drivers: sensors: bmi270: Add CRT feature module

Fixes: #62514 Adds support for the bmi270 feature: Creates a specific kconfig for the feature. Adds a method to run the crt process. Adds a method to program the bmi270 nvm. Adds a method to enable/disable gain compensation. Signed-off-by: Pedro Machado <[email protected]>
zephyrproject-rtos · Sep 24, 2023 · bd1d683 · bd1d683
1 parent f8f97a3
commit bd1d683
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diff --git a/drivers/sensor/bmi270/CMakeLists.txt b/drivers/sensor/bmi270/CMakeLists.txt
@@ -11,3 +11,4 @@ zephyr_library_sources(bmi270.c)
 zephyr_library_sources_ifdef(CONFIG_BMI270_BUS_I2C bmi270_i2c.c)
 zephyr_library_sources_ifdef(CONFIG_BMI270_BUS_SPI bmi270_spi.c)
 zephyr_library_sources_ifdef(CONFIG_BMI270_TRIGGER bmi270_trigger.c)
+zephyr_library_sources_ifdef(CONFIG_BMI270_CRT bmi270_crt.c)
diff --git a/drivers/sensor/bmi270/Kconfig b/drivers/sensor/bmi270/Kconfig
@@ -62,4 +62,10 @@ config BMI270_THREAD_STACK_SIZE
 	help
 	  Stack size of thread used by the driver to handle interrupts.
 
+config BMI270_CRT
+	bool "CRT feature support for bmi270"
+	default n
+	help
+	  Gyro CRT calibration feature support for bmi270
+
 endif # BMI270
diff --git a/drivers/sensor/bmi270/bmi270.c b/drivers/sensor/bmi270/bmi270.c
@@ -802,6 +802,11 @@ static const struct bmi270_feature_config bmi270_feature_base = {
 	.config_file_len = sizeof(bmi270_config_file_base),
 	.anymo_1 = &(struct bmi270_feature_reg){ .page = 1, .addr = 0x3C },
 	.anymo_2 = &(struct bmi270_feature_reg){ .page = 1, .addr = 0x3E },
+#if defined(CONFIG_BMI270_CRT)
+	.g_trig_1 = &(struct bmi270_feature_reg){.page = 1, .addr = 0x32},
+	.gyr_gain_status = &(struct bmi270_feature_reg){.page = 0, .addr = 0x38},
+	.gen_set_1 = &(struct bmi270_feature_reg){.page = 1, .addr = 0x34},
+#endif
 };
 
 #define BMI270_FEATURE(inst) (						\