE_TEMP:
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// 0.5K/LSB, center temperature is 23C
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val->val1 = 23 + data->temperature / 2;
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val->val2 = 0; // TODO: don't throw out LSB
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break;
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// m/s^2
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case SENSOR_CHAN_ACCEL_X:
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{
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float accel = data->accel_x * 0.00098 * 9.80665; // to gees, to m/s^2
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val->val1 = accel;
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val->val2 = (accel - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_ACCEL_Y:
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{
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float accel = data->accel_y * 0.00098 * 9.80665; // to gees, to m/s^2
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val->val1 = accel;
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val->val2 = (accel - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_ACCEL_Z:
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{
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// For now assume 2g since that's the default value
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// 2g 0.98mg/LSB
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// 4g 1.95mg/LSB
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// 8g 3.91mg/LSB
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// 16g 7.81mg/LSB
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// 1 g = 9.80665 m/s^2
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float accel = data->accel_z * 0.00098 * 9.80665; // to gees, to m/s^2
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val->val1 = accel;
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val->val2 = (accel - val->val1) * 1000000;
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break;
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}
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// radians/second
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case SENSOR_CHAN_GYRO_X:
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{
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float rate = data->gyro_x * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_GYRO_Y:
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{
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float rate = data->gyro_y * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_GYRO_Z:
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{
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float rate = data->gyro_z * 2000.0 / 32767;
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val->val1 = rate;
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val->val2 = (rate - val->val1) * 1000000;
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break;
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}
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case SENSOR_CHAN_MAGN_X:
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case SENSOR_CHAN_MAGN_Y:
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case SENSOR_CHAN_MAGN_Z:
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return -ENOTSUP;
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default:
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return -ENOTSUP;
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}
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return 0;
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}
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static const struct sensor_driver_api bmx055_api = {
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.sample_fetch = &bmx055_sample_fetch,
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.channel_get = &bmx055_channel_get,
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};
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static int bmx055_init(const struct device *dev)
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{
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const struct bmx055_config *const config = dev->config;
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int ret;
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if (!device_is_ready(config->bus.bus))
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{
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LOG_ERR("I2C bus %s is not ready", config->bus.bus->name);
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return -ENODEV;
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}
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uint8_t chip_id;
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ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_BWG_CHIPID, &chip_id, sizeof(chip_id));
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if (ret < 0)
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{
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LOG_ERR("Failed to read chip ID register!");
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return ret;
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}
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const uint8_t CHIP_ID = 0xfa;
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if (chip_id != CHIP_ID)
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{
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LOG_ERR("Chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, chip_id, CHIP_ID);
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}
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// // Reset the sensor
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// uint8_t reset_val = BGW_SOFTRESET;
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// i2c_burst_write_dt(&config->bus, ACCEL_REG_BGW_SOFTRESET, &reset_val, sizeof(reset_val));
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// // Wait for device to reset
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uint8_t lpw;
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ret = i2c_burst_read_dt(&config->bus, ACCEL_REG_PMU_LPW, &lpw, sizeof(lpw));
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if (ret < 0)
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{
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LOG_ERR("Failed to read LPW register!");
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return ret;
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}
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LOG_INF("LPW register: 0x%02X", lpw);
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// Write configuration
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uint8_t accel_range = PMU_RANGE_2G;
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i2c_burst_write_dt(&config->bus, ACCEL_REG_PMU_RANGE, &accel_range, sizeof(accel_range));
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uint8_t accel_bw = PMU_BW_8HZ;
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i2c_burst_write_dt(&config->bus, ACCEL_REG_PMU_BW, &accel_bw, sizeof(accel_bw));
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uint8_t hbw = (1 << 7); // data_high_bw (read filtered data) and enable lsb/msb shadowing
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i2c_burst_write_dt(&config->bus, ACCEL_REG_ACCD_HBW, &hbw, sizeof(hbw));
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struct i2c_dt_spec gyro_bus = config->bus;
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gyro_bus.addr = 0x68;
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uint8_t gyro_chip_id;
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ret = i2c_burst_read_dt(&gyro_bus, GYRO_REG_CHIP_ID, &gyro_chip_id, sizeof(gyro_chip_id));
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if (ret < 0)
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{
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LOG_ERR("Failed to read gyro chip ID register!");
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return ret;
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}
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const uint8_t GYRO_CHIP_ID = 0x0f;
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if (gyro_chip_id != GYRO_CHIP_ID)
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{
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LOG_ERR("Gyro chip ID read from %s incorrect. Read 0x%02X, expected 0x%02X", dev->name, gyro_chip_id, GYRO_CHIP_ID);
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}
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return 0;
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}
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#define BMX055_INIT(i) \
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static struct bmx055_data bmx055_data_##i; \
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\
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static const struct bmx055_config bmx055_config_##i = { \
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.bus = I2C_DT_SPEC_INST_GET(i), \
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}; \
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\
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SENSOR_DEVICE_DT_INST_DEFINE(i, &bmx055_init, NULL, \
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&bmx055_data_##i, \
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&bmx055_config_##i, POST_KERNEL, \
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CONFIG_SENSOR_INIT_PRIORITY, &bmx055_api);
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DT_INST_FOREACH_STATUS_OKAY(BMX055_INIT)
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