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drivers/sensors: Add CXD5602PWBIMU driver for IMU Add-on board
Add CXD5602PWBIMU driver for IMU Add-on board. Signed-off-by: SPRESENSE <41312067+SPRESENSE@users.noreply.github.com>
This commit is contained in:
SPRESENSE
Alan C. Assis
@@ -189,5 +189,9 @@ if(CONFIG_ARCH_BOARD_COMMON)
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list(APPEND SRCS src/cxd56_gnss_addon.c)
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endif()
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if(CONFIG_SENSORS_CXD5602PWBIMU)
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list(APPEND SRCS src/cxd56_cxd5602pwbimu.c)
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endif()
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target_sources(board PRIVATE ${SRCS})
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endif()
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@@ -190,6 +190,10 @@ ifeq ($(CONFIG_CXD56_GNSS_ADDON),y)
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CSRCS += cxd56_gnss_addon.c
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endif
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ifeq ($(CONFIG_SENSORS_CXD5602PWBIMU),y)
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CSRCS += cxd56_cxd5602pwbimu.c
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endif
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DEPPATH += --dep-path src
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VPATH += :src
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CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src
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@@ -0,0 +1,261 @@
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/****************************************************************************
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* boards/arm/cxd56xx/common/src/cxd56_cxd5602pwbimu.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
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#include <arch/chip/pin.h>
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#include <arch/board/board.h>
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#include "cxd56_gpio.h"
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#include "cxd56_gpioint.h"
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#include "cxd56_spi.h"
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#include "cxd56_dmac.h"
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#include "cxd56_i2c.h"
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#include <nuttx/sensors/cxd5602pwbimu.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define PIN_POWER PIN_EMMC_DATA2
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#define PIN_XRST PIN_I2S0_BCK
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#define PIN_SPI_DRDY PIN_EMMC_DATA3
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#define PIN_SPI_CSX PIN_I2S0_DATA_IN
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#define SETUP_PIN_INPUT(pin) \
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do \
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{ \
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board_gpio_write(pin, -1); \
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board_gpio_config(pin, 0, true, false, PIN_PULLDOWN); \
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} \
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while (0)
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#define SETUP_PIN_OUTPUT(pin) \
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do \
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{ \
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board_gpio_write(pin, -1); \
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board_gpio_config(pin, 0, false, true, PIN_FLOAT); \
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} \
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while (0)
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#if defined(CONFIG_CXD56_CXD5602PWBIMU_SPI5_DMAC)
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#define PWBIMU_MAX_PACKET_SIZE (34)
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#define PWBIMU_DMA_TXCH (4)
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#define PWBIMU_DMA_RXCH (5)
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#define PWBIMU_DMA_TXCHCHG (CXD56_DMA_PERIPHERAL_SPI5_TX)
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#define PWBIMU_DMA_RXCHCFG (CXD56_DMA_PERIPHERAL_SPI5_RX)
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#endif
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int cxd5602pwbimu_irq_attach(const cxd5602pwbimu_config_t *state,
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xcpt_t isr, void *arg);
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static void cxd5602pwbimu_irq_enable(const cxd5602pwbimu_config_t *state,
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bool enable);
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static void cxd5602pwbimu_csx(const cxd5602pwbimu_config_t *state,
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bool pol);
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static void cxd5602pwbimu_power(const cxd5602pwbimu_config_t *state,
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bool pol);
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static void cxd5602pwbimu_reset(const cxd5602pwbimu_config_t *state,
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bool assert);
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/****************************************************************************
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* Private Data
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****************************************************************************/
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static cxd5602pwbimu_config_t g_config =
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{
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.irq_attach = cxd5602pwbimu_irq_attach,
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.irq_enable = cxd5602pwbimu_irq_enable,
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.csx = cxd5602pwbimu_csx,
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.power = cxd5602pwbimu_power,
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.reset = cxd5602pwbimu_reset,
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/* Attach the CXD5602PWBIMU interrupt handler to the GPIO interrupt */
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static int cxd5602pwbimu_irq_attach(const cxd5602pwbimu_config_t *state,
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xcpt_t isr, void *arg)
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{
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sninfo("cxd5602pwbimu_irq_attach\n");
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cxd56_gpioint_config(PIN_SPI_DRDY, GPIOINT_LEVEL_HIGH, isr, arg);
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return OK;
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}
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/* Enable or disable the GPIO interrupt */
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static void cxd5602pwbimu_irq_enable(const cxd5602pwbimu_config_t *state,
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bool enable)
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{
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sninfo("%d\n", enable);
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board_gpio_int(PIN_SPI_DRDY, enable);
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}
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/* Toggle the csx pin level */
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static void cxd5602pwbimu_csx(const cxd5602pwbimu_config_t *state,
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bool pol)
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{
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sninfo("%d\n", pol);
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/* delay for csx rising edge */
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if (pol == true)
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{
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up_udelay(5);
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}
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/* toggle csx pin */
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board_gpio_write(PIN_SPI_CSX, pol);
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/* delay for csx falling edge */
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if (pol == false)
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{
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up_udelay(5);
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}
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}
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static void cxd5602pwbimu_power(const cxd5602pwbimu_config_t *state,
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bool pol)
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{
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sninfo("%d\n", pol);
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/* toggle power pin */
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board_gpio_write(PIN_POWER, pol);
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/* wait power level settling */
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up_mdelay(2);
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}
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static void cxd5602pwbimu_reset(const cxd5602pwbimu_config_t *state,
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bool assert)
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{
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board_gpio_write(PIN_XRST, !assert);
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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#if defined(CONFIG_CXD56_SPI) && defined(CONFIG_SENSORS_CXD5602PWBIMU)
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int board_cxd5602pwbimu_initialize(int bus)
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{
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int ret;
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struct spi_dev_s *spi;
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struct i2c_master_s *i2c;
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#if defined(CONFIG_CXD56_CXD5602PWBIMU_SPI5_DMAC)
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DMA_HANDLE hdl;
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dma_config_t conf;
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#endif
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cxd5602pwbimu_config_t *config = &g_config;
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sninfo("Initializing CXD5602PWBIMU..\n");
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/* Initialize pins */
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SETUP_PIN_OUTPUT(PIN_POWER);
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SETUP_PIN_OUTPUT(PIN_XRST);
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config->reset(config, true);
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SETUP_PIN_OUTPUT(PIN_SPI_CSX);
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config->csx(config, true);
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SETUP_PIN_INPUT(PIN_SPI_DRDY);
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/* Initialize spi device */
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spi = cxd56_spibus_initialize(bus);
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if (!spi)
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{
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snerr("ERROR: Failed to initialize spi%d.\n", bus);
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return -ENODEV;
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}
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#if defined(CONFIG_CXD56_CXD5602PWBIMU_SPI5_DMAC)
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hdl = cxd56_dmachannel(PWBIMU_DMA_TXCH,
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PWBIMU_MAX_PACKET_SIZE);
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if (hdl)
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{
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conf.channel_cfg = PWBIMU_DMA_TXCHCHG;
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conf.dest_width = CXD56_DMAC_WIDTH8;
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conf.src_width = CXD56_DMAC_WIDTH8;
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cxd56_spi_dmaconfig(bus, CXD56_SPI_DMAC_CHTYPE_TX, hdl, &conf);
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}
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hdl = cxd56_dmachannel(PWBIMU_DMA_RXCH,
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PWBIMU_MAX_PACKET_SIZE);
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if (hdl)
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{
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conf.channel_cfg = PWBIMU_DMA_RXCHCFG;
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conf.dest_width = CXD56_DMAC_WIDTH8;
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conf.src_width = CXD56_DMAC_WIDTH8;
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cxd56_spi_dmaconfig(bus, CXD56_SPI_DMAC_CHTYPE_RX, hdl, &conf);
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}
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#endif
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/* Initialize i2c device */
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i2c = cxd56_i2cbus_initialize(0);
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if (!i2c)
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{
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snerr("ERROR: Failed to initialize i2c%d.\n", 0);
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return -ENODEV;
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}
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ret = cxd5602pwbimu_register("/dev/imu0", spi, i2c, config);
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if (ret < 0)
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{
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snerr("Error registering CXD5602PWBIMU\n");
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}
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return ret;
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}
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#endif
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@@ -871,4 +871,23 @@ config CXD56_GNSS_ADDON_LATE_INITIALIZE
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endif # CXD56_GNSS_ADDON
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menu "CXD5602PWBIMU Add-on board"
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depends on SENSORS_CXD5602PWBIMU
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config CXD56_CXD5602PWBIMU_SPI5_DMAC
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bool "Use DMAC on data transfer"
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default y
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select CXD56_SPI5
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select CXD56_DMAC_SPI5_TX
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select CXD56_DMAC_SPI5_RX
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config CXD56_CXD5602PWBIMU_LATE_INITIALIZE
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bool "CXD5602PWBIMU driver late initialization"
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default n
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---help---
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The CXD5602PWBIMU driver can be initialized on an application code
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after system booted up by enabling this configuration switch.
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endmenu # CXD5602PWBIMU Add-on board
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endif
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@@ -69,6 +69,7 @@
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#include "cxd56_scd41.h"
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#include "cxd56_sensors.h"
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#include "cxd56_gnss_addon.h"
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#include "cxd56_cxd5602pwbimu.h"
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#ifdef CONFIG_VIDEO_ISX012
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# include "cxd56_isx012.h"
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@@ -0,0 +1,71 @@
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/****************************************************************************
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* boards/arm/cxd56xx/spresense/include/cxd56_cxd5602pwbimu.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
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* License for the specific language governing permissions and limitations
|
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* under the License.
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*
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****************************************************************************/
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#ifndef __BOARDS_ARM_CXD56XX_SPRESENSE_INCLUDE_CXD56_CXD5602PWBIMU_H
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#define __BOARDS_ARM_CXD56XX_SPRESENSE_INCLUDE_CXD56_CXD5602PWBIMU_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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/****************************************************************************
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* Public Types
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****************************************************************************/
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#ifndef __ASSEMBLY__
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#undef EXTERN
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#if defined(__cplusplus)
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: board_cxd5602pwbimu_initialize
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*
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* Description:
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* Initialize CXD5602PWBIMU spi driver and register the CXD5602PWBIMU device.
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*
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****************************************************************************/
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int board_cxd5602pwbimu_initialize(int bus);
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#undef EXTERN
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#if defined(__cplusplus)
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}
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#endif
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#endif /* __ASSEMBLY__ */
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#endif /* __BOARDS_ARM_CXD56XX_SPRESENSE_INCLUDE_CXD56_CXD5602PWBIMU_H */
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@@ -267,6 +267,15 @@ int cxd56_bringup(void)
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scu_initialize();
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#endif
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#if defined(CONFIG_SENSORS_CXD5602PWBIMU) && \
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!defined(CONFIG_CXD56_CXD5602PWBIMU_LATE_INITIALIZE)
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ret = board_cxd5602pwbimu_initialize(5);
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if (ret < 0)
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{
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_err("ERROR: Failed to initialize CXD5602PWBIMU.\n");
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}
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#endif
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#ifdef CONFIG_CXD56_I2C_DRIVER
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#ifdef CONFIG_CXD56_I2C0
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ret = board_i2cdev_initialize(0);
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@@ -450,5 +450,11 @@ if(CONFIG_SENSORS)
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list(APPEND SRCS hdc1008.c)
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endif()
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# SONY CXD5602PWBIMU
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if(CONFIG_SENSORS_CXD5602PWBIMU)
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list(APPEND SRCS cxd5602pwbimu.c)
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endif()
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target_sources(drivers PRIVATE ${SRCS})
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endif()
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@@ -432,6 +432,61 @@ config SENSORS_BMM150_THREAD_STACKSIZE
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endif # SENSORS_BMM150
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config SENSORS_CXD5602PWBIMU
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bool "SONY CXD5602PWBIMU Inertial Measurement Sensor support"
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default n
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select SPI
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select I2C
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---help---
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Enable driver support for the SONY CXD5602PWBIMU Inertial
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Measurement sensor
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if SENSORS_CXD5602PWBIMU
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config SENSORS_CXD5602PWBIMU_NR_BUFFERS
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int "Number of buffers to retrieve sensing data"
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default 16
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config SENSORS_CXD5602PWBIMU_OVERWRITE
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bool "Overwrite circular buffer"
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default y
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config SENSORS_CXD5602PWBIMU_NPOLLWAITERS
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int "Number of waiters to poll"
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default 1
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---help---
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Number of waiters to poll
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config SENSORS_CXD5602PWBIMU_I2C_ADDRS_AUTO
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bool "I2C address auto detection"
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default y
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---help---
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Number of waiters to poll
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if !SENSORS_CXD5602PWBIMU_I2C_ADDRS_AUTO
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choice
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prompt "I2C address selection"
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default SENSORS_CXD5602PWBIMU_I2C_ADDRS_PRIMARY
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config SENSORS_CXD5602PWBIMU_I2C_ADDRS_PRIMARY
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bool "Primary address series"
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---help---
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DipSW[2] -> off
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Using address: 0x10, 0x11, 0x12, 0x13
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config SENSORS_CXD5602PWBIMU_I2C_ADDRS_SECONDARY
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bool "Secondary address series"
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---help---
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DipSW[2] -> on
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Using address: 0x30, 0x31, 0x32, 0x33
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endchoice
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endif # !SENSORS_CXD5602PWBIMU_I2C_ADDRS_AUTO
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endif # SENSORS_CXD5602PWBIMU
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config SENSORS_BMP180
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bool "Bosch BMP180 Barometer Sensor support"
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default n
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@@ -450,6 +450,12 @@ ifeq ($(CONFIG_SENSORS_MAX31865),y)
|
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CSRCS += max31865.c
|
||||
endif
|
||||
|
||||
# SONY CXD5602PWBIMU
|
||||
|
||||
ifeq ($(CONFIG_SENSORS_CXD5602PWBIMU),y)
|
||||
CSRCS += cxd5602pwbimu.c
|
||||
endif
|
||||
|
||||
# Include sensor driver build support
|
||||
|
||||
DEPPATH += --dep-path sensors
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,172 @@
|
||||
/****************************************************************************
|
||||
* include/nuttx/sensors/cxd5602pwbimu.h
|
||||
*
|
||||
* SPDX-License-Identifier: Apache-2.0
|
||||
*
|
||||
* 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_CXD5602PWBIMU_H
|
||||
#define __INCLUDE_NUTTX_SENSORS_CXD5602PWBIMU_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/fs/ioctl.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <nuttx/spi/spi.h>
|
||||
#include <nuttx/i2c/i2c_master.h>
|
||||
|
||||
#if defined(CONFIG_SENSORS_CXD5602PWBIMU)
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* IOCTL Commands ***********************************************************/
|
||||
|
||||
#define SNIOC_ENABLE _SNIOC(0x0001)
|
||||
#define SNIOC_SSAMPRATE _SNIOC(0x0002)
|
||||
#define SNIOC_SDRANGE _SNIOC(0x0003)
|
||||
#define SNIOC_SCALIB _SNIOC(0x0004)
|
||||
#define SNIOC_SFIFOTHRESH _SNIOC(0x0005)
|
||||
#define SNIOC_UPDATEFW _SNIOC(0x0010)
|
||||
|
||||
#define SNIOC_SETDATASIZE _SNIOC(0x0080)
|
||||
#define SNIOC_WREGSPI _SNIOC(0x0081)
|
||||
#define SNIOC_RREGSPI _SNIOC(0x0082)
|
||||
#define SNIOC_WREGS _SNIOC(0x0083)
|
||||
#define SNIOC_RREGS _SNIOC(0x0084)
|
||||
#define SNIOC_RREGS_WOADR _SNIOC(0x0085)
|
||||
#define SNIOC_GETBNUM _SNIOC(0x0086)
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* Interrupt configuration data structure */
|
||||
|
||||
typedef struct cxd5602pwbimu_config_s
|
||||
{
|
||||
CODE int (*irq_attach)(FAR const struct cxd5602pwbimu_config_s *state,
|
||||
xcpt_t isr, FAR void *arg);
|
||||
CODE void (*irq_enable)(FAR const struct cxd5602pwbimu_config_s *state,
|
||||
bool enable);
|
||||
CODE void (*csx)(FAR const struct cxd5602pwbimu_config_s *state,
|
||||
bool pol);
|
||||
CODE void (*power)(FAR const struct cxd5602pwbimu_config_s *state,
|
||||
bool pol);
|
||||
CODE void (*reset)(FAR const struct cxd5602pwbimu_config_s *state,
|
||||
bool assert);
|
||||
} cxd5602pwbimu_config_t;
|
||||
|
||||
/****************************************************************************
|
||||
* struct 6-axis data
|
||||
****************************************************************************/
|
||||
|
||||
struct cxd5602pwbimu_data_s
|
||||
{
|
||||
uint32_t timestamp; /* timestamp */
|
||||
float temp; /* temperature */
|
||||
float gx; /* gyro x */
|
||||
float gy; /* gyro y */
|
||||
float gz; /* gyro z */
|
||||
float ax; /* accel x */
|
||||
float ay; /* accel y */
|
||||
float az; /* accel z */
|
||||
};
|
||||
typedef struct cxd5602pwbimu_data_s cxd5602pwbimu_data_t;
|
||||
|
||||
struct cxd5602pwbimu_range_s
|
||||
{
|
||||
int accel; /* 2, 4, 8, 16 */
|
||||
int gyro; /* 125, 250, 500, 1000, 2000, 4000 */
|
||||
};
|
||||
typedef struct cxd5602pwbimu_range_s cxd5602pwbimu_range_t;
|
||||
|
||||
begin_packed_struct struct cxd5602pwbimu_calib_s
|
||||
{
|
||||
uint8_t offset;
|
||||
uint32_t coef;
|
||||
} end_packed_struct;
|
||||
typedef struct cxd5602pwbimu_calib_s cxd5602pwbimu_calib_t;
|
||||
|
||||
struct cxd5602pwbimu_regs_s
|
||||
{
|
||||
uint8_t addr; /* Register address */
|
||||
FAR uint8_t *value; /* Write value or read value */
|
||||
uint8_t len; /* Length of value */
|
||||
int slaveid; /* Target 0=master, 1,2,3=slave{1,2,3} */
|
||||
};
|
||||
typedef struct cxd5602pwbimu_regs_s cxd5602pwbimu_regs_t;
|
||||
|
||||
struct cxd5602pwbimu_updatefw_s
|
||||
{
|
||||
FAR const char *path;
|
||||
void (*progress)(off_t current, off_t total);
|
||||
};
|
||||
typedef struct cxd5602pwbimu_updatefw_s cxd5602pwbimu_updatefw_t;
|
||||
|
||||
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: cxd5602pwbimu_register
|
||||
*
|
||||
* Description:
|
||||
* Register the CXD5602PWBIMU character device as 'devpath'
|
||||
*
|
||||
* Input Parameters:
|
||||
* devpath - The full path to the driver to register. E.g., "/dev/imu0"
|
||||
* dev_spi - An instance of the SPI interface to use to communicate
|
||||
* with CXD5602PWBIMU
|
||||
* dev_i2c - An instance of the I2C interface to use to communicate
|
||||
* with CXD5602PWBIMU
|
||||
* config - An instance of the interrupt configuration data structure
|
||||
*
|
||||
* Returned Value:
|
||||
* Zero (OK) on success; a negated errno value on failure.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
int cxd5602pwbimu_register(FAR const char *devpath,
|
||||
FAR struct spi_dev_s *dev_spi,
|
||||
FAR struct i2c_master_s *dev_i2c,
|
||||
FAR cxd5602pwbimu_config_t *config);
|
||||
|
||||
#undef EXTERN
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_SENSORS_CXD5602PWBIMU */
|
||||
#endif /* __INCLUDE_NUTTX_SENSORS_CXD5602PWBIMU_H */
|
||||
Reference in New Issue
Block a user