From cc645b65a94d6052b527365c4b4ff3ca242749a1 Mon Sep 17 00:00:00 2001
From: iabdalkader <i.abdalkader@gmail.com>
Date: Mon, 13 Feb 2023 16:00:02 +0100
Subject: [PATCH] nrf/boards/arduino_nano_33_ble_sense: Add support for REV-2
 chipset.

These changes allow the firmware to support both the REV-1 and REV-2
versions of the board:
- Freeze the new device drivers used in REV-2.
- Add a board-level module that abstracts the IMU chipset.
---
 .../arduino_nano_33_ble_sense/manifest.py     |  4 ++
 .../arduino_nano_33_ble_sense/modules/imu.py  | 45 +++++++++++++++++++
 2 files changed, 49 insertions(+)
 create mode 100644 ports/nrf/boards/arduino_nano_33_ble_sense/modules/imu.py

diff --git a/ports/nrf/boards/arduino_nano_33_ble_sense/manifest.py b/ports/nrf/boards/arduino_nano_33_ble_sense/manifest.py
index 8396e0249c..1e35ae8c4d 100644
--- a/ports/nrf/boards/arduino_nano_33_ble_sense/manifest.py
+++ b/ports/nrf/boards/arduino_nano_33_ble_sense/manifest.py
@@ -2,3 +2,7 @@ include("$(PORT_DIR)/modules/manifest.py")
 require("hts221")
 require("lps22h")
 require("lsm9ds1")
+require("bmm150")
+require("bmi270")
+require("hs3003")
+freeze("./modules")
diff --git a/ports/nrf/boards/arduino_nano_33_ble_sense/modules/imu.py b/ports/nrf/boards/arduino_nano_33_ble_sense/modules/imu.py
new file mode 100644
index 0000000000..50a36a1976
--- /dev/null
+++ b/ports/nrf/boards/arduino_nano_33_ble_sense/modules/imu.py
@@ -0,0 +1,45 @@
+"""
+IMU module for Arduino Nano BLE 33 SENSE (REV1 and REV2).
+
+Example usage:
+
+import time
+import imu
+from machine import Pin, I2C
+
+bus = I2C(1, scl=Pin(15), sda=Pin(14))
+imu = imu.IMU(bus)
+
+while (True):
+    print('Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.accel()))
+    print('Gyroscope:     x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.gyro()))
+    print('Magnetometer:  x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}'.format(*imu.magnet()))
+    print("")
+    time.sleep_ms(100)
+"""
+
+import time
+
+
+class IMU:
+    def __init__(self, bus):
+        """Initalizes Gyro, Accelerometer and Magnetometer using default values."""
+        if 0x68 in bus.scan():
+            from bmm150 import BMM150
+            from bmi270 import BMI270
+
+            magnet = BMM150(bus)
+            self.imu = BMI270(bus, bmm_magnet=magnet)
+        else:
+            from lsm9ds1 import LSM9DS1
+
+            self.imu = LSM9DS1(bus)
+
+    def gyro(self):
+        return self.imu.gyro()
+
+    def accel(self):
+        return self.imu.accel()
+
+    def magnet(self):
+        return self.imu.magnet()