fix(imu): address PR review issues for BMI220 support

HIGH fixes:
- Revert bmi2.c chip_id hack: remove hardcoded 0x26 from shared library.
  The BMI220 driver sets dev->chip_id = 0x26 before calling bmi2_sec_init(),
  so the original check (chip_id == dev->chip_id) passes naturally.
- Add tkl_i2c_deinit() on all BMI220 init error paths to prevent I2C leak
- Fix misleading comments about config firmware source

MEDIUM fixes:
- Move bmi260_config_file.c from bmi270/ to bmi220/ directory
- Add CONFIG_ENABLE_IMU_BMI220 section in imu/CMakeLists.txt
- Populate dev->chip_id field after successful init
- Remove production debug logging in sand_update_physics()
- Remove unused board_bmi220_scan_i2c() and board_bmi220_read_gyro()
- Add comments explaining why bmi270_* APIs are valid for BMI220
- Fix inaccurate Kconfig descriptions

LOW fixes:
- Convert migration doc from Chinese to English

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

Author: 张林盛

apps/tuya_t5_pixel/tuya_t5_pixel_demo/BMI270_to_BMI220_migration.md

@@ -1,108 +1,90 @@
-# BMI270 到 BMI220 迁移总结
+# BMI270 to BMI220 Migration Summary
 
-## 背景
+## Background
 
-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。
+The TUYA_T5AI_PIXEL board ships with a **BMI220** IMU (chip_id = `0x26`), not the BMI270 (chip_id = `0x24`). The original BMI270 driver failed during chip_id validation. Even when that check was bypassed, the BMI270 config firmware is incompatible with BMI220, causing all sensor outputs to read zero.
 
-## 问题根因
+## Root Cause
 
-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：
+BMI2xx sensors require an **8192-byte config firmware upload** after power-on for the internal micro-engine to function. Each variant needs its own firmware — they are not interchangeable:
 
-| 芯片     | Chip ID | 配置固件数组名           | 固件来源 |
-|----------|---------|--------------------------|----------|
-| BMI270   | 0x24    | `bmi270_config_file`     | Bosch BMI270 SDK |
-| BMI220   | 0x26    | `bmi260_config_file`     | ChromeOS EC `third_party/bmi220` (v2.47.1) |
+| Chip   | Chip ID | Config Array Name        | Firmware Source |
+|--------|---------|--------------------------|-----------------|
+| BMI270 | 0x24    | `bmi270_config_file`     | Bosch BMI270 SDK |
+| BMI220 | 0x26    | `bmi260_config_file`     | ChromeOS EC `third_party/bmi220` (v2.47.1) |
 
-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。
+Uploading the wrong firmware results in `INTERNAL_STATUS` register (0x21) returning `0x00` (not initialized), with accelerometer and gyroscope outputs stuck at zero.
 
-## 修改清单
+## Changes
 
-### 1. 新增文件
+### 1. New Files
 
-| 文件 | 说明 |
-|------|------|
-| `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 |
-| `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 |
-| `src/peripherals/imu/bmi270/bmi260_config_file.c` | BMI220 专用配置固件（8192 字节），数组名 `bmi260_config_file[]` |
+| File | Description |
+|------|-------------|
+| `boards/T5AI/TUYA_T5AI_PIXEL/board_bmi220_api.h` | BMI220 driver header — `bmi220_dev_t`, `bmi220_sensor_data_t` structs and API |
+| `boards/T5AI/TUYA_T5AI_PIXEL/board_bmi220_api.c` | BMI220 driver implementation using Bosch BMI2 library with `bmi260_config_file` |
+| `src/peripherals/imu/bmi220/bmi260_config_file.c` | BMI220-specific config firmware (8192 bytes), array `bmi260_config_file[]` |
 
-### 2. 修改文件
-
-#### `src/peripherals/imu/bmi270/bmi2.c`（第 1907 行）
-
-```c
-// 修改前
-if (chip_id == dev->chip_id)
-
-// 修改后
-if (chip_id == dev->chip_id || chip_id == 0x26)
-```
-
-> 允许 BMI220 的 chip_id `0x26` 通过 Bosch BMI2 库的校验。
-
-#### `boards/T5AI/TUYA_T5AI_PIXEL/board_bmi220_api.c`
-
-```c
-// 修改前
-extern const uint8_t bmi270_config_file[];
-bmi2_dev_220.config_file_ptr = bmi270_config_file;
-
-// 修改后
-extern const uint8_t bmi260_config_file[];
-bmi2_dev_220.config_file_ptr = bmi260_config_file;
-```
-
-> 指向 BMI220 专用的配置固件。
+### 2. Modified Files
 
 #### `apps/tuya_t5_pixel/tuya_t5_pixel_demo/src/tuya_main.c`
 
-- 新增 `#include "board_bmi220_api.h"`
-- 新增 IMU 抽象层：`imu_type_t` 枚举（`IMU_TYPE_NONE` / `IMU_TYPE_BMI220` / `IMU_TYPE_BMI270`）
-- 新增 `imu_read_data()` 和 `imu_is_ready()` 统一接口
-- `user_main()` 中优先初始化 BMI220，失败则回退到 BMI270
-- `sand_update_physics()` 使用 `imu_read_data()` 替代直接调用 BMI270 API
+- Added `#include "board_bmi220_api.h"`
+- Added IMU abstraction layer: `imu_type_t` enum (`IMU_TYPE_NONE` / `IMU_TYPE_BMI220` / `IMU_TYPE_BMI270`)
+- Added unified `imu_read_data()` and `imu_is_ready()` interface
+- `user_main()` tries BMI220 first, falls back to BMI270
+- `sand_update_physics()` uses `imu_read_data()` instead of direct BMI270 calls
 
 #### `src/peripherals/imu/Kconfig`
 
-新增 `ENABLE_IMU_BMI220` 配置选项。
+Added `ENABLE_IMU_BMI220` config option.
 
 #### `boards/T5AI/TUYA_T5AI_PIXEL/Kconfig`
 
-新增 `select ENABLE_IMU_BMI220`，与 `ENABLE_IMU_BMI270` 同时启用。
+Added `select ENABLE_IMU_BMI220` alongside `select ENABLE_IMU_BMI270`.
+
+#### `src/peripherals/imu/CMakeLists.txt`
 
-## 架构设计
+Added BMI220 source directory glob under `CONFIG_ENABLE_IMU_BMI220`.
+
+## Architecture
 
 ```
 tuya_main.c
     |
-    |-- imu_read_data() / imu_is_ready()    ← 统一抽象层
+    |-- imu_read_data() / imu_is_ready()    <-- unified abstraction
     |       |
-    |       |-- g_imu_type == IMU_TYPE_BMI220 → board_bmi220_read_data()
-    |       |-- g_imu_type == IMU_TYPE_BMI270 → board_bmi270_read_data()
+    |       |-- g_imu_type == IMU_TYPE_BMI220 -> board_bmi220_read_data()
+    |       |-- g_imu_type == IMU_TYPE_BMI270 -> board_bmi270_read_data()
     |
     |-- user_main()
-            |-- board_bmi220_register()      ← 优先尝试 BMI220
-            |-- board_bmi270_register()      ← 回退 BMI270
+            |-- board_bmi220_register()      <-- try BMI220 first
+            |-- board_bmi270_register()      <-- fallback to BMI270
 ```
 
-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。
+The BMI270 driver code is fully preserved. Both drivers initialize independently via separate interfaces. At runtime, `g_imu_type` selects the active driver.
+
+### Why bmi270_* API functions appear in the BMI220 driver
+
+`bmi270_get_sensor_config()`, `bmi270_set_sensor_config()`, and `bmi270_sensor_enable()` operate on generic BMI2 registers (ACC_CONF, GYR_CONF, POWER_CTRL) that are identical across BMI220/BMI260/BMI270. This is safe and intentional — these are not BMI270-specific functions despite their naming.
 
-## BMI220 驱动配置参数
+## BMI220 Driver Configuration
 
-| 参数 | 值 |
-|------|----|
-| I2C 端口 | `TUYA_I2C_NUM_0` |
-| I2C 地址 | `0x68`（SDO = GND） |
-| I2C 速率 | 400 kHz |
+| Parameter | Value |
+|-----------|-------|
+| I2C Port | `TUYA_I2C_NUM_0` |
+| I2C Address | `0x68` (SDO = GND) |
+| I2C Speed | 400 kHz |
 | SCL / SDA | GPIO20 / GPIO21 |
-| 加速度计 | 16G 量程，200Hz ODR |
-| 陀螺仪 | 2000 dps 量程，200Hz ODR |
+| Accelerometer | 16G range, 200Hz ODR |
+| Gyroscope | 2000 dps range, 200Hz ODR |
 
-## 验证结果
+## Verification
 
 ```
 IMU data: acc(7.32, -5.68, -3.85) gyr(-7.93, 9.58, 61.40)
 IMU data: acc(7.19, -5.01, -4.19) gyr(-2.08, 2.38, 0.18)
 IMU data: acc(6.57, -3.36, -3.98) gyr(19.04, -80.81, -57.80)
 ```
 
-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。
+Accelerometer and gyroscope data output correctly. Sand physics mode responds to gravity direction as expected.

apps/tuya_t5_pixel/tuya_t5_pixel_demo/src/tuya_main.c

@@ -1035,29 +1035,13 @@ static void sand_update_physics(void)
     float gyr_x = 0.0f, gyr_y = 0.0f;
 
     // Read sensor data if available
-    static uint32_t imu_dbg_cnt = 0;
     if (imu_is_ready()) {
         OPERATE_RET imu_ret = imu_read_data(&sensor_data);
         if (imu_ret == OPRT_OK) {
             acc_x = sensor_data.acc_x;
             acc_y = sensor_data.acc_y;
-            // acc_z = sensor_data.acc_z;
             gyr_x = sensor_data.gyr_x;
             gyr_y = sensor_data.gyr_y;
-            // gyr_z = sensor_data.gyr_z;
-            if (imu_dbg_cnt++ % 500 == 0) {
-                PR_NOTICE("IMU data: acc(%.2f, %.2f, %.2f) gyr(%.2f, %.2f, %.2f)",
-                          sensor_data.acc_x, sensor_data.acc_y, sensor_data.acc_z,
-                          sensor_data.gyr_x, sensor_data.gyr_y, sensor_data.gyr_z);
-            }
-        } else {
-            if (imu_dbg_cnt++ % 500 == 0) {
-                PR_ERR("IMU read failed: %d", imu_ret);
-            }
-        }
-    } else {
-        if (imu_dbg_cnt++ % 500 == 0) {
-            PR_WARN("IMU not ready, imu_type=%d", g_imu_type);
         }
     }
 

boards/T5AI/TUYA_T5AI_PIXEL/board_bmi220_api.c

@@ -2,8 +2,11 @@
  * @file board_bmi220_api.c
  * @author Tuya Inc.
  * @brief BMI220 (chip ID 0x26) sensor driver for TUYA_T5AI_PIXEL board.
- *        Uses the Bosch BMI2 library with BMI270 config file, but accepts
- *        chip ID 0x26 instead of 0x24.
+ *        Uses the Bosch BMI2 library with BMI220-specific config firmware
+ *        (bmi260_config_file, sourced from ChromeOS EC v2.47.1).
+ *        BMI270 register-level API functions (bmi270_get/set_sensor_config,
+ *        bmi270_sensor_enable) are reused because BMI220/BMI260/BMI270 share
+ *        the same BMI2 register map for basic accel/gyro operations.
  *
  * @copyright Copyright (c) 2021-2025 Tuya Inc. All Rights Reserved.
  */
@@ -36,7 +39,7 @@ static uint8_t sensor_list_220[2] = {BMI2_ACCEL, BMI2_GYRO};
 static TUYA_IIC_BASE_CFG_T g_bmi220_i2c_cfg = {
     .role = TUYA_IIC_MODE_MASTER, .speed = TUYA_IIC_BUS_SPEED_400K, .addr_width = TUYA_IIC_ADDRESS_7BIT};
 
-/* External: BMI270 config file (we reuse it for chip ID 0x26) */
+/* BMI220-specific config firmware (8192 bytes, from ChromeOS EC v2.47.1) */
 extern const uint8_t bmi260_config_file[];
 
 /***********************************************************
@@ -63,6 +66,8 @@ static int8_t set_accel_gyro_config_220(struct bmi2_dev *dev)
     config[ACCEL].type = BMI2_ACCEL;
     config[GYRO].type = BMI2_GYRO;
 
+    /* bmi270_get_sensor_config() reads generic BMI2 registers (ACC_CONF, GYR_CONF)
+     * shared across BMI220/BMI260/BMI270 — safe to reuse for BMI220. */
     rslt = bmi270_get_sensor_config(config, 2, dev);
     if (rslt != BMI2_OK) {
         PR_ERR("BMI220: get sensor config failed: %d", rslt);
@@ -88,6 +93,7 @@ static int8_t set_accel_gyro_config_220(struct bmi2_dev *dev)
     config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
     config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
 
+    /* Same rationale as bmi270_get_sensor_config() above */
     rslt = bmi270_set_sensor_config(config, 2, dev);
     if (rslt != BMI2_OK) {
         PR_ERR("BMI220: set sensor config failed: %d", rslt);
@@ -132,19 +138,20 @@ OPERATE_RET board_bmi220_init(bmi220_dev_t *dev)
     rslt = bmi2_interface_init(&bmi2_dev_220, BMI2_I2C_INTF);
     if (rslt != BMI2_OK) {
         PR_ERR("BMI220: interface init failed: %d", rslt);
+        tkl_i2c_deinit(BMI220_I2C_PORT);
         return OPRT_COM_ERROR;
     }
 
     /* Key: set expected chip_id to 0x26 (our actual chip) instead of BMI270's 0x24 */
     bmi2_dev_220.chip_id = BMI220_CHIP_ID;
 
-    /* Use BMI270 config file (same BMI2 family, compatible internal engine) */
+    /* BMI220-specific config firmware from ChromeOS EC (v2.47.1), NOT the BMI270 firmware */
     bmi2_dev_220.config_file_ptr = bmi260_config_file;
 
     /* Call bmi270_init-equivalent: set config_size and call bmi2_sec_init */
     /* We replicate what bmi270_init() does, but with our chip_id */
     {
-        /* Get config file size - BMI270 config is 8192 bytes */
+        /* Get config file size - BMI220 config is 8192 bytes */
         bmi2_dev_220.config_size = 8192;
 
         /* Enable variant features (same as BMI270) */
@@ -159,6 +166,7 @@ OPERATE_RET board_bmi220_init(bmi220_dev_t *dev)
         rslt = bmi2_sec_init(&bmi2_dev_220);
         if (rslt != BMI2_OK) {
             PR_ERR("BMI220: bmi2_sec_init failed: %d (chip_id read=0x%02X)", rslt, bmi2_dev_220.chip_id);
+            tkl_i2c_deinit(BMI220_I2C_PORT);
             return OPRT_COM_ERROR;
         }
         PR_NOTICE("BMI220: Config file uploaded successfully");
@@ -168,17 +176,24 @@ OPERATE_RET board_bmi220_init(bmi220_dev_t *dev)
     rslt = set_accel_gyro_config_220(&bmi2_dev_220);
     if (rslt != BMI2_OK) {
         PR_ERR("BMI220: sensor config failed: %d", rslt);
+        tkl_i2c_deinit(BMI220_I2C_PORT);
         return OPRT_COM_ERROR;
     }
 
-    /* Enable accel and gyro */
+    /* Enable accel and gyro.
+     * bmi270_sensor_enable() is used here because BMI220 shares the same BMI2
+     * register map and sensor enable logic as BMI270 — they are in the same
+     * Bosch BMI2 family.  The function writes to the generic BMI2_POWER_CTRL
+     * register, which is identical across BMI220/BMI260/BMI270. */
     rslt = bmi270_sensor_enable(sensor_list_220, 2, &bmi2_dev_220);
     if (rslt != BMI2_OK) {
         PR_ERR("BMI220: sensor enable failed: %d", rslt);
+        tkl_i2c_deinit(BMI220_I2C_PORT);
         return OPRT_COM_ERROR;
     }
 
     dev->initialized = true;
+    dev->chip_id = BMI220_CHIP_ID;
     PR_NOTICE("BMI220: Initialized successfully (Chip ID: 0x%02X, ACC:16G@200Hz, GYR:2000dps@200Hz)",
               BMI220_CHIP_ID);
     return OPRT_OK;
@@ -246,27 +261,6 @@ OPERATE_RET board_bmi220_read_accel(bmi220_dev_t *dev, float *acc_x, float *acc_
     return OPRT_OK;
 }
 
-OPERATE_RET board_bmi220_read_gyro(bmi220_dev_t *dev, float *gyr_x, float *gyr_y, float *gyr_z)
-{
-    int8_t rslt;
-    struct bmi2_sens_data sensor_data = {{0}};
-
-    if (!dev || !gyr_x || !gyr_y || !gyr_z || !dev->initialized) {
-        return OPRT_INVALID_PARM;
-    }
-
-    rslt = bmi2_get_sensor_data(&sensor_data, &bmi2_dev_220);
-    if (rslt != BMI2_OK) {
-        return OPRT_COM_ERROR;
-    }
-
-    *gyr_x = lsb_to_dps(sensor_data.gyr.x, 2000, bmi2_dev_220.resolution);
-    *gyr_y = lsb_to_dps(sensor_data.gyr.y, 2000, bmi2_dev_220.resolution);
-    *gyr_z = lsb_to_dps(sensor_data.gyr.z, 2000, bmi2_dev_220.resolution);
-
-    return OPRT_OK;
-}
-
 bmi220_dev_t *board_bmi220_get_handle(void)
 {
     return &g_bmi220_dev;
@@ -279,33 +273,3 @@ bool board_bmi220_is_ready(bmi220_dev_t *dev)
     }
     return dev->initialized;
 }
-
-OPERATE_RET board_bmi220_scan_i2c(TUYA_I2C_NUM_E port)
-{
-    OPERATE_RET ret;
-    uint8_t reg = 0x00;
-    uint8_t chip_id = 0;
-
-    PR_DEBUG("BMI220: Scanning I2C bus %d...", port);
-
-    ret = tkl_i2c_master_send(port, BMI220_I2C_ADDR, &reg, 1, FALSE);
-    if (ret == OPRT_OK) {
-        ret = tkl_i2c_master_receive(port, BMI220_I2C_ADDR, &chip_id, 1, TRUE);
-        if (ret == OPRT_OK) {
-            PR_DEBUG("BMI220: Found at 0x%02X, chip_id=0x%02X", BMI220_I2C_ADDR, chip_id);
-            return OPRT_OK;
-        }
-    }
-
-    ret = tkl_i2c_master_send(port, BMI220_I2C_ADDR_ALT, &reg, 1, FALSE);
-    if (ret == OPRT_OK) {
-        ret = tkl_i2c_master_receive(port, BMI220_I2C_ADDR_ALT, &chip_id, 1, TRUE);
-        if (ret == OPRT_OK) {
-            PR_DEBUG("BMI220: Found at 0x%02X, chip_id=0x%02X", BMI220_I2C_ADDR_ALT, chip_id);
-            return OPRT_OK;
-        }
-    }
-
-    PR_ERR("BMI220: Not found on I2C bus %d", port);
-    return OPRT_COM_ERROR;
-}

boards/T5AI/TUYA_T5AI_PIXEL/board_bmi220_api.h

@@ -2,8 +2,7 @@
  * @file board_bmi220_api.h
  * @author Tuya Inc.
  * @brief BMI220 (chip ID 0x26) sensor driver API for TUYA_T5AI_PIXEL board.
- *        Uses Bosch BMI2 library with patched chip ID acceptance.
- *        Compatible with BMI270 config file for initialization.
+ *        Uses Bosch BMI2 library with BMI220-specific config firmware.
  *
  * @copyright Copyright (c) 2021-2025 Tuya Inc. All Rights Reserved.
  */
@@ -61,10 +60,8 @@ OPERATE_RET board_bmi220_register(void);
 OPERATE_RET board_bmi220_deinit(bmi220_dev_t *dev);
 OPERATE_RET board_bmi220_read_data(bmi220_dev_t *dev, bmi220_sensor_data_t *data);
 OPERATE_RET board_bmi220_read_accel(bmi220_dev_t *dev, float *acc_x, float *acc_y, float *acc_z);
-OPERATE_RET board_bmi220_read_gyro(bmi220_dev_t *dev, float *gyr_x, float *gyr_y, float *gyr_z);
 bmi220_dev_t *board_bmi220_get_handle(void);
 bool board_bmi220_is_ready(bmi220_dev_t *dev);
-OPERATE_RET board_bmi220_scan_i2c(TUYA_I2C_NUM_E port);
 
 #ifdef __cplusplus
 }

src/peripherals/imu/CMakeLists.txt

@@ -22,6 +22,11 @@ if (CONFIG_ENABLE_IMU_BMI270 STREQUAL "y")
     list(APPEND LIB_PUBLIC_INC ${MODULE_PATH}/bmi270)
 endif()
 
+if (CONFIG_ENABLE_IMU_BMI220 STREQUAL "y")
+    file(GLOB BMI220_SOURCES "${MODULE_PATH}/bmi220/*.c")
+    list(APPEND LIB_SRCS ${BMI220_SOURCES})
+endif()
+
 ########################################
 # Target Configure
 ########################################

src/peripherals/imu/Kconfig

@@ -4,10 +4,10 @@ config ENABLE_IMU
 
 if (ENABLE_IMU)
     config ENABLE_IMU_BMI220
-        bool "Enable bmi220 (direct register, no firmware upload)"
+        bool "Enable bmi220 (chip_id 0x26, requires bmi260 config firmware)"
         default y
 
     config ENABLE_IMU_BMI270
-        bool "Enable bmi270 (requires firmware upload)"
+        bool "Enable bmi270 (chip_id 0x24, requires bmi270 config firmware)"
         default y
 endif