diff options
Diffstat (limited to 'zephyr/emul/emul_bmi260.c')
| -rw-r--r-- | zephyr/emul/emul_bmi260.c | 381 |
1 files changed, 188 insertions, 193 deletions
diff --git a/zephyr/emul/emul_bmi260.c b/zephyr/emul/emul_bmi260.c index 31da71316a..5892a9ae96 100644 --- a/zephyr/emul/emul_bmi260.c +++ b/zephyr/emul/emul_bmi260.c @@ -1,4 +1,4 @@ -/* Copyright 2021 The Chromium OS Authors. All rights reserved. +/* Copyright 2021 The ChromiumOS Authors * Use of this source code is governed by a BSD-style license that can be * found in the LICENSE file. */ @@ -21,100 +21,100 @@ LOG_MODULE_REGISTER(emul_bmi260); /** Mask reserved bits in each register of BMI260 */ static const uint8_t bmi_emul_260_rsvd_mask[] = { - [BMI260_CHIP_ID] = 0x00, - [0x01] = 0xff, /* Reserved */ - [BMI260_ERR_REG] = 0x20, - [BMI260_STATUS] = 0x0b, - [BMI260_AUX_X_L_G] = 0x00, - [BMI260_AUX_X_H_G] = 0x00, - [BMI260_AUX_Y_L_G] = 0x00, - [BMI260_AUX_Y_H_G] = 0x00, - [BMI260_AUX_Z_L_G] = 0x00, - [BMI260_AUX_Z_H_G] = 0x00, - [BMI260_AUX_R_L_G] = 0x00, - [BMI260_AUX_R_H_G] = 0x00, - [BMI260_ACC_X_L_G] = 0x00, - [BMI260_ACC_X_H_G] = 0x00, - [BMI260_ACC_Y_L_G] = 0x00, - [BMI260_ACC_Y_H_G] = 0x00, - [BMI260_ACC_Z_L_G] = 0x00, - [BMI260_ACC_Z_H_G] = 0x00, - [BMI260_GYR_X_L_G] = 0x00, - [BMI260_GYR_X_H_G] = 0x00, - [BMI260_GYR_Y_L_G] = 0x00, - [BMI260_GYR_Y_H_G] = 0x00, - [BMI260_GYR_Z_L_G] = 0x00, - [BMI260_GYR_Z_H_G] = 0x00, - [BMI260_SENSORTIME_0] = 0x00, - [BMI260_SENSORTIME_1] = 0x00, - [BMI260_SENSORTIME_2] = 0x00, - [BMI260_EVENT] = 0xe2, - [BMI260_INT_STATUS_0] = 0x00, - [BMI260_INT_STATUS_1] = 0x18, - [BMI260_SC_OUT_0] = 0x00, - [BMI260_SC_OUT_1] = 0x00, - [BMI260_ORIENT_ACT] = 0xe0, - [BMI260_INTERNAL_STATUS] = 0x00, - [BMI260_TEMPERATURE_0] = 0x00, - [BMI260_TEMPERATURE_1] = 0x00, - [BMI260_FIFO_LENGTH_0] = 0x00, - [BMI260_FIFO_LENGTH_1] = 0xc0, - [BMI160_FIFO_DATA] = 0x00, - [0x27 ... 0x2e] = 0xff, /* Reserved */ - [BMI260_FEAT_PAGE] = 0xf8, - [0x30 ... 0x3f] = 0x00, /* Features */ - [BMI260_ACC_CONF] = 0x00, - [BMI260_ACC_RANGE] = 0xfc, - [BMI260_GYR_CONF] = 0x00, - [BMI260_GYR_RANGE] = 0xf0, - [BMI260_AUX_CONF] = 0x00, - [BMI260_FIFO_DOWNS] = 0x00, - [BMI260_FIFO_WTM_0] = 0x00, - [BMI260_FIFO_WTM_1] = 0xe0, - [BMI260_FIFO_CONFIG_0] = 0xfc, - [BMI260_FIFO_CONFIG_1] = 0x00, - [BMI260_SATURATION] = 0xc0, - [BMI260_AUX_DEV_ID] = 0x01, - [BMI260_AUX_IF_CONF] = 0x30, - [BMI260_AUX_RD_ADDR] = 0x00, - [BMI260_AUX_WR_ADDR] = 0x00, - [BMI260_AUX_WR_DATA] = 0x00, - [0x50 ... 0x51] = 0xff, /* Reserved */ - [BMI260_ERR_REG_MSK] = 0x20, - [BMI260_INT1_IO_CTRL] = 0xe1, - [BMI260_INT2_IO_CTRL] = 0xe1, - [BMI260_INT_LATCH] = 0xfe, - [BMI260_INT1_MAP_FEAT] = 0x00, - [BMI260_INT2_MAP_FEAT] = 0x00, - [BMI260_INT_MAP_DATA] = 0x00, - [BMI260_INIT_CTRL] = 0x00, - [0x5a] = 0xff, /* Reserved */ - [BMI260_INIT_ADDR_0] = 0xf0, - [BMI260_INIT_ADDR_1] = 0x00, - [0x5d] = 0xff, /* Reserved */ - [BMI260_INIT_DATA] = 0x00, - [BMI260_INTERNAL_ERROR] = 0xe9, - [0x60 ... 0x67] = 0xff, /* Reserved */ - [BMI260_AUX_IF_TRIM] = 0xf8, - [BMI260_GYR_CRT_CONF] = 0xf2, - [BMI260_NVM_CONF] = 0xfd, - [BMI260_IF_CONF] = 0xcc, - [BMI260_DRV] = 0x00, - [BMI260_ACC_SELF_TEST] = 0xf2, - [BMI260_GYR_SELF_TEST_AXES] = 0xf0, - [0x6f] = 0xff, /* Reserved */ - [BMI260_NV_CONF] = 0xf0, - [BMI260_OFFSET_ACC70] = 0x00, - [BMI260_OFFSET_ACC70 + 1] = 0x00, - [BMI260_OFFSET_ACC70 + 2] = 0x00, - [BMI260_OFFSET_GYR70] = 0x00, - [BMI260_OFFSET_GYR70 + 1] = 0x00, - [BMI260_OFFSET_GYR70 + 2] = 0x00, - [BMI160_OFFSET_EN_GYR98] = 0x00, - [0x78 ... 0x7b] = 0xff, /* Reserved */ - [BMI260_PWR_CONF] = 0xf8, - [BMI260_PWR_CTRL] = 0xf0, - [BMI260_CMD_REG] = 0x00, + [BMI260_CHIP_ID] = 0x00, + [0x01] = 0xff, /* Reserved */ + [BMI260_ERR_REG] = 0x20, + [BMI260_STATUS] = 0x0b, + [BMI260_AUX_X_L_G] = 0x00, + [BMI260_AUX_X_H_G] = 0x00, + [BMI260_AUX_Y_L_G] = 0x00, + [BMI260_AUX_Y_H_G] = 0x00, + [BMI260_AUX_Z_L_G] = 0x00, + [BMI260_AUX_Z_H_G] = 0x00, + [BMI260_AUX_R_L_G] = 0x00, + [BMI260_AUX_R_H_G] = 0x00, + [BMI260_ACC_X_L_G] = 0x00, + [BMI260_ACC_X_H_G] = 0x00, + [BMI260_ACC_Y_L_G] = 0x00, + [BMI260_ACC_Y_H_G] = 0x00, + [BMI260_ACC_Z_L_G] = 0x00, + [BMI260_ACC_Z_H_G] = 0x00, + [BMI260_GYR_X_L_G] = 0x00, + [BMI260_GYR_X_H_G] = 0x00, + [BMI260_GYR_Y_L_G] = 0x00, + [BMI260_GYR_Y_H_G] = 0x00, + [BMI260_GYR_Z_L_G] = 0x00, + [BMI260_GYR_Z_H_G] = 0x00, + [BMI260_SENSORTIME_0] = 0x00, + [BMI260_SENSORTIME_1] = 0x00, + [BMI260_SENSORTIME_2] = 0x00, + [BMI260_EVENT] = 0xe2, + [BMI260_INT_STATUS_0] = 0x00, + [BMI260_INT_STATUS_1] = 0x18, + [BMI260_SC_OUT_0] = 0x00, + [BMI260_SC_OUT_1] = 0x00, + [BMI260_ORIENT_ACT] = 0xe0, + [BMI260_INTERNAL_STATUS] = 0x00, + [BMI260_TEMPERATURE_0] = 0x00, + [BMI260_TEMPERATURE_1] = 0x00, + [BMI260_FIFO_LENGTH_0] = 0x00, + [BMI260_FIFO_LENGTH_1] = 0xc0, + [BMI160_FIFO_DATA] = 0x00, + [0x27 ... 0x2e] = 0xff, /* Reserved */ + [BMI260_FEAT_PAGE] = 0xf8, + [0x30 ... 0x3f] = 0x00, /* Features */ + [BMI260_ACC_CONF] = 0x00, + [BMI260_ACC_RANGE] = 0xfc, + [BMI260_GYR_CONF] = 0x00, + [BMI260_GYR_RANGE] = 0xf0, + [BMI260_AUX_CONF] = 0x00, + [BMI260_FIFO_DOWNS] = 0x00, + [BMI260_FIFO_WTM_0] = 0x00, + [BMI260_FIFO_WTM_1] = 0xe0, + [BMI260_FIFO_CONFIG_0] = 0xfc, + [BMI260_FIFO_CONFIG_1] = 0x00, + [BMI260_SATURATION] = 0xc0, + [BMI260_AUX_DEV_ID] = 0x01, + [BMI260_AUX_IF_CONF] = 0x30, + [BMI260_AUX_RD_ADDR] = 0x00, + [BMI260_AUX_WR_ADDR] = 0x00, + [BMI260_AUX_WR_DATA] = 0x00, + [0x50 ... 0x51] = 0xff, /* Reserved */ + [BMI260_ERR_REG_MSK] = 0x20, + [BMI260_INT1_IO_CTRL] = 0xe1, + [BMI260_INT2_IO_CTRL] = 0xe1, + [BMI260_INT_LATCH] = 0xfe, + [BMI260_INT1_MAP_FEAT] = 0x00, + [BMI260_INT2_MAP_FEAT] = 0x00, + [BMI260_INT_MAP_DATA] = 0x00, + [BMI260_INIT_CTRL] = 0x00, + [0x5a] = 0xff, /* Reserved */ + [BMI260_INIT_ADDR_0] = 0xf0, + [BMI260_INIT_ADDR_1] = 0x00, + [0x5d] = 0xff, /* Reserved */ + [BMI260_INIT_DATA] = 0x00, + [BMI260_INTERNAL_ERROR] = 0xe9, + [0x60 ... 0x67] = 0xff, /* Reserved */ + [BMI260_AUX_IF_TRIM] = 0xf8, + [BMI260_GYR_CRT_CONF] = 0xf2, + [BMI260_NVM_CONF] = 0xfd, + [BMI260_IF_CONF] = 0xcc, + [BMI260_DRV] = 0x00, + [BMI260_ACC_SELF_TEST] = 0xf2, + [BMI260_GYR_SELF_TEST_AXES] = 0xf0, + [0x6f] = 0xff, /* Reserved */ + [BMI260_NV_CONF] = 0xf0, + [BMI260_OFFSET_ACC70] = 0x00, + [BMI260_OFFSET_ACC70 + 1] = 0x00, + [BMI260_OFFSET_ACC70 + 2] = 0x00, + [BMI260_OFFSET_GYR70] = 0x00, + [BMI260_OFFSET_GYR70 + 1] = 0x00, + [BMI260_OFFSET_GYR70 + 2] = 0x00, + [BMI160_OFFSET_EN_GYR98] = 0x00, + [0x78 ... 0x7b] = 0xff, /* Reserved */ + [BMI260_PWR_CONF] = 0xf8, + [BMI260_PWR_CTRL] = 0xf0, + [BMI260_CMD_REG] = 0x00, }; /** @@ -123,88 +123,88 @@ static const uint8_t bmi_emul_260_rsvd_mask[] = { * @param regs Pointer to array of emulator's registers * @param emul Pointer to BMI emulator */ -static void bmi260_emul_reset(uint8_t *regs, struct i2c_emul *emul) +static void bmi260_emul_reset(uint8_t *regs, const struct emul *emul) { bool tag_time; bool header; - regs[BMI260_CHIP_ID] = 0x27; - regs[BMI260_ERR_REG] = 0x00; - regs[BMI260_STATUS] = 0x10; - regs[BMI260_AUX_X_L_G] = 0x00; - regs[BMI260_AUX_X_H_G] = 0x00; - regs[BMI260_AUX_Y_L_G] = 0x00; - regs[BMI260_AUX_Y_H_G] = 0x00; - regs[BMI260_AUX_Z_L_G] = 0x00; - regs[BMI260_AUX_Z_H_G] = 0x00; - regs[BMI260_AUX_R_L_G] = 0x00; - regs[BMI260_AUX_R_H_G] = 0x00; - regs[BMI260_ACC_X_L_G] = 0x00; - regs[BMI260_ACC_X_H_G] = 0x00; - regs[BMI260_ACC_Y_L_G] = 0x00; - regs[BMI260_ACC_Y_H_G] = 0x00; - regs[BMI260_ACC_Z_L_G] = 0x00; - regs[BMI260_ACC_Z_H_G] = 0x00; - regs[BMI260_GYR_X_L_G] = 0x00; - regs[BMI260_GYR_X_H_G] = 0x00; - regs[BMI260_GYR_Y_L_G] = 0x00; - regs[BMI260_GYR_Y_H_G] = 0x00; - regs[BMI260_GYR_Z_L_G] = 0x00; - regs[BMI260_GYR_Z_H_G] = 0x00; - regs[BMI260_SENSORTIME_0] = 0x00; - regs[BMI260_SENSORTIME_1] = 0x00; - regs[BMI260_SENSORTIME_2] = 0x00; - regs[BMI260_EVENT] = 0x01; - regs[BMI260_INT_STATUS_0] = 0x00; - regs[BMI260_INT_STATUS_1] = 0x00; - regs[BMI260_SC_OUT_0] = 0x00; - regs[BMI260_SC_OUT_1] = 0x00; - regs[BMI260_ORIENT_ACT] = 0x00; - regs[BMI260_INTERNAL_STATUS] = 0x00; - regs[BMI260_TEMPERATURE_0] = 0x00; - regs[BMI260_TEMPERATURE_1] = 0x80; - regs[BMI260_FIFO_LENGTH_0] = 0x00; - regs[BMI260_FIFO_LENGTH_1] = 0x00; - regs[BMI160_FIFO_DATA] = 0x00; - regs[BMI260_FEAT_PAGE] = 0x00; - regs[BMI260_ACC_CONF] = 0xa8; - regs[BMI260_ACC_RANGE] = 0x02; - regs[BMI260_GYR_CONF] = 0xa9; - regs[BMI260_GYR_RANGE] = 0x00; - regs[BMI260_AUX_CONF] = 0x46; - regs[BMI260_FIFO_DOWNS] = 0x88; - regs[BMI260_FIFO_WTM_0] = 0x00; - regs[BMI260_FIFO_WTM_1] = 0x02; - regs[BMI260_FIFO_CONFIG_0] = 0x02; - regs[BMI260_FIFO_CONFIG_1] = 0x10; - regs[BMI260_SATURATION] = 0x00; - regs[BMI260_AUX_DEV_ID] = 0x20; - regs[BMI260_AUX_IF_CONF] = 0x83; - regs[BMI260_AUX_RD_ADDR] = 0x42; - regs[BMI260_AUX_WR_ADDR] = 0x4c; - regs[BMI260_AUX_WR_DATA] = 0x02; - regs[BMI260_ERR_REG_MSK] = 0x00; - regs[BMI260_INT1_IO_CTRL] = 0x00; - regs[BMI260_INT2_IO_CTRL] = 0x00; - regs[BMI260_INT_LATCH] = 0x00; - regs[BMI260_INT1_MAP_FEAT] = 0x00; - regs[BMI260_INT2_MAP_FEAT] = 0x00; - regs[BMI260_INT_MAP_DATA] = 0x00; - regs[BMI260_INIT_CTRL] = 0x00; - regs[BMI260_INIT_ADDR_0] = 0x00; - regs[BMI260_INIT_ADDR_1] = 0x00; - regs[BMI260_INIT_DATA] = 0x00; - regs[BMI260_INTERNAL_ERROR] = 0x00; - regs[BMI260_AUX_IF_TRIM] = 0x01; - regs[BMI260_GYR_CRT_CONF] = 0x00; - regs[BMI260_NVM_CONF] = 0x00; - regs[BMI260_IF_CONF] = 0x00; - regs[BMI260_DRV] = 0xff; - regs[BMI260_ACC_SELF_TEST] = 0x00; - regs[BMI260_GYR_SELF_TEST_AXES] = 0x00; - regs[BMI260_PWR_CONF] = 0x03; - regs[BMI260_PWR_CTRL] = 0x00; - regs[BMI260_CMD_REG] = 0x00; + regs[BMI260_CHIP_ID] = 0x27; + regs[BMI260_ERR_REG] = 0x00; + regs[BMI260_STATUS] = 0x10; + regs[BMI260_AUX_X_L_G] = 0x00; + regs[BMI260_AUX_X_H_G] = 0x00; + regs[BMI260_AUX_Y_L_G] = 0x00; + regs[BMI260_AUX_Y_H_G] = 0x00; + regs[BMI260_AUX_Z_L_G] = 0x00; + regs[BMI260_AUX_Z_H_G] = 0x00; + regs[BMI260_AUX_R_L_G] = 0x00; + regs[BMI260_AUX_R_H_G] = 0x00; + regs[BMI260_ACC_X_L_G] = 0x00; + regs[BMI260_ACC_X_H_G] = 0x00; + regs[BMI260_ACC_Y_L_G] = 0x00; + regs[BMI260_ACC_Y_H_G] = 0x00; + regs[BMI260_ACC_Z_L_G] = 0x00; + regs[BMI260_ACC_Z_H_G] = 0x00; + regs[BMI260_GYR_X_L_G] = 0x00; + regs[BMI260_GYR_X_H_G] = 0x00; + regs[BMI260_GYR_Y_L_G] = 0x00; + regs[BMI260_GYR_Y_H_G] = 0x00; + regs[BMI260_GYR_Z_L_G] = 0x00; + regs[BMI260_GYR_Z_H_G] = 0x00; + regs[BMI260_SENSORTIME_0] = 0x00; + regs[BMI260_SENSORTIME_1] = 0x00; + regs[BMI260_SENSORTIME_2] = 0x00; + regs[BMI260_EVENT] = 0x01; + regs[BMI260_INT_STATUS_0] = 0x00; + regs[BMI260_INT_STATUS_1] = 0x00; + regs[BMI260_SC_OUT_0] = 0x00; + regs[BMI260_SC_OUT_1] = 0x00; + regs[BMI260_ORIENT_ACT] = 0x00; + regs[BMI260_INTERNAL_STATUS] = 0x00; + regs[BMI260_TEMPERATURE_0] = 0x00; + regs[BMI260_TEMPERATURE_1] = 0x80; + regs[BMI260_FIFO_LENGTH_0] = 0x00; + regs[BMI260_FIFO_LENGTH_1] = 0x00; + regs[BMI160_FIFO_DATA] = 0x00; + regs[BMI260_FEAT_PAGE] = 0x00; + regs[BMI260_ACC_CONF] = 0xa8; + regs[BMI260_ACC_RANGE] = 0x02; + regs[BMI260_GYR_CONF] = 0xa9; + regs[BMI260_GYR_RANGE] = 0x00; + regs[BMI260_AUX_CONF] = 0x46; + regs[BMI260_FIFO_DOWNS] = 0x88; + regs[BMI260_FIFO_WTM_0] = 0x00; + regs[BMI260_FIFO_WTM_1] = 0x02; + regs[BMI260_FIFO_CONFIG_0] = 0x02; + regs[BMI260_FIFO_CONFIG_1] = 0x10; + regs[BMI260_SATURATION] = 0x00; + regs[BMI260_AUX_DEV_ID] = 0x20; + regs[BMI260_AUX_IF_CONF] = 0x83; + regs[BMI260_AUX_RD_ADDR] = 0x42; + regs[BMI260_AUX_WR_ADDR] = 0x4c; + regs[BMI260_AUX_WR_DATA] = 0x02; + regs[BMI260_ERR_REG_MSK] = 0x00; + regs[BMI260_INT1_IO_CTRL] = 0x00; + regs[BMI260_INT2_IO_CTRL] = 0x00; + regs[BMI260_INT_LATCH] = 0x00; + regs[BMI260_INT1_MAP_FEAT] = 0x00; + regs[BMI260_INT2_MAP_FEAT] = 0x00; + regs[BMI260_INT_MAP_DATA] = 0x00; + regs[BMI260_INIT_CTRL] = 0x00; + regs[BMI260_INIT_ADDR_0] = 0x00; + regs[BMI260_INIT_ADDR_1] = 0x00; + regs[BMI260_INIT_DATA] = 0x00; + regs[BMI260_INTERNAL_ERROR] = 0x00; + regs[BMI260_AUX_IF_TRIM] = 0x01; + regs[BMI260_GYR_CRT_CONF] = 0x00; + regs[BMI260_NVM_CONF] = 0x00; + regs[BMI260_IF_CONF] = 0x00; + regs[BMI260_DRV] = 0xff; + regs[BMI260_ACC_SELF_TEST] = 0x00; + regs[BMI260_GYR_SELF_TEST_AXES] = 0x00; + regs[BMI260_PWR_CONF] = 0x03; + regs[BMI260_PWR_CTRL] = 0x00; + regs[BMI260_CMD_REG] = 0x00; /* Call generic reset */ tag_time = regs[BMI260_FIFO_CONFIG_0] & BMI260_FIFO_TIME_EN; @@ -278,7 +278,8 @@ static int bmi260_emul_gyr_range_to_shift(uint8_t range) * @return 0 on success * @return -EIO on failure */ -static int bmi260_emul_start_cmd(uint8_t *regs, struct i2c_emul *emul, int cmd) +static int bmi260_emul_start_cmd(uint8_t *regs, const struct emul *emul, + int cmd) { int time; @@ -306,7 +307,7 @@ static int bmi260_emul_start_cmd(uint8_t *regs, struct i2c_emul *emul, int cmd) * @param regs Pointer to array of emulator's registers * @param emul Pointer to BMI emulator */ -static void bmi260_emul_end_cmd(uint8_t *regs, struct i2c_emul *emul) +static void bmi260_emul_end_cmd(uint8_t *regs, const struct emul *emul) { bool tag_time; bool header; @@ -339,7 +340,7 @@ static void bmi260_emul_end_cmd(uint8_t *regs, struct i2c_emul *emul) * * @return Currently accessed register */ -static int bmi260_emul_access_reg(struct i2c_emul *emul, int reg, int byte, +static int bmi260_emul_access_reg(const struct emul *emul, int reg, int byte, bool read) { /* Ignore first byte which sets starting register */ @@ -354,8 +355,7 @@ static int bmi260_emul_access_reg(struct i2c_emul *emul, int reg, int byte, */ if (reg <= BMI260_FIFO_DATA && reg + byte >= BMI260_FIFO_DATA) { return BMI260_FIFO_DATA; - } else if (reg <= BMI260_INIT_DATA && - reg + byte >= BMI260_INIT_DATA) { + } else if (reg <= BMI260_INIT_DATA && reg + byte >= BMI260_INIT_DATA) { return BMI260_INIT_DATA; } @@ -381,7 +381,7 @@ static int bmi260_emul_access_reg(struct i2c_emul *emul, int reg, int byte, * @return BMI_EMUL_ACCESS_E on RO register access * @return -EIO on error */ -static int bmi260_emul_handle_write(uint8_t *regs, struct i2c_emul *emul, +static int bmi260_emul_handle_write(uint8_t *regs, const struct emul *emul, int reg, int byte, uint8_t val) { uint8_t mask; @@ -395,7 +395,6 @@ static int bmi260_emul_handle_write(uint8_t *regs, struct i2c_emul *emul, return BMI_EMUL_ACCESS_E; } - /* Stop on going command if required */ if (regs[BMI260_CMD_REG] != 0 && bmi_emul_is_cmd_end(emul)) { bmi260_emul_end_cmd(regs, emul); @@ -454,7 +453,7 @@ static int bmi260_emul_handle_write(uint8_t *regs, struct i2c_emul *emul, * @return BMI_EMUL_ACCESS_E on WO register access * @return -EIO on other error */ -static int bmi260_emul_handle_read(uint8_t *regs, struct i2c_emul *emul, +static int bmi260_emul_handle_read(uint8_t *regs, const struct emul *emul, int reg, int byte, char *buf) { uint16_t fifo_len; @@ -513,8 +512,8 @@ static int bmi260_emul_handle_read(uint8_t *regs, struct i2c_emul *emul, bmi_emul_state_to_reg(emul, acc_shift, gyr_shift, BMI260_ACC_X_L_G, BMI260_GYR_X_L_G, - BMI260_SENSORTIME_0, - acc_off_en, gyr_off_en); + BMI260_SENSORTIME_0, acc_off_en, + gyr_off_en); } break; case BMI260_FIFO_LENGTH_0: @@ -538,16 +537,12 @@ static int bmi260_emul_handle_read(uint8_t *regs, struct i2c_emul *emul, } /** Registers backed in NVM by BMI260 */ -const int bmi260_nvm_reg[] = {BMI260_AUX_IF_TRIM, - BMI260_NV_CONF, - BMI260_DRV, - BMI260_OFFSET_ACC70, - BMI260_OFFSET_ACC70 + 1, - BMI260_OFFSET_ACC70 + 2, - BMI260_OFFSET_GYR70, - BMI260_OFFSET_GYR70 + 1, - BMI260_OFFSET_GYR70 + 2, - BMI260_OFFSET_EN_GYR98}; +const int bmi260_nvm_reg[] = { + BMI260_AUX_IF_TRIM, BMI260_NV_CONF, BMI260_DRV, + BMI260_OFFSET_ACC70, BMI260_OFFSET_ACC70 + 1, BMI260_OFFSET_ACC70 + 2, + BMI260_OFFSET_GYR70, BMI260_OFFSET_GYR70 + 1, BMI260_OFFSET_GYR70 + 2, + BMI260_OFFSET_EN_GYR98 +}; /** Confguration of BMI260 */ struct bmi_emul_type_data bmi260_emul = { |