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feat(sensors): Add BMI270 sensor driver
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‎components/sensors/bmi270/CMakeLists.txt‎

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if("${IDF_VERSION_MAJOR}.${IDF_VERSION_MINOR}" VERSION_GREATER_EQUAL "5.3")
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set(REQ esp_driver_i2c esp_driver_spi)
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else()
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set(REQ driver)
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endif()
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idf_component_register(SRCS src/bmi270.c src/bmi270_sensor_hub.c INCLUDE_DIRS "include" PRIV_INCLUDE_DIRS "include_priv" REQUIRES ${REQ})
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target_link_libraries(${COMPONENT_LIB} INTERFACE "-u bmi270_impl_init")

‎components/sensors/bmi270/README.md‎

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# Bosch BMI270 inertial measurement unit driver
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[![Component Registry](https://components.espressif.com/components/espressif/bmi270/badge.svg)](https://components.espressif.com/components/espressif/bmi270)
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![maintenance-status](https://img.shields.io/badge/maintenance-actively--maintained-green.svg)
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## Features
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- Reading of the chip ID.
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- Configuring output data rate and range of the onboard accelerometer and gyroscope.
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- Reading normalized float values of acceleration and rotation angle.
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### Limitations
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- Missing implementation of the SPI interface.
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- Advanced features such as gesture control, FIFO buffering, interrupt on data ready and auxilary interface are not supported.
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## Integration guide
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This driver, along with many other components from this repository, can be used as a package from [Espressif's IDF Component Registry](https://components.espressif.com). To include this driver in your project, run the following idf.py from the project's root directory:
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``` sh
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idf.py add-dependency "espressif/bmi270==*"
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```
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## Usage guide
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### Low level driver
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When using the low level driver directly then firstly initialize it by providing a valid low level driver configuration:
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``` c
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const bmi270_driver_config_t driver_config = {
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.addr = addr,
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.interface = BMI270_USE_I2C,
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.i2c_bus = i2c_bus_handle
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};
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bmi270_init(&driver_config, &bmi270_handle_pointer);
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```
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Start acquisition with a valid measurement configuration:
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``` c
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const bmi270_config_t measurement_config = {
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.acc_odr = BMI270_ACC_ODR_X,
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.acc_range = BMI270_ACC_RANGE_X,
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.gyr_odr = BMI270_GYR_ODR_X,
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.gyr_range = BMI270_GYR_RANGE_X
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};
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bmi270_start(bmi270_handle_pointer, &measurement_config);
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```
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After a completed measurement data can be read using:
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``` c
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bmi270_get_acc_data(bmi270_handle_pointer, &x, &y, &z);
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```
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Disable measurements and clean up the BMI270 driver using:
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``` c
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bmi270_stop(bmi270_handle_pointer);
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bmi270_delete(&bmi270_handle_pointer);
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```
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### Espressif sensor hub
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This driver can be used with [sensor-hub](https://docs.espressif.com/projects/esp-iot-solution/en/latest/sensors/sensor_hub.html) abstraction.
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Create a BMI270 sensor instance using a valid configuration:
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``` c
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iot_sensor_create("sensor_hub_bmi270", &bmi270_sensor_hub_configuration, sensor_handle_pointer);
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```
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## Driver structure
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```
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BMI270
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├── CMakeLists.txt # Driver component CMake file
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├── README.md
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├── idf_component.yml # Driver component configuration file
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├── include # Public include folder
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│ └── bmi270.h
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├── include_priv # Private include folder
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│ └── bmi270_priv.h
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├── license.txt
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├── src
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│ ├── bmi270.c # Low level driver source file
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│ └── bmi270_sensor_hub.c # Sensor-hub wrapper
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└── test_app # Test app for the low level driver
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├── CMakeLists.txt
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├── main
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│ ├── CMakeLists.txt
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│ ├── idf_component.yml
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│ └── test_app_bmi270.c
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└── sdkconfig.defaults
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```
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## See also
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[BMI270 datasheet](https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi270-ds000.pdf)
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[ESP-IDF component registry documentation](https://docs.espressif.com/projects/idf-component-manager/en/latest/)
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[Sensor hub documentation](https://docs.espressif.com/projects/esp-iot-solution/en/latest/sensors/sensor_hub.html)

‎components/sensors/bmi270/idf_component.yml‎

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version: 1.0.0
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description: I2C driver for BMI270 inertial measurement unit
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url: https://github.com/espressif/esp-bsp/tree/master/components/bmi270
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dependencies:
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idf: ">=5.2"
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sensor_hub:
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version: ^0.1.4
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public: true

‎components/sensors/bmi270/include/bmi270.h‎

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/*
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* SPDX-FileCopyrightText: 2026 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "driver/i2c_types.h"
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#include "driver/spi_master.h"
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#define BMI270_CHIP_ID 0x24
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#define BMI270_I2C_ADDRESS_L 0x68
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#define BMI270_I2C_ADDRESS_H 0x69
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// SPI interface is currently not supported
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typedef enum {
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BMI270_USE_I2C,
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BMI270_USE_SPI,
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} bmi270_interface_e;
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typedef enum {
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BMI270_ACC_ODR_0_78 = 1,
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BMI270_ACC_ODR_1_5,
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BMI270_ACC_ODR_3_1,
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BMI270_ACC_ODR_6_25,
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BMI270_ACC_ODR_12_5,
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BMI270_ACC_ODR_25,
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BMI270_ACC_ODR_50,
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BMI270_ACC_ODR_100,
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BMI270_ACC_ODR_200,
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BMI270_ACC_ODR_400,
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BMI270_ACC_ODR_800,
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BMI270_ACC_ODR_1600
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} bmi270_acc_odr_e;
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typedef enum {
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BMI270_GYR_ODR_25 = 6,
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BMI270_GYR_ODR_50,
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BMI270_GYR_ODR_100,
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BMI270_GYR_ODR_200,
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BMI270_GYR_ODR_400,
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BMI270_GYR_ODR_800,
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BMI270_GYR_ODR_1600,
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BMI270_GYR_ODR_3200
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} bmi270_gyr_odr_e;
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typedef enum {
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BMI270_ACC_RANGE_2 = 0,
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BMI270_ACC_RANGE_4,
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BMI270_ACC_RANGE_8,
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BMI270_ACC_RANGE_16
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} bmi270_acc_range_e;
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typedef enum {
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BMI270_GYR_RANGE_2000 = 0,
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BMI270_GYR_RANGE_1000,
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BMI270_GYR_RANGE_500,
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BMI270_GYR_RANGE_250,
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BMI270_GYR_RANGE_125
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} bmi270_gyr_range_e;
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typedef struct {
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uint8_t addr;
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bmi270_interface_e interface;
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union {
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i2c_master_bus_handle_t i2c_bus;
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// SPI interface is currently not supported
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};
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} bmi270_driver_config_t;
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typedef struct {
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bmi270_acc_odr_e acc_odr;
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bmi270_acc_range_e acc_range;
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bmi270_gyr_odr_e gyr_odr;
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bmi270_gyr_range_e gyr_range;
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} bmi270_config_t;
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typedef struct {
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bool initialized;
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bmi270_interface_e interface;
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union {
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i2c_master_dev_handle_t i2c_handle;
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spi_device_handle_t spi_handle;
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};
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bmi270_acc_range_e acc_range;
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bmi270_gyr_range_e gyr_range;
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} bmi270_handle_t;
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/**
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* @brief Create and initialize the BMI270 sensor object
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*
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* @param[in] config BMI270 sensor driver configuration
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* @param[out] dev_handle Pointer to the allocated memory for the BMI270 handle
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*
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* @return
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* - ESP_OK Success
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* - ESP_ERR_NO_MEM Memory allocation failure
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* - ESP_ERR_NOT_FOUND Device was not found on the data bus
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_init(const bmi270_driver_config_t *config, bmi270_handle_t **dev_handle);
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/**
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* @brief Free and delete the BMI270 sensor object
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*
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* @param[in] dev_handle Pointer to an initialized BMI270 handle
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_delete(bmi270_handle_t **dev_handle);
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/**
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* @brief Read the chip ID register
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*
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* @param[in] dev_handle Initialized BMI270 handle
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* @param[out] chip_id Value read from the chip ID register
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_get_chip_id(const bmi270_handle_t *dev_handle, uint8_t *chip_id);
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/**
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* @brief Start accelerometer, gyroscope and temperature sensor measurement
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*
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* @param[in] dev_handle Initialized BMI270 handle
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* @param[out] config Configuration of data acquisition
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_start(bmi270_handle_t *dev_handle, const bmi270_config_t *config);
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/**
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* @brief Stop accelerometer, gyroscope and temperature sensor measurement
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*
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* @param[in] dev_handle Initialized BMI270 handle
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_stop(const bmi270_handle_t *dev_handle);
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/**
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* @brief Read out scaled accelerometer data
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*
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* @param[in] dev_handle Initialized BMI270 handle
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* @param[out] x X axis accelerometer value in g
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* @param[out] y Y axis accelerometer value in g
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* @param[out] z Z axis accelerometer value in g
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_get_acc_data(const bmi270_handle_t *dev_handle, float *x, float *y, float *z);
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/**
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* @brief Read out scaled gyroscope data
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*
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* @param[in] dev_handle Initialized BMI270 handle
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* @param[out] x X axis gyroscope value in dps
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* @param[out] y Y axis gyroscope value in dps
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* @param[out] z Z axis gyroscope value in dps
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_get_gyr_data(const bmi270_handle_t *dev_handle, float *x, float *y, float *z);
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/**
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* @brief Set accelerometer output data rate
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*
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* @param[in] dev_handle Initialized BMI270 handle
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* @param[in] odr Accelerometer output data rate
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_set_acc_odr(const bmi270_handle_t *dev_handle, bmi270_acc_odr_e odr);
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/**
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* @brief Set gyroscope output data rate
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*
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* @param[in] dev_handle Initialized BMI270 handle
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* @param[in] odr Gyroscope output data rate
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_set_gyr_odr(const bmi270_handle_t *dev_handle, bmi270_gyr_odr_e odr);
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/**
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* @brief Set accelerometer measurement range
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*
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* @param[in] dev_handle Initialized BMI270 handle
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* @param[in] odr Accelerometer measurement range
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_set_acc_range(bmi270_handle_t *dev_handle, bmi270_acc_range_e range);
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/**
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* @brief Set gyroscope measurement range
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*
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* @param[in] dev_handle Initialized BMI270 handle
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* @param[in] odr Gyroscope measurement range
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*
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* @return
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* - ESP_OK Success
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* - Or other errors from the underlying I2C driver
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*/
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esp_err_t bmi270_set_gyr_range(bmi270_handle_t *dev_handle, bmi270_gyr_range_e range);
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#ifdef __cplusplus
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}
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#endif

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