Working IMU with polling

main/bmi160.h

@@ -0,0 +1,57 @@
+#pragma once
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include "driver/i2c.h"
+#include "esp_err.h"
+#include "freertos/FreeRTOS.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define BMI160_I2C_ADDRESS_LOW  0x68
+#define BMI160_I2C_ADDRESS_HIGH 0x69
+
+#define BMI160_REG_CHIP_ID      0x00
+#define BMI160_REG_PMU_STATUS   0x03
+#define BMI160_REG_DATA         0x04
+#define BMI160_SIZE_REG_DATA    20
+#define BMI160_REG_STATUS       0x1B
+#define BMI160_REG_ACC_CONF     0x40
+#define BMI160_REG_ACC_RANGE    0x41
+#define BMI160_REG_GYR_CONF     0x42
+#define BMI160_REG_GYR_RANGE    0x43
+#define BMI160_REG_CMD          0x7e
+
+#define BMI160_CHIP_ID          0xD1
+
+#define BMI160_DEFAULT_TIMEOUT_MS 100
+
+typedef struct {
+    i2c_port_t i2c_port;
+    uint8_t i2c_address;
+    TickType_t timeout_ticks;
+} bmi160_t;
+
+typedef struct {
+    struct {
+        int16_t x;
+        int16_t y;
+        int16_t z;
+    } acc, gyr;
+} bmi160_value_t;
+
+esp_err_t bmi160_init(bmi160_t *dev, i2c_port_t i2c_port, uint8_t i2c_address);
+esp_err_t bmi160_read_register(const bmi160_t *dev, uint8_t reg, uint8_t *value);
+esp_err_t bmi160_read_registers(const bmi160_t *dev, uint8_t start_reg, uint8_t *data, size_t len);
+esp_err_t bmi160_write_register(const bmi160_t *dev, uint8_t reg, uint8_t value);
+esp_err_t bmi160_write_registers(const bmi160_t *dev, uint8_t start_reg, const uint8_t *data, size_t len);
+
+esp_err_t imu_init(bmi160_t *dev, i2c_port_t port);
+esp_err_t imu_read(const bmi160_t* dev, bmi160_value_t * value);
+
+#ifdef __cplusplus
+}
+#endif