Merge pull request #73 from emfcamp/imu

port Flow3r IMU component. also bring in i2c transaction change

components/flow3r_bmi270/CMakeLists.txt

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+idf_component_register(
+    SRCS
+        bmi270.c
+        bmi2.c
+    INCLUDE_DIRS
+        .
+        ../st3m
+    REQUIRES
+		main_esp32s3
+)

components/flow3r_bmi270/LICENSE

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+Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
+
+BSD-3-Clause
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright
+    notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+    notice, this list of conditions and the following disclaimer in the
+    documentation and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+    contributors may be used to endorse or promote products derived from
+    this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

components/flow3r_bmi270/OIS_README.md

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+# Sensor API for the BMI2's OIS interface
+
+## Table of Contents
+ - [Introduction](#Intro)
+ - [Integration details](#Integration)
+ - [Driver files information](#file)
+ - [Sensor interfaces](#interface)
+ - [Integration Examples](#examples)
+
+### Introduction<a name=Intro></a>
+ This package contains Bosch Sensortec's BMI2 Sensor API.
+
+### Integration details<a name=Integration></a>
+- Integrate _bmi2.c_, _bmi2.h_, _bmi2_ois.c_, _bmi2_ois.h_, _bmi2_defs.h_ and the required variant files in your project.
+- User has to include _bmi2_ois.h_ in the code to call OIS related APIs and a _variant header_ for initialization as
+well as BMI2 related API calls, as shown below:
+``` c
+#include "bmi261.h"
+#include "bmi2_ois.h"
+````
+### Driver files information<a name=file></a>
+- *_bmi2_ois.c_*
+   * This file has function definitions of OIS related API interfaces.
+- *_bmi2_ois.h_*
+   * This header file has necessary include files, function declarations, required to make OIS related API calls.
+
+### Sensor interfaces<a name=interface></a>
+#### _Host Interface_
+- I2C interface
+- SPI interface  
+_Note: By default, the interface is I2C._
+
+#### _OIS Interface_
+- SPI interface  
+
+### Integration examples<a name=examples></a>
+#### Configuring SPI/I2C for host interface.
+To configure host interface, an instance of the bmi2_dev structure should be
+created for initializing BMI2 sensor. "_Refer **README** for initializing BMI2 
+sensor._"
+
+#### Configuring SPI for OIS interface.
+To configure OIS interface, an instance of the bmi2_ois_dev structure should be
+created. The following parameters are required to be updated in the structure,
+by the user.
+
+Parameters    | Details
+--------------|-----------------------------------
+_intf_ptr_    | device address reference of SPI interface        
+_ois_read_    | read through SPI interface
+_ois_write_   | read through SPI interface
+_ois_delay_us_| delay in micro seconds
+_acc_en_      | for enabling accelerometer
+_gyr_en_      | for enabling gyroscope   
+
+``` c
+int8_t rslt = 0;
+
+struct bmi2_ois_dev ois_dev = {  
+        .intf_ptr = intf_ptr will contain the chip selection info of SPI CS pin,  
+        .ois_read = user_spi_reg_read,
+        .ois_write = user_spi_reg_write,
+        .ois_delay_us = user_delay_us
+};
+```
+>**_Important Note_**: For initializing and configuring BMI2 sensors, which is 
+done through host interface, the API's are to be used from bmi2.c file. Rest 
+of the API's, for OIS configurations and the reading of OIS data, which is done 
+through OIS interface, are to be used from bmi2_ois.c file.
+
+##### Get accelerometer and gyroscope data through OIS interface 
+``` c
+int8_t rslt;
+/* Array to enable sensor through host interface */
+uint8_t sens_list[2] = {BMI2_ACCEL, BMI2_GYRO};
+/* Array to enable sensor through OIS interface */
+uint8_t sens_sel[2] = {BMI2_OIS_ACCEL, BMI2_OIS_GYRO};
+/* Initialize the configuration structure */
+struct bmi2_sens_config sens_cfg = {0};
+
+/* Initialize BMI2 */
+rslt = bmi2_init(&dev);
+if (rslt != BMI2_OK) {
+        printf("Error: %d\n", rslt);
+        return;
+}
+
+/* Enable accelerometer and gyroscope through host interface */
+rslt = bmi2_sensor_enable(sens_list, 2, &dev);
+if (rslt != BMI2_OK) {
+        printf("Error: %d\n", rslt);
+        return;
+}
+
+/* Setting of OIS Range is done through host interface */
+/* Select the gyroscope sensor for OIS Range configuration */
+sens_cfg.type = BMI2_GYRO;
+
+/* Get gyroscope configuration */
+rslt = bmi2_get_sensor_config(&sens_cfg, 1, &dev);
+if (rslt != BMI2_OK) {
+        printf("Error: %d\n", rslt);
+        return;
+}
+
+/* Set the desired OIS Range */
+sens_cfg.cfg.gyr.ois_range = BMI2_GYR_OIS_2000;
+
+/* Set gyroscope configuration for default values */
+rslt = bmi2_set_sensor_config(&sens_cfg, 1, &dev);
+if (rslt != BMI2_OK) {
+         printf("Error: %d\n", rslt);
+         return;
+}
+
+/* Enable OIS through host interface */
+rslt = bmi2_set_ois_interface(BMI2_ENABLE, &dev);
+if (rslt != BMI2_OK) {
+         printf("Error: %d\n", rslt);
+         return;
+}
+
+/* Disable Advance Power Save Mode through host interface */
+rslt = bmi2_set_adv_power_save(BMI2_DISABLE, &dev);
+if (rslt != BMI2_OK) {
+         printf("Error: %d\n", rslt);
+         return;
+}
+
+/* Get configurations for OIS through OIS interface for default values */
+rslt = bmi2_ois_get_config(&ois_dev);
+if (rslt != BMI2_OK) {
+         printf("Error: %d\n", rslt);
+         return;
+}
+
+/* Enable accelerometer and gyroscope for reading OIS data */
+ois_dev.acc_en = BMI2_ENABLE;
+ois_dev.gyr_en = BMI2_ENABLE;
+
+/* Set configurations for OIS through OIS interface */
+rslt = bmi2_ois_set_config(&ois_dev);
+if (rslt == BMI2_OK) {
+        /* Get OIS accelerometer and gyroscope data through OIS interface */
+        rslt = bmi2_ois_read_data(sens_sel, 2, &ois_dev);
+        if (rslt == BMI2_OK) {
+                /* Print accelerometer data */
+                printf("OIS Accel x-axis = %d\t", ois_dev.acc_data.x);
+                printf("OIS Accel y-axis= %d\t", ois_dev.acc_data.y);
+                printf("OIS Accel z-axis = %d\r\n", ois_dev.acc_data.z);        
+
+                /* Print gyroscope data */
+                printf("OIS Gyro x-axis = %d\t", ois_dev.gyr_data.x);
+                printf("OIS Gyro y-axis= %d\t", ois_dev.gyr_data.y);
+                printf("OIS Gyro z-axis = %d\r\n", ois_dev.gyr_data.z);
+        }        
+}
+
+if (rslt != BMI2_OK) {
+         printf("Error code: %d\n", rslt);
+         return;
+}
+
+/* Enable Advance Power Save Mode through host interface */
+rslt = bmi2_set_adv_power_save(BMI2_ENABLE, &dev);
+if (rslt != BMI2_OK) {
+        printf("Error: %d\n", rslt);
+        return;
+}
+```
+
+        

components/flow3r_bmi270/README.md

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+BMI270 Sensor API
+
+> This package contains the sensor APIs for the BMI270 sensor
+
+## Sensor Overview
+The BMI270 is a small, low power, low noise inertial measurement unit designed for use in mobile applications like augmented reality or indoor navigation which require highly accurate, real-time sensor data.
+
+## Applications
+
+### BMI270 (base)
+
+- Any motion, No motion, Significant motion detectors
+- Wrist worn Step counter and Step detector (Pedometer)
+- Activity change recognition
+  - Still
+  - Walking
+  - Running
+- Wrist gestures
+  - Push arm down
+  - Pivot up
+  - Wrist shake jiggle
+  - Flick in
+  - Flick out
+- Wrist wear wake up
+
+### BMI270 Context
+
+- Step counter and Step detector (Pedometer)
+- Activity change recognition
+  - Still
+  - Walking
+  - Running
+
+### BMI270 Legacy
+
+- Any motion, No motion, Significant motion detector
+- Orientation detector (Advanced Potrait-Landscape)
+- High-G, Low-G (Freefall) detector
+- Flat detector
+- Tap detection (Single, Double, Triple taps)
+- Smartphone Step counter and Step detector (Pedometer)
+- Activity change recognition
+  - Still
+  - Walking
+  - Running
+
+### BMI270 Maximum FIFO
+
+- Supports a 6kB FIFO
+
+For more information refer product page [Link](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi270.html) 
+
+---