Function bmi270_read

Drivers/bmi270-module/source/bmi270.cpp:155–178

extern "C" {

error_t bmi270_read(Device* device, Bmi270Data* data) {
    auto* i2c_controller = device_get_parent(device);

    auto address = GET_CONFIG(device)->address;

    // Burst-read 12 bytes: acc X/Y/Z (6 bytes) + gyro X/Y/Z (6 bytes)
    // Registers: 0x0C–0x17 are contiguous for acc+gyro in I2C mode (no dummy byte)
    uint8_t buffer[12] = {};
    error_t error = i2c_controller_read_register(i2c_controller, address, REG_DATA_ACC, buffer, sizeof(buffer), I2C_TIMEOUT_TICKS);
    if (error != ERROR_NONE) return error;

    auto toI16 = [](uint8_t lo, uint8_t hi) -> int16_t {
        return static_cast<int16_t>(static_cast<uint16_t>(hi) << 8 | lo);
    };

    data->ax = toI16(buffer[0],  buffer[1])  * ACCEL_SCALE;
    data->ay = toI16(buffer[2],  buffer[3])  * ACCEL_SCALE;
    data->az = toI16(buffer[4],  buffer[5])  * ACCEL_SCALE;
    data->gx = toI16(buffer[6],  buffer[7])  * GYRO_SCALE;
    data->gy = toI16(buffer[8],  buffer[9])  * GYRO_SCALE;
    data->gz = toI16(buffer[10], buffer[11]) * GYRO_SCALE;

    return ERROR_NONE;
}

Driver bmi270_driver = {
    .name = "bmi270",