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[bmi270] Code improvements and refactoring

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- Use enum class for setup states instead of integer stages
- Add messages to mark_failed() and status_set_warning() calls
- Use walrus operator in sensor.py for cleaner config handling
- Make bmi270_config_file static to avoid global namespace pollution
This commit is contained in:
Claude
2025-11-17 21:36:56 +00:00
parent 7e6a13dfc2
commit 794abded5b
3 changed files with 60 additions and 63 deletions
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esphome/components/bmi270/bmi270.cpp
+41 -56
View File
@@ -94,42 +94,39 @@ const float GRAVITY_EARTH = 9.80665f;
// BMI270 configuration file (reduced version for basic operation)
// This is a simplified config file - for full features, you would need the complete config from Bosch
const uint8_t bmi270_config_file[] = {
static const uint8_t bmi270_config_file[] = {
0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e,
0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e,
0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00,
0x80, 0x2e, 0x3b, 0xb1, 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x5a, 0xb1, 0x41, 0x33,
};
void BMI270Component::internal_setup_(int stage) {
ESP_LOGCONFIG(TAG, "Setting up BMI270 (stage %d)...", stage);
void BMI270Component::internal_setup_(SetupState state) {
ESP_LOGCONFIG(TAG, "Setting up BMI270...");
switch (stage) {
case 0: {
switch (state) {
case SetupState::SOFT_RESET: {
// Soft reset
ESP_LOGV(TAG, " Performing soft reset");
if (!this->write_byte(BMI270_REGISTER_CMD, BMI270_CMD_SOFT_RESET)) {
ESP_LOGE(TAG, " Soft reset failed!");
this->mark_failed();
this->mark_failed("Soft reset failed");
return;
}
// Wait for reset to complete
this->set_timeout(10, [this]() { this->internal_setup_(1); });
this->set_timeout(10, [this]() { this->internal_setup_(SetupState::CHECK_CHIP_ID); });
break;
}
case 1: {
case SetupState::CHECK_CHIP_ID: {
// Check chip ID
uint8_t chip_id;
if (!this->read_byte(BMI270_REGISTER_CHIP_ID, &chip_id)) {
ESP_LOGE(TAG, " Failed to read chip ID");
this->mark_failed();
this->mark_failed("Failed to read chip ID");
return;
}
if (chip_id != BMI270_CHIP_ID) {
ESP_LOGE(TAG, " Wrong chip ID: 0x%02X (expected 0x%02X)", chip_id, BMI270_CHIP_ID);
this->mark_failed();
this->mark_failed("Wrong chip ID");
return;
}
@@ -137,31 +134,29 @@ void BMI270Component::internal_setup_(int stage) {
// Disable advanced power save mode for initialization
if (!this->write_byte(BMI270_REGISTER_PWR_CONF, 0x00)) {
ESP_LOGE(TAG, " Failed to disable advanced power save");
this->mark_failed();
this->mark_failed("Failed to disable advanced power save");
return;
}
this->set_timeout(1, [this]() { this->internal_setup_(2); });
this->set_timeout(1, [this]() { this->internal_setup_(SetupState::PREPARE_CONFIG_UPLOAD); });
break;
}
case 2: {
case SetupState::PREPARE_CONFIG_UPLOAD: {
// Prepare for config file upload
ESP_LOGV(TAG, " Preparing to upload config file");
// Disable loading of the configuration
if (!this->write_byte(BMI270_REGISTER_INIT_CTRL, 0x00)) {
ESP_LOGE(TAG, " Failed to prepare config upload");
this->mark_failed();
this->mark_failed("Failed to prepare config upload");
return;
}
this->set_timeout(1, [this]() { this->internal_setup_(3); });
this->set_timeout(1, [this]() { this->internal_setup_(SetupState::UPLOAD_CONFIG); });
break;
}
case 3: {
case SetupState::UPLOAD_CONFIG: {
// Upload configuration file in chunks
ESP_LOGV(TAG, " Uploading config file (%d bytes)", sizeof(bmi270_config_file));
@@ -176,58 +171,52 @@ void BMI270Component::internal_setup_(int stage) {
uint8_t addr_msb = ((i / 2) >> 8) & 0xFF;
if (!this->write_byte(BMI270_REGISTER_INIT_ADDR_0, addr_lsb)) {
ESP_LOGE(TAG, " Failed to set config address LSB");
this->mark_failed();
this->mark_failed("Failed to set config address LSB");
return;
}
if (!this->write_byte(BMI270_REGISTER_INIT_ADDR_1, addr_msb)) {
ESP_LOGE(TAG, " Failed to set config address MSB");
this->mark_failed();
this->mark_failed("Failed to set config address MSB");
return;
}
// Write data chunk
if (!this->write_bytes(BMI270_REGISTER_INIT_DATA, &bmi270_config_file[i], bytes_to_write)) {
ESP_LOGE(TAG, " Failed to write config data at offset %d", i);
this->mark_failed();
this->mark_failed("Failed to write config data");
return;
}
}
ESP_LOGV(TAG, " Config file uploaded successfully");
this->set_timeout(10, [this]() { this->internal_setup_(4); });
this->set_timeout(10, [this]() { this->internal_setup_(SetupState::COMPLETE_INIT); });
break;
}
case 4: {
case SetupState::COMPLETE_INIT: {
// Complete initialization
ESP_LOGV(TAG, " Completing initialization");
if (!this->write_byte(BMI270_REGISTER_INIT_CTRL, 0x01)) {
ESP_LOGE(TAG, " Failed to complete initialization");
this->mark_failed();
this->mark_failed("Failed to complete initialization");
return;
}
this->set_timeout(150, [this]() { this->internal_setup_(5); });
this->set_timeout(150, [this]() { this->internal_setup_(SetupState::CHECK_STATUS); });
break;
}
case 5: {
case SetupState::CHECK_STATUS: {
// Check internal status
uint8_t internal_status;
if (!this->read_byte(BMI270_REGISTER_INTERNAL_STATUS, &internal_status)) {
ESP_LOGE(TAG, " Failed to read internal status");
this->mark_failed();
this->mark_failed("Failed to read internal status");
return;
}
ESP_LOGV(TAG, " Internal status: 0x%02X", internal_status);
if ((internal_status & 0x01) == 0) {
ESP_LOGE(TAG, " Initialization failed - message not received");
this->mark_failed();
this->mark_failed("Initialization failed - message not received");
return;
}
@@ -235,31 +224,28 @@ void BMI270Component::internal_setup_(int stage) {
ESP_LOGV(TAG, " Enabling accelerometer and gyroscope");
uint8_t pwr_ctrl = BMI270_PWR_CTRL_ACC_ENABLE | BMI270_PWR_CTRL_GYR_ENABLE | BMI270_PWR_CTRL_TEMP_ENABLE;
if (!this->write_byte(BMI270_REGISTER_PWR_CTRL, pwr_ctrl)) {
ESP_LOGE(TAG, " Failed to enable sensors");
this->mark_failed();
this->mark_failed("Failed to enable sensors");
return;
}
this->set_timeout(50, [this]() { this->internal_setup_(6); });
this->set_timeout(50, [this]() { this->internal_setup_(SetupState::CONFIGURE_SENSORS); });
break;
}
case 6: {
case SetupState::CONFIGURE_SENSORS: {
// Configure accelerometer
ESP_LOGV(TAG, " Configuring accelerometer");
// Set range to ±16g
if (!this->write_byte(BMI270_REGISTER_ACC_RANGE, BMI270_ACC_RANGE_16G)) {
ESP_LOGE(TAG, " Failed to set accelerometer range");
this->mark_failed();
this->mark_failed("Failed to set accelerometer range");
return;
}
// Set ODR to 100Hz, normal mode
uint8_t acc_conf = (BMI270_ACC_BWP_NORMAL << 4) | BMI270_ACC_ODR_100HZ;
if (!this->write_byte(BMI270_REGISTER_ACC_CONF, acc_conf)) {
ESP_LOGE(TAG, " Failed to configure accelerometer");
this->mark_failed();
this->mark_failed("Failed to configure accelerometer");
return;
}
@@ -268,16 +254,14 @@ void BMI270Component::internal_setup_(int stage) {
// Set range to ±2000°/s
if (!this->write_byte(BMI270_REGISTER_GYR_RANGE, BMI270_GYR_RANGE_2000)) {
ESP_LOGE(TAG, " Failed to set gyroscope range");
this->mark_failed();
this->mark_failed("Failed to set gyroscope range");
return;
}
// Set ODR to 100Hz, normal mode
uint8_t gyr_conf = (BMI270_GYR_BWP_NORMAL << 4) | BMI270_GYR_ODR_100HZ;
if (!this->write_byte(BMI270_REGISTER_GYR_CONF, gyr_conf)) {
ESP_LOGE(TAG, " Failed to configure gyroscope");
this->mark_failed();
this->mark_failed("Failed to configure gyroscope");
return;
}
@@ -285,10 +269,14 @@ void BMI270Component::internal_setup_(int stage) {
this->setup_complete_ = true;
break;
}
case SetupState::DONE:
// Nothing to do
break;
}
}
void BMI270Component::setup() { this->internal_setup_(0); }
void BMI270Component::setup() { this->internal_setup_(SetupState::SOFT_RESET); }
void BMI270Component::dump_config() {
ESP_LOGCONFIG(TAG, "BMI270:");
@@ -329,24 +317,21 @@ void BMI270Component::update() {
// Read accelerometer data (6 bytes)
int16_t accel_data[3];
if (this->read_le_int16_(BMI270_REGISTER_DATA_ACCEL_X_LSB, accel_data, 3) != i2c::ERROR_OK) {
ESP_LOGW(TAG, "Failed to read accelerometer data");
this->status_set_warning();
this->status_set_warning("Failed to read accelerometer data");
return;
}
// Read gyroscope data (6 bytes)
int16_t gyro_data[3];
if (this->read_le_int16_(BMI270_REGISTER_DATA_GYRO_X_LSB, gyro_data, 3) != i2c::ERROR_OK) {
ESP_LOGW(TAG, "Failed to read gyroscope data");
this->status_set_warning();
this->status_set_warning("Failed to read gyroscope data");
return;
}
// Read temperature data (2 bytes)
int16_t raw_temperature;
if (this->read_le_int16_(BMI270_REGISTER_TEMPERATURE_LSB, &raw_temperature, 1) != i2c::ERROR_OK) {
ESP_LOGW(TAG, "Failed to read temperature data");
this->status_set_warning();
this->status_set_warning("Failed to read temperature data");
return;
}
esphome/components/bmi270/bmi270.h
+13 -1
View File
@@ -25,6 +25,17 @@ class BMI270Component : public PollingComponent, public i2c::I2CDevice {
void set_gyro_z_sensor(sensor::Sensor *gyro_z_sensor) { this->gyro_z_sensor_ = gyro_z_sensor; }
protected:
enum class SetupState : uint8_t {
SOFT_RESET = 0,
CHECK_CHIP_ID,
PREPARE_CONFIG_UPLOAD,
UPLOAD_CONFIG,
COMPLETE_INIT,
CHECK_STATUS,
CONFIGURE_SENSORS,
DONE,
};
sensor::Sensor *accel_x_sensor_{nullptr};
sensor::Sensor *accel_y_sensor_{nullptr};
sensor::Sensor *accel_z_sensor_{nullptr};
@@ -33,7 +44,8 @@ class BMI270Component : public PollingComponent, public i2c::I2CDevice {
sensor::Sensor *gyro_y_sensor_{nullptr};
sensor::Sensor *gyro_z_sensor_{nullptr};
void internal_setup_(int stage);
void internal_setup_(SetupState state);
SetupState setup_state_{SetupState::SOFT_RESET};
bool setup_complete_{false};
/** reads `len` 16-bit little-endian integers from the given i2c register */
esphome/components/bmi270/sensor.py
+6 -6
View File
@@ -89,14 +89,14 @@ async def to_code(config):
for d in ["x", "y", "z"]:
accel_key = f"acceleration_{d}"
if accel_key in config:
sens = await sensor.new_sensor(config[accel_key])
if accel_conf := config.get(accel_key):
sens = await sensor.new_sensor(accel_conf)
cg.add(getattr(var, f"set_accel_{d}_sensor")(sens))
gyro_key = f"gyroscope_{d}"
if gyro_key in config:
sens = await sensor.new_sensor(config[gyro_key])
if gyro_conf := config.get(gyro_key):
sens = await sensor.new_sensor(gyro_conf)
cg.add(getattr(var, f"set_gyro_{d}_sensor")(sens))
if CONF_TEMPERATURE in config:
sens = await sensor.new_sensor(config[CONF_TEMPERATURE])
if temp_conf := config.get(CONF_TEMPERATURE):
sens = await sensor.new_sensor(temp_conf)
cg.add(var.set_temperature_sensor(sens))