feat(imu): add BMI220 sensor support for TUYA_T5AI_PIXEL board

apps/tuya_t5_pixel/tuya_t5_pixel_demo/BMI270_to_BMI220_migration.md

@@ -0,0 +1,90 @@
+# BMI270 to BMI220 Migration Summary
+
+## Background
+
+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.
+
+## Root Cause
+
+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:
+
+| 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) |
+
+Uploading the wrong firmware results in `INTERNAL_STATUS` register (0x21) returning `0x00` (not initialized), with accelerometer and gyroscope outputs stuck at zero.
+
+## Changes
+
+### 1. New Files
+
+| 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. Modified Files
+
+#### `apps/tuya_t5_pixel/tuya_t5_pixel_demo/src/tuya_main.c`
+
+- 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`
+
+Added `ENABLE_IMU_BMI220` config option.
+
+#### `boards/T5AI/TUYA_T5AI_PIXEL/Kconfig`
+
+Added `select ENABLE_IMU_BMI220` alongside `select ENABLE_IMU_BMI270`.
+
+#### `src/peripherals/imu/CMakeLists.txt`
+
+Added BMI220 source directory glob under `CONFIG_ENABLE_IMU_BMI220`.
+
+## Architecture
+
+```
+tuya_main.c
+    |
+    |-- 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()
+    |
+    |-- user_main()
+            |-- board_bmi220_register()      <-- try BMI220 first
+            |-- board_bmi270_register()      <-- fallback to BMI270
+```
+
+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 Driver Configuration
+
+| Parameter | Value |
+|-----------|-------|
+| I2C Port | `TUYA_I2C_NUM_0` |
+| I2C Address | `0x68` (SDO = GND) |
+| I2C Speed | 400 kHz |
+| SCL / SDA | GPIO20 / GPIO21 |
+| Accelerometer | 16G range, 200Hz ODR |
+| Gyroscope | 2000 dps range, 200Hz ODR |
+
+## 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)
+```
+
+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

@@ -4,6 +4,7 @@
 #include "board_com_api.h"
 #include "board_pixel_api.h"
 #include "board_buzzer_api.h"
+#include "board_bmi220_api.h"
 #include "board_bmi270_api.h"
 #include "tdl_button_manage.h"
 #include <string.h>
@@ -70,9 +71,69 @@ typedef struct {
 
 static sand_particle_t g_sand_particles[MAX_SAND_PARTICLES];
 static uint32_t g_last_sand_spawn_time = 0;
+/* IMU sensor abstraction: supports BMI220 (default) and BMI270 */
+typedef enum {
+    IMU_TYPE_NONE = 0,
+    IMU_TYPE_BMI220,
+    IMU_TYPE_BMI270,
+} imu_type_t;
+
+typedef struct {
+    float acc_x, acc_y, acc_z;
+    float gyr_x, gyr_y, gyr_z;
+} imu_sensor_data_t;
+
+static imu_type_t g_imu_type = IMU_TYPE_NONE;
+static bmi220_dev_t *g_bmi220_dev = NULL;
 static bmi270_dev_t *g_bmi270_dev = NULL;
 static bool g_sand_initialized = false;
 
+/**
+ * @brief Read IMU sensor data (works with either BMI220 or BMI270)
+ */
+static OPERATE_RET imu_read_data(imu_sensor_data_t *data)
+{
+    if (!data) {
+        return OPRT_INVALID_PARM;
+    }
+
+    if (g_imu_type == IMU_TYPE_BMI220 && g_bmi220_dev != NULL && board_bmi220_is_ready(g_bmi220_dev)) {
+        bmi220_sensor_data_t raw = {0};
+        OPERATE_RET ret = board_bmi220_read_data(g_bmi220_dev, &raw);
+        if (ret == OPRT_OK) {
+            data->acc_x = raw.acc_x;
+            data->acc_y = raw.acc_y;
+            data->acc_z = raw.acc_z;
+            data->gyr_x = raw.gyr_x;
+            data->gyr_y = raw.gyr_y;
+            data->gyr_z = raw.gyr_z;
+        }
+        return ret;
+    } else if (g_imu_type == IMU_TYPE_BMI270 && g_bmi270_dev != NULL && board_bmi270_is_ready(g_bmi270_dev)) {
+        bmi270_sensor_data_t raw = {0};
+        OPERATE_RET ret = board_bmi270_read_data(g_bmi270_dev, &raw);
+        if (ret == OPRT_OK) {
+            data->acc_x = raw.acc_x;
+            data->acc_y = raw.acc_y;
+            data->acc_z = raw.acc_z;
+            data->gyr_x = raw.gyr_x;
+            data->gyr_y = raw.gyr_y;
+            data->gyr_z = raw.gyr_z;
+        }
+        return ret;
+    }
+
+    return OPRT_COM_ERROR;
+}
+
+/**
+ * @brief Check if any IMU sensor is ready
+ */
+static bool imu_is_ready(void)
+{
+    return g_imu_type != IMU_TYPE_NONE;
+}
+
 /***********************************************************
 ********************function declaration********************
 ***********************************************************/
@@ -965,23 +1026,22 @@ static void sand_init_particle(sand_particle_t *particle)
 }
 
 /**
- * @brief Update sand particle physics based on BMI270 sensor data
+ * @brief Update sand particle physics based on IMU sensor data
  */
 static void sand_update_physics(void)
 {
-    bmi270_sensor_data_t sensor_data = {0};
+    imu_sensor_data_t sensor_data = {0};
     float acc_x = 0.0f, acc_y = 0.0f;
     float gyr_x = 0.0f, gyr_y = 0.0f;
 
     // Read sensor data if available
-    if (g_bmi270_dev != NULL && board_bmi270_is_ready(g_bmi270_dev)) {
-        if (board_bmi270_read_data(g_bmi270_dev, &sensor_data) == OPRT_OK) {
+    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;
         }
     }
 
@@ -1441,28 +1501,54 @@ static void user_main(void)
     }
     PR_NOTICE("Hardware initialized");
 
-    // Initialize BMI270 sensor
-    g_bmi270_dev = board_bmi270_get_handle();
-    if (g_bmi270_dev != NULL) {
-        PR_NOTICE("BMI270 sensor handle obtained");
-        // Wait a bit for hardware registration to complete
-        tal_system_sleep(200);
-
-        // Check if sensor is ready
-        if (!board_bmi270_is_ready(g_bmi270_dev)) {
-            PR_NOTICE("Initializing BMI270 sensor...");
-            rt = board_bmi270_init(g_bmi270_dev);
+    // Initialize IMU sensor: try BMI220 first (no firmware upload), fallback to BMI270
+    PR_NOTICE("Initializing IMU sensor...");
+    tal_system_sleep(200);
+
+    // Try BMI220 first (direct register access, no firmware upload needed)
+    g_bmi220_dev = board_bmi220_get_handle();
+    if (g_bmi220_dev != NULL) {
+        PR_NOTICE("Trying BMI220 sensor...");
+        if (!board_bmi220_is_ready(g_bmi220_dev)) {
+            rt = board_bmi220_init(g_bmi220_dev);
             if (OPRT_OK == rt) {
-                PR_NOTICE("BMI270 sensor initialized successfully");
+                g_imu_type = IMU_TYPE_BMI220;
+                PR_NOTICE("BMI220 sensor initialized successfully");
             } else {
-                PR_WARN("BMI270 sensor initialization failed: %d (will continue without sensor)", rt);
-                g_bmi270_dev = NULL;
+                PR_WARN("BMI220 init failed: %d, trying BMI270...", rt);
+                g_bmi220_dev = NULL;
             }
         } else {
-            PR_NOTICE("BMI270 sensor already initialized");
+            g_imu_type = IMU_TYPE_BMI220;
+            PR_NOTICE("BMI220 sensor already initialized");
         }
+    }
+
+    // Fallback to BMI270 if BMI220 failed
+    if (g_imu_type == IMU_TYPE_NONE) {
+        g_bmi270_dev = board_bmi270_get_handle();
+        if (g_bmi270_dev != NULL) {
+            PR_NOTICE("Trying BMI270 sensor...");
+            if (!board_bmi270_is_ready(g_bmi270_dev)) {
+                rt = board_bmi270_init(g_bmi270_dev);
+                if (OPRT_OK == rt) {
+                    g_imu_type = IMU_TYPE_BMI270;
+                    PR_NOTICE("BMI270 sensor initialized successfully");
+                } else {
+                    PR_WARN("BMI270 init failed: %d (continuing without IMU)", rt);
+                    g_bmi270_dev = NULL;
+                }
+            } else {
+                g_imu_type = IMU_TYPE_BMI270;
+                PR_NOTICE("BMI270 sensor already initialized");
+            }
+        }
+    }
+
+    if (g_imu_type == IMU_TYPE_NONE) {
+        PR_WARN("No IMU sensor available (continuing without sensor)");
     } else {
-        PR_WARN("BMI270 sensor not available (will continue without sensor)");
+        PR_NOTICE("IMU active: %s", g_imu_type == IMU_TYPE_BMI220 ? "BMI220" : "BMI270");
     }
 
     // Initialize buzzer

boards/T5AI/TUYA_T5AI_PIXEL/Kconfig

@@ -18,5 +18,6 @@ config BOARD_CONFIG
     select ENABLE_SPI
     select ENABLE_LEDS_PIXEL
     select ENABLE_IMU
+    select ENABLE_IMU_BMI220
     select ENABLE_IMU_BMI270