xiaoxiang781216 commented on code in PR #10077:
URL: https://github.com/apache/nuttx/pull/10077#discussion_r1295565646
##########
drivers/sensors/bmi160.c:
##########
@@ -608,7 +608,7 @@ static ssize_t bmi160_read(FAR struct file *filep, FAR char
*buffer,
if (len < sizeof(struct accel_gyro_st_s))
{
- snerr("Expected buffer size is %d\n", sizeof(struct accel_gyro_st_s));
+ snerr("Expected buffer size is %lu\n", sizeof(struct accel_gyro_st_s));
Review Comment:
```suggestion
snerr("Expected buffer size is %zu\n", sizeof(struct accel_gyro_st_s));
```
##########
drivers/sensors/Kconfig:
##########
@@ -161,6 +161,14 @@ config SENSORS_BMI160
if SENSORS_BMI160
+config SENSORS_BMI160_UORB
+ bool "BMI160 UORB Interface"
+ default n
+ select UORB
Review Comment:
depends on
##########
include/nuttx/sensors/bmi160_uorb.h:
##########
@@ -0,0 +1,148 @@
+/****************************************************************************
+ * include/nuttx/sensors/bmi160_uorb.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_BMI160_H
+#define __INCLUDE_NUTTX_SENSORS_BMI160_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+
+#if defined(CONFIG_SENSORS_BMI160) || defined(CONFIG_SENSORS_BMI160_SCU)
+
+#ifdef CONFIG_SENSORS_BMI160_SCU_I2C
+#define CONFIG_SENSORS_BMI160_I2C
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define BMI160_SPI_MAXFREQUENCY 10000000
+
+/* Configuration ************************************************************/
+
+/* Power mode */
+
+#define BMI160_PM_SUSPEND (0x00)
+#define BMI160_PM_NORMAL (0x01)
+#define BMI160_PM_LOWPOWER (0x02)
+#define BMI160_PM_FASTSTARTUP (0x03)
+
+/* Output data rate */
+
+#define BMI160_ACCEL_ODR_0_78HZ (0x01)
+#define BMI160_ACCEL_ODR_1_56HZ (0x02)
+#define BMI160_ACCEL_ODR_3_12HZ (0x03)
+#define BMI160_ACCEL_ODR_6_25HZ (0x04)
+#define BMI160_ACCEL_ODR_12_5HZ (0x05)
+#define BMI160_ACCEL_ODR_25HZ (0x06)
+#define BMI160_ACCEL_ODR_50HZ (0x07)
+#define BMI160_ACCEL_ODR_100HZ (0x08)
+#define BMI160_ACCEL_ODR_200HZ (0x09)
+#define BMI160_ACCEL_ODR_400HZ (0x0A)
+#define BMI160_ACCEL_ODR_800HZ (0x0B)
+#define BMI160_ACCEL_ODR_1600HZ (0x0C)
+
+/* IOCTL Commands ***********************************************************/
+
+#define SNIOC_ENABLESC _SNIOC(0x0001) /* Arg: uint8_t value */
+#define SNIOC_READSC _SNIOC(0x0002) /* Arg: int16_t* pointer */
+#define SNIOC_SETACCPM _SNIOC(0x0003) /* Arg: uint8_t value */
+#define SNIOC_SETACCODR _SNIOC(0x0004) /* Arg: uint8_t value */
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * struct 6-axis data
+ ****************************************************************************/
+
+struct spi_dev_s;
+struct i2c_master_s;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: bmi160_register
+ *
+ * Description:
+ * Register the BMI160 sensor.
+ *
+ * Input Parameters:
+ * devno - Sensor device number.
+ * config - Interrupt fuctions.
+ *
+ * Returned Value:
+ * Description of the value returned by this function (if any),
+ * including an enumeration of all possible error values.
+ *
+ * Assumptions/Limitations:
+ * none.
+ *
+ ****************************************************************************/
+
+#ifndef CONFIG_SENSORS_BMI160_SCU
+
+# ifdef CONFIG_SENSORS_BMI160_I2C
+int bmi160_register(int devno, FAR struct i2c_master_s *dev);
+# else /* CONFIG_BMI160_SPI */
+int bmi160_register(int devno, FAR struct spi_dev_s *dev);
+# endif
+
+#else /* CONFIG_SENSORS_BMI160_SCU */
Review Comment:
let's remove Spresense specific code(
fhttps://github.com/apache/nuttx/issues/10240).
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