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张林盛claude
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feat(imu): add BMI220 sensor support for TUYA_T5AI_PIXEL board
The PIXEL board ships with a BMI220 (chip_id 0x26) instead of BMI270 (chip_id 0x24). BMI220 requires its own 8192-byte config firmware (sourced from ChromeOS EC v2.47.1) — the BMI270 firmware is incompatible. Changes: - Add BMI220 driver (board_bmi220_api.c/h) using Bosch BMI2 library - Add BMI220-specific config firmware (bmi260_config_file.c) - Patch bmi2.c chip_id check to accept 0x26 - Add IMU abstraction layer in tuya_main.c (BMI220 preferred, BMI270 fallback) - Add ENABLE_IMU_BMI220 Kconfig option Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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‎apps/tuya_t5_pixel/tuya_t5_pixel_demo/BMI270_to_BMI220_migration.md‎

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# BMI270 到 BMI220 迁移总结
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## 背景
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TUYA_T5AI_PIXEL 开发板上实际搭载的 IMU 芯片为 **BMI220**（chip_id = `0x26`），而非 BMI270（chip_id = `0x24`）。原 BMI270 驱动初始化时 chip_id 校验失败，即使绕过校验，BMI270 的配置固件与 BMI220 不兼容，导致传感器数据全部为零。
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## 问题根因
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BMI2xx 系列传感器在上电后必须上传一份 **8192 字节的配置固件（config file）**，芯片内部微引擎才能正常工作。每个型号的固件不通用：
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| 芯片 | Chip ID | 配置固件数组名 | 固件来源 |
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|----------|---------|--------------------------|----------|
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| BMI270 | 0x24 | `bmi270_config_file` | Bosch BMI270 SDK |
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| BMI220 | 0x26 | `bmi260_config_file` | ChromeOS EC `third_party/bmi220` (v2.47.1) |
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上传错误的固件后，`INTERNAL_STATUS` 寄存器（0x21）返回 `0x00`（未初始化），加速度计和陀螺仪输出全为零。
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## 修改清单
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### 1. 新增文件
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| 文件 | 说明 |
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|------|------|
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| `boards/T5AI/TUYA_T5AI_PIXEL/board_bmi220_api.h` | BMI220 驱动头文件，定义 `bmi220_dev_t`、`bmi220_sensor_data_t` 结构体及 API |
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| `boards/T5AI/TUYA_T5AI_PIXEL/board_bmi220_api.c` | BMI220 驱动实现，基于 Bosch BMI2 库，使用 `bmi260_config_file` 固件 |
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| `src/peripherals/imu/bmi270/bmi260_config_file.c` | BMI220 专用配置固件（8192 字节），数组名 `bmi260_config_file[]` |
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### 2. 修改文件
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#### `src/peripherals/imu/bmi270/bmi2.c`（第 1907 行）
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```c
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// 修改前
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if (chip_id == dev->chip_id)
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// 修改后
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if (chip_id == dev->chip_id || chip_id == 0x26)
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```
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> 允许 BMI220 的 chip_id `0x26` 通过 Bosch BMI2 库的校验。
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#### `boards/T5AI/TUYA_T5AI_PIXEL/board_bmi220_api.c`
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```c
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// 修改前
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extern const uint8_t bmi270_config_file[];
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bmi2_dev_220.config_file_ptr = bmi270_config_file;
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// 修改后
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extern const uint8_t bmi260_config_file[];
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bmi2_dev_220.config_file_ptr = bmi260_config_file;
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```
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> 指向 BMI220 专用的配置固件。
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#### `apps/tuya_t5_pixel/tuya_t5_pixel_demo/src/tuya_main.c`
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- 新增 `#include "board_bmi220_api.h"`
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- 新增 IMU 抽象层：`imu_type_t` 枚举（`IMU_TYPE_NONE` / `IMU_TYPE_BMI220` / `IMU_TYPE_BMI270`）
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- 新增 `imu_read_data()` 和 `imu_is_ready()` 统一接口
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- `user_main()` 中优先初始化 BMI220，失败则回退到 BMI270
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- `sand_update_physics()` 使用 `imu_read_data()` 替代直接调用 BMI270 API
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#### `src/peripherals/imu/Kconfig`
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新增 `ENABLE_IMU_BMI220` 配置选项。
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#### `boards/T5AI/TUYA_T5AI_PIXEL/Kconfig`
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新增 `select ENABLE_IMU_BMI220`，与 `ENABLE_IMU_BMI270` 同时启用。
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## 架构设计
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```
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tuya_main.c
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|
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|-- imu_read_data() / imu_is_ready() ← 统一抽象层
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| |
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| |-- g_imu_type == IMU_TYPE_BMI220 → board_bmi220_read_data()
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| |-- g_imu_type == IMU_TYPE_BMI270 → board_bmi270_read_data()
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|
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|-- user_main()
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|-- board_bmi220_register() ← 优先尝试 BMI220
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|-- board_bmi270_register() ← 回退 BMI270
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```
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BMI270 原有代码完整保留，两个驱动通过不同接口独立初始化，运行时根据 `g_imu_type` 选择对应驱动读取数据。
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## BMI220 驱动配置参数
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| 参数 | 值 |
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|------|----|
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| I2C 端口 | `TUYA_I2C_NUM_0` |
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| I2C 地址 | `0x68`（SDO = GND） |
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| I2C 速率 | 400 kHz |
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| SCL / SDA | GPIO20 / GPIO21 |
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| 加速度计 | 16G 量程，200Hz ODR |
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| 陀螺仪 | 2000 dps 量程，200Hz ODR |
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## 验证结果
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```
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IMU data: acc(7.32, -5.68, -3.85) gyr(-7.93, 9.58, 61.40)
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IMU data: acc(7.19, -5.01, -4.19) gyr(-2.08, 2.38, 0.18)
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IMU data: acc(6.57, -3.36, -3.98) gyr(19.04, -80.81, -57.80)
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```
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加速度计和陀螺仪数据正常输出，沙子物理模式中重力方向响应正确。

‎apps/tuya_t5_pixel/tuya_t5_pixel_demo/src/tuya_main.c‎

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@@ -4,6 +4,7 @@
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#include "board_com_api.h"
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#include "board_pixel_api.h"
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#include "board_buzzer_api.h"
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#include "board_bmi220_api.h"
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#include "board_bmi270_api.h"
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#include "tdl_button_manage.h"
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#include <string.h>
@@ -70,9 +71,69 @@ typedef struct {
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static sand_particle_t g_sand_particles[MAX_SAND_PARTICLES];
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static uint32_t g_last_sand_spawn_time = 0;
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/* IMU sensor abstraction: supports BMI220 (default) and BMI270 */
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typedef enum {
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IMU_TYPE_NONE = 0,
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IMU_TYPE_BMI220,
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IMU_TYPE_BMI270,
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} imu_type_t;
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typedef struct {
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float acc_x, acc_y, acc_z;
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float gyr_x, gyr_y, gyr_z;
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} imu_sensor_data_t;
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static imu_type_t g_imu_type = IMU_TYPE_NONE;
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static bmi220_dev_t *g_bmi220_dev = NULL;
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static bmi270_dev_t *g_bmi270_dev = NULL;
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static bool g_sand_initialized = false;
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/**
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* @brief Read IMU sensor data (works with either BMI220 or BMI270)
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*/
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static OPERATE_RET imu_read_data(imu_sensor_data_t *data)
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{
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if (!data) {
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return OPRT_INVALID_PARM;
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}
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if (g_imu_type == IMU_TYPE_BMI220 && g_bmi220_dev != NULL && board_bmi220_is_ready(g_bmi220_dev)) {
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bmi220_sensor_data_t raw = {0};
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OPERATE_RET ret = board_bmi220_read_data(g_bmi220_dev, &raw);
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if (ret == OPRT_OK) {
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data->acc_x = raw.acc_x;
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data->acc_y = raw.acc_y;
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data->acc_z = raw.acc_z;
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data->gyr_x = raw.gyr_x;
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data->gyr_y = raw.gyr_y;
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data->gyr_z = raw.gyr_z;
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}
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return ret;
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} else if (g_imu_type == IMU_TYPE_BMI270 && g_bmi270_dev != NULL && board_bmi270_is_ready(g_bmi270_dev)) {
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bmi270_sensor_data_t raw = {0};
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OPERATE_RET ret = board_bmi270_read_data(g_bmi270_dev, &raw);
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if (ret == OPRT_OK) {
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data->acc_x = raw.acc_x;
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data->acc_y = raw.acc_y;
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data->acc_z = raw.acc_z;
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data->gyr_x = raw.gyr_x;
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data->gyr_y = raw.gyr_y;
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data->gyr_z = raw.gyr_z;
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}
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return ret;
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}
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return OPRT_COM_ERROR;
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}
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/**
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* @brief Check if any IMU sensor is ready
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*/
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static bool imu_is_ready(void)
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{
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return g_imu_type != IMU_TYPE_NONE;
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}
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/***********************************************************
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********************function declaration********************
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***********************************************************/
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}
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/**
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* @brief Update sand particle physics based on BMI270 sensor data
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* @brief Update sand particle physics based on IMU sensor data
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*/
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static void sand_update_physics(void)
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{
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bmi270_sensor_data_t sensor_data = {0};
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imu_sensor_data_t sensor_data = {0};
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float acc_x = 0.0f, acc_y = 0.0f;
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float gyr_x = 0.0f, gyr_y = 0.0f;
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// Read sensor data if available
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if (g_bmi270_dev != NULL && board_bmi270_is_ready(g_bmi270_dev)) {
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if (board_bmi270_read_data(g_bmi270_dev, &sensor_data) == OPRT_OK) {
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static uint32_t imu_dbg_cnt = 0;
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if (imu_is_ready()) {
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OPERATE_RET imu_ret = imu_read_data(&sensor_data);
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if (imu_ret == OPRT_OK) {
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acc_x = sensor_data.acc_x;
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acc_y = sensor_data.acc_y;
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// acc_z = sensor_data.acc_z;
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gyr_x = sensor_data.gyr_x;
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gyr_y = sensor_data.gyr_y;
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// gyr_z = sensor_data.gyr_z;
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if (imu_dbg_cnt++ % 500 == 0) {
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PR_NOTICE("IMU data: acc(%.2f, %.2f, %.2f) gyr(%.2f, %.2f, %.2f)",
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sensor_data.acc_x, sensor_data.acc_y, sensor_data.acc_z,
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sensor_data.gyr_x, sensor_data.gyr_y, sensor_data.gyr_z);
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}
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} else {
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if (imu_dbg_cnt++ % 500 == 0) {
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PR_ERR("IMU read failed: %d", imu_ret);
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}
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}
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} else {
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if (imu_dbg_cnt++ % 500 == 0) {
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PR_WARN("IMU not ready, imu_type=%d", g_imu_type);
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}
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}
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}
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PR_NOTICE("Hardware initialized");
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// Initialize BMI270 sensor
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g_bmi270_dev = board_bmi270_get_handle();
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if (g_bmi270_dev != NULL) {
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PR_NOTICE("BMI270 sensor handle obtained");
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// Wait a bit for hardware registration to complete
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tal_system_sleep(200);
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// Check if sensor is ready
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if (!board_bmi270_is_ready(g_bmi270_dev)) {
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PR_NOTICE("Initializing BMI270 sensor...");
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rt = board_bmi270_init(g_bmi270_dev);
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// Initialize IMU sensor: try BMI220 first (no firmware upload), fallback to BMI270
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PR_NOTICE("Initializing IMU sensor...");
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tal_system_sleep(200);
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// Try BMI220 first (direct register access, no firmware upload needed)
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g_bmi220_dev = board_bmi220_get_handle();
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if (g_bmi220_dev != NULL) {
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PR_NOTICE("Trying BMI220 sensor...");
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if (!board_bmi220_is_ready(g_bmi220_dev)) {
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rt = board_bmi220_init(g_bmi220_dev);
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if (OPRT_OK == rt) {
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PR_NOTICE("BMI270 sensor initialized successfully");
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g_imu_type = IMU_TYPE_BMI220;
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PR_NOTICE("BMI220 sensor initialized successfully");
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} else {
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PR_WARN("BMI270 sensor initialization failed: %d (will continue without sensor)", rt);
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g_bmi270_dev = NULL;
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PR_WARN("BMI220 init failed: %d, trying BMI270...", rt);
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g_bmi220_dev = NULL;
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}
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} else {
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PR_NOTICE("BMI270 sensor already initialized");
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g_imu_type = IMU_TYPE_BMI220;
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PR_NOTICE("BMI220 sensor already initialized");
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}
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}
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// Fallback to BMI270 if BMI220 failed
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if (g_imu_type == IMU_TYPE_NONE) {
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g_bmi270_dev = board_bmi270_get_handle();
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if (g_bmi270_dev != NULL) {
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PR_NOTICE("Trying BMI270 sensor...");
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if (!board_bmi270_is_ready(g_bmi270_dev)) {
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rt = board_bmi270_init(g_bmi270_dev);
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if (OPRT_OK == rt) {
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g_imu_type = IMU_TYPE_BMI270;
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PR_NOTICE("BMI270 sensor initialized successfully");
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} else {
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PR_WARN("BMI270 init failed: %d (continuing without IMU)", rt);
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g_bmi270_dev = NULL;
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}
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} else {
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g_imu_type = IMU_TYPE_BMI270;
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PR_NOTICE("BMI270 sensor already initialized");
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}
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}
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}
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if (g_imu_type == IMU_TYPE_NONE) {
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PR_WARN("No IMU sensor available (continuing without sensor)");
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} else {
1465-
PR_WARN("BMI270 sensor not available (will continue without sensor)");
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PR_NOTICE("IMU active: %s", g_imu_type == IMU_TYPE_BMI220 ? "BMI220" : "BMI270");
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}
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14681570
// Initialize buzzer

‎boards/T5AI/TUYA_T5AI_PIXEL/Kconfig‎

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@@ -18,5 +18,6 @@ config BOARD_CONFIG
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select ENABLE_SPI
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select ENABLE_LEDS_PIXEL
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select ENABLE_IMU
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select ENABLE_IMU_BMI220
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select ENABLE_IMU_BMI270
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