From 0a762d6a8406f0d13d04cf6e30ddb573f47a280c Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Sat, 22 Aug 2026 23:00:41 +0800
Subject: [PATCH 01/13] [add] bmi270: 6-axis IMU driver with Mahony AHRS fusion

---
 peripherals/sensors/bmi270 | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 peripherals/sensors/bmi270

diff --git a/peripherals/sensors/bmi270 b/peripherals/sensors/bmi270
new file mode 100644
index 0000000000..8b13789179
--- /dev/null
+++ b/peripherals/sensors/bmi270
@@ -0,0 +1 @@
+

From 3ed95a67e7873f75556de4c30f4b3b4c276de7f6 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Sat, 22 Aug 2026 23:04:03 +0800
Subject: [PATCH 02/13] Delete peripherals/sensors/bmi270

---
 peripherals/sensors/bmi270 | 1 -
 1 file changed, 1 deletion(-)
 delete mode 100644 peripherals/sensors/bmi270

diff --git a/peripherals/sensors/bmi270 b/peripherals/sensors/bmi270
deleted file mode 100644
index 8b13789179..0000000000
--- a/peripherals/sensors/bmi270
+++ /dev/null
@@ -1 +0,0 @@
-

From a8f7f5926cb2d4009bcc179c01c3a3e99c207ff6 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Sat, 22 Aug 2026 23:07:06 +0800
Subject: [PATCH 03/13] Create Kconfig

---
 peripherals/sensors/bmi270/Kconfig | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 peripherals/sensors/bmi270/Kconfig

diff --git a/peripherals/sensors/bmi270/Kconfig b/peripherals/sensors/bmi270/Kconfig
new file mode 100644
index 0000000000..8b13789179
--- /dev/null
+++ b/peripherals/sensors/bmi270/Kconfig
@@ -0,0 +1 @@
+

From d5dee726bdd3f3fb1d08fb1aedc3ee5a8123442c Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Sat, 22 Aug 2026 23:07:29 +0800
Subject: [PATCH 04/13] Delete peripherals/sensors/bmi270/Kconfig

---
 peripherals/sensors/bmi270/Kconfig | 1 -
 1 file changed, 1 deletion(-)
 delete mode 100644 peripherals/sensors/bmi270/Kconfig

diff --git a/peripherals/sensors/bmi270/Kconfig b/peripherals/sensors/bmi270/Kconfig
deleted file mode 100644
index 8b13789179..0000000000
--- a/peripherals/sensors/bmi270/Kconfig
+++ /dev/null
@@ -1 +0,0 @@
-

From aac4f9f36c346d94607bad394ad19dd1cc7e7577 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Sat, 22 Aug 2026 23:08:59 +0800
Subject: [PATCH 05/13] Create test.txt

---
 peripherals/sensors/bmi270/test.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 peripherals/sensors/bmi270/test.txt

diff --git a/peripherals/sensors/bmi270/test.txt b/peripherals/sensors/bmi270/test.txt
new file mode 100644
index 0000000000..8b13789179
--- /dev/null
+++ b/peripherals/sensors/bmi270/test.txt
@@ -0,0 +1 @@
+

From 2158e0c775faf56f3af4cb12080621eb1e74a952 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Sat, 22 Aug 2026 23:11:36 +0800
Subject: [PATCH 06/13] [add] bmi270: 6-axis IMU driver with Mahony AHRS fusion

---
 peripherals/sensors/bmi270/Kconfig      | 27 +++++++++++++++++++++
 peripherals/sensors/bmi270/package.json | 32 +++++++++++++++++++++++++
 2 files changed, 59 insertions(+)
 create mode 100644 peripherals/sensors/bmi270/Kconfig
 create mode 100644 peripherals/sensors/bmi270/package.json

diff --git a/peripherals/sensors/bmi270/Kconfig b/peripherals/sensors/bmi270/Kconfig
new file mode 100644
index 0000000000..0f8587bd91
--- /dev/null
+++ b/peripherals/sensors/bmi270/Kconfig
@@ -0,0 +1,27 @@
+menuconfig PKG_USING_BMI270
+    bool "bmi270: 6-axis IMU driver with Mahony AHRS fusion"
+    select RT_USING_I2C
+    select RT_USING_PIN
+    default n
+
+if PKG_USING_BMI270
+
+    config BMI270_USING_SENSOR_FRAMEWORK
+        bool "Register as RT-Thread sensor device (/dev/acce_bmi)"
+        select RT_USING_SENSOR
+        default y
+
+    config BMI270_I2C_BUS_NAME
+        string "I2C bus name"
+        default "i2c2"
+
+    config BMI270_DEVICE_ADDR
+        hex "I2C device address (SDO=GND: 0x68, SDO=VDDIO: 0x69)"
+        default 0x69
+
+    config BMI270_USING_SAMPLE
+        bool "Enable sample application (MSH command: bmi270_sample)"
+        select RT_USING_MSH
+        default n
+
+endif
diff --git a/peripherals/sensors/bmi270/package.json b/peripherals/sensors/bmi270/package.json
new file mode 100644
index 0000000000..8704c587a7
--- /dev/null
+++ b/peripherals/sensors/bmi270/package.json
@@ -0,0 +1,32 @@
+{
+  "name": "bmi270",
+  "description": "BMI270 6-axis IMU driver with Mahony AHRS fusion for RT-Thread",
+  "description_zh": "BMI270 六轴 IMU 驱动，内置 Mahony 互补滤波姿态解算，实测记录全部初始化陷阱",
+  "enable": "PKG_USING_BMI270",
+  "keywords": [
+    "bmi270", "imu", "ahrs", "mahony", "sensor"
+  ],
+  "category": "peripherals/sensors",
+  "author": {
+    "name": "su-jinx",
+    "email": "mr_sj@2730358497.com"
+  },
+  "license": "Apache-2.0",
+  "repository": "https://gitee.com/su-jinx/rt-bmi270",
+  "icon": "unknown",
+  "homepage": "https://gitee.com/su-jinx/rt-bmi270#readme",
+  "site": [
+    {
+      "version": "v1.0.0",
+      "URL": "https://gitee.com/su-jinx/rt-bmi270/repository/archive/v1.0.0.zip",
+      "filename": "rt-bmi270-1.0.0.zip",
+      "VER_SHA": "fill_in_after_release"
+    },
+    {
+      "version": "latest",
+      "URL": "https://gitee.com/su-jinx/rt-bmi270.git",
+      "filename": "rt-bmi270.zip",
+      "VER_SHA": "main"
+    }
+  ]
+}

From 5f08e4e5bf39357238980b8fb300dafc911a0999 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Sat, 22 Aug 2026 23:13:06 +0800
Subject: [PATCH 07/13] Delete peripherals/sensors/bmi270/test.txt

---
 peripherals/sensors/bmi270/test.txt | 1 -
 1 file changed, 1 deletion(-)
 delete mode 100644 peripherals/sensors/bmi270/test.txt

diff --git a/peripherals/sensors/bmi270/test.txt b/peripherals/sensors/bmi270/test.txt
deleted file mode 100644
index 8b13789179..0000000000
--- a/peripherals/sensors/bmi270/test.txt
+++ /dev/null
@@ -1 +0,0 @@
-

From fd3fd05bd040055b1e64d05db76683acfa06d1bd Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Sat, 22 Aug 2026 23:36:40 +0800
Subject: [PATCH 08/13] Update author email in package.json

---
 peripherals/sensors/bmi270/package.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/peripherals/sensors/bmi270/package.json b/peripherals/sensors/bmi270/package.json
index 8704c587a7..30354e1b68 100644
--- a/peripherals/sensors/bmi270/package.json
+++ b/peripherals/sensors/bmi270/package.json
@@ -9,7 +9,7 @@
   "category": "peripherals/sensors",
   "author": {
     "name": "su-jinx",
-    "email": "mr_sj@2730358497.com"
+    "email": "mr_sj@qq.com"
   },
   "license": "Apache-2.0",
   "repository": "https://gitee.com/su-jinx/rt-bmi270",

From 3e61f35ff9fe2dea8c16133ebbe74f3385b53239 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Mon, 24 Aug 2026 14:50:39 +0800
Subject: [PATCH 09/13] Update package.json with new icon and URL details

---
 peripherals/sensors/bmi270/package.json | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/peripherals/sensors/bmi270/package.json b/peripherals/sensors/bmi270/package.json
index 30354e1b68..8a9bc7585e 100644
--- a/peripherals/sensors/bmi270/package.json
+++ b/peripherals/sensors/bmi270/package.json
@@ -13,14 +13,14 @@
   },
   "license": "Apache-2.0",
   "repository": "https://gitee.com/su-jinx/rt-bmi270",
-  "icon": "unknown",
+  "icon": "",
   "homepage": "https://gitee.com/su-jinx/rt-bmi270#readme",
   "site": [
     {
       "version": "v1.0.0",
-      "URL": "https://gitee.com/su-jinx/rt-bmi270/repository/archive/v1.0.0.zip",
+      "URL": "https://gitee.com/su-jinx/rt-bmi270.git",
       "filename": "rt-bmi270-1.0.0.zip",
-      "VER_SHA": "fill_in_after_release"
+      "VER_SHA": "9a57f31032ad0755d99c6cbf77ff407fae539f2b"
     },
     {
       "version": "latest",

From 65dac4952a26215a910549bbd6dbfd37a414400e Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Mon, 24 Aug 2026 14:55:26 +0800
Subject: [PATCH 10/13] Refactor Kconfig for BMI270 sensor package

---
 peripherals/sensors/bmi270/Kconfig | 37 +++++++++++++++++++++++-------
 1 file changed, 29 insertions(+), 8 deletions(-)

diff --git a/peripherals/sensors/bmi270/Kconfig b/peripherals/sensors/bmi270/Kconfig
index 0f8587bd91..0d09a7f9ab 100644
--- a/peripherals/sensors/bmi270/Kconfig
+++ b/peripherals/sensors/bmi270/Kconfig
@@ -1,27 +1,48 @@
+# Kconfig file for package bmi270
 menuconfig PKG_USING_BMI270
-    bool "bmi270: 6-axis IMU driver with Mahony AHRS fusion"
+    bool "BMI270: 6-axis IMU driver with Mahony AHRS fusion"
     select RT_USING_I2C
-    select RT_USING_PIN
     default n
 
 if PKG_USING_BMI270
 
-    config BMI270_USING_SENSOR_FRAMEWORK
+    config PKG_BMI270_PATH
+        string
+        default "/packages/peripherals/sensors/bmi270"
+
+    config PKG_BMI270_USING_SENSOR_FRAMEWORK
         bool "Register as RT-Thread sensor device (/dev/acce_bmi)"
         select RT_USING_SENSOR
-        default y
+        default n
 
-    config BMI270_I2C_BUS_NAME
+    config PKG_BMI270_I2C_BUS_NAME
         string "I2C bus name"
         default "i2c2"
 
-    config BMI270_DEVICE_ADDR
+    config PKG_BMI270_DEVICE_ADDR
         hex "I2C device address (SDO=GND: 0x68, SDO=VDDIO: 0x69)"
         default 0x69
 
-    config BMI270_USING_SAMPLE
+    config PKG_USING_BMI270_SAMPLE
         bool "Enable sample application (MSH command: bmi270_sample)"
-        select RT_USING_MSH
+        select RT_USING_FINSH
         default n
 
+    choice
+        prompt "Version"
+        help
+            Select the package version
+
+        config PKG_USING_BMI270_LATEST_VERSION
+            bool "latest"
+
+        config PKG_USING_BMI270_V100
+            bool "v1.0.0"
+    endchoice
+
+    config PKG_BMI270_VER
+        string
+        default "latest"    if PKG_USING_BMI270_LATEST_VERSION
+        default "v1.0.0"    if PKG_USING_BMI270_V100
+
 endif

From c88c67707cf3bd90f9a9029268f9402aa22a39c8 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Mon, 24 Aug 2026 14:59:04 +0800
Subject: [PATCH 11/13] Update Kconfig

---
 peripherals/sensors/bmi270/Kconfig | 1 +
 1 file changed, 1 insertion(+)

diff --git a/peripherals/sensors/bmi270/Kconfig b/peripherals/sensors/bmi270/Kconfig
index 0d09a7f9ab..fcb74e26f7 100644
--- a/peripherals/sensors/bmi270/Kconfig
+++ b/peripherals/sensors/bmi270/Kconfig
@@ -46,3 +46,4 @@ if PKG_USING_BMI270
         default "v1.0.0"    if PKG_USING_BMI270_V100
 
 endif
+   

From b520143cef1fd396d46f25027d756f9564b7ade8 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Mon, 24 Aug 2026 15:11:20 +0800
Subject: [PATCH 12/13] Add BMI270 sensor configuration source

---
 peripherals/sensors/Kconfig | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/peripherals/sensors/Kconfig b/peripherals/sensors/Kconfig
index a5d45330c4..97c9c52f8a 100755
--- a/peripherals/sensors/Kconfig
+++ b/peripherals/sensors/Kconfig
@@ -74,5 +74,5 @@ source "$PKGS_DIR/packages/peripherals/sensors/p3t1755/Kconfig"
 source "$PKGS_DIR/packages/peripherals/sensors/qmi8658/Kconfig"
 source "$PKGS_DIR/packages/peripherals/sensors/icm20948/Kconfig"
 source "$PKGS_DIR/packages/peripherals/sensors/scd4x/Kconfig"
-
+source "peripherals/sensors/bmi270/Kconfig"
 endmenu

From 79f67683890b8f411ddb23eab23b40d7b5e61894 Mon Sep 17 00:00:00 2001
From: userjia123 <2730358497@qq.com>
Date: Mon, 24 Aug 2026 15:46:26 +0800
Subject: [PATCH 13/13] Update Kconfig

---
 peripherals/sensors/Kconfig | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/peripherals/sensors/Kconfig b/peripherals/sensors/Kconfig
index 97c9c52f8a..025ec6bdb7 100755
--- a/peripherals/sensors/Kconfig
+++ b/peripherals/sensors/Kconfig
@@ -74,5 +74,5 @@ source "$PKGS_DIR/packages/peripherals/sensors/p3t1755/Kconfig"
 source "$PKGS_DIR/packages/peripherals/sensors/qmi8658/Kconfig"
 source "$PKGS_DIR/packages/peripherals/sensors/icm20948/Kconfig"
 source "$PKGS_DIR/packages/peripherals/sensors/scd4x/Kconfig"
-source "peripherals/sensors/bmi270/Kconfig"
+source "$PKGS_DIR/packages/peripherals/sensors/bmi270/Kconfig"
 endmenu