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https://github.com/apache/nuttx.git
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Merged in alinjerpelea/nuttx (pull request #912)
configs: spresense: enable BMI160_I2C sensor
* drivers: sensors: add BMI160 driver
Enable driver support for the Bosch BMI160 Inertial
Measurement sensor
This driver can be used with the BMI160 sensor connected over
SPI or I2C bus
Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
* configs: spresense: enable BMI160_I2C sensor
Enable BMI160 sensor connected over I2C on spresense board
Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
Approved-by: Gregory Nutt <gnutt@nuttx.org>
This commit is contained in:
Alin Jerpelea
committed by
Gregory Nutt
Gregory Nutt
parent
af9b70ca5d
commit
977893d5a7
@@ -49,6 +49,7 @@
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#include "cxd56_power.h"
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#include "cxd56_flash.h"
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#include "cxd56_gs2200m.h"
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#include "cxd56_bmi160.h"
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#include "cxd56_sdcard.h"
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#include "cxd56_wdt.h"
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@@ -0,0 +1,84 @@
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/****************************************************************************
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* configs/spresense/include/cxd56_bmi160.h
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*
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* Copyright 2018 Sony Semiconductor Solutions Corporation
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
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* the names of its contributors may be used to endorse or promote
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* products derived from this software without specific prior written
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* permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __BOARD_COMMON_INCLUDE_CXD56_BMI160_H
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#define __BOARD_COMMON_INCLUDE_CXD56_BMI160_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_bmi160_initialize
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*
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* Description:
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* Initialize BMI160 i2c driver and register the BMI160 device.
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*
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****************************************************************************/
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int board_bmi160_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 /* __BOARD_COMMON_INCLUDE_CXD56_BMI160_H */
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@@ -92,4 +92,8 @@ ifeq ($(CONFIG_WL_GS2200M),y)
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CSRCS += cxd56_gs2200m.c
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endif
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ifeq ($(CONFIG_SENSORS_BMI160_I2C),y)
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CSRCS += cxd56_bmi160_i2c.c
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endif
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include $(TOPDIR)/configs/Board.mk
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@@ -0,0 +1,86 @@
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/****************************************************************************
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* configs/spresense/src/cxd56_bmi160_i2c.c
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*
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* Copyright 2018 Sony Semiconductor Solutions Corporation
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
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* the names of its contributors may be used to endorse or promote
|
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* products derived from this software without specific prior written
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* permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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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/sensors/bmi160.h>
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#include "cxd56_i2c.h"
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#ifdef CONFIG_CXD56_DECI_GYRO
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#define GYRO_NR_SEQS 3
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#else
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#define GYRO_NR_SEQS 1
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#endif
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#ifdef CONFIG_CXD56_DECI_ACCEL
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#define ACCEL_NR_SEQS 3
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#else
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#define ACCEL_NR_SEQS 1
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#endif
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int board_bmi160_initialize(int bus)
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{
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int ret;
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FAR struct i2c_master_s *i2c;
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sninfo("Initializing BMI160..\n");
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/* Initialize i2c deivce */
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i2c = cxd56_i2cbus_initialize(bus);
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if (!i2c)
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{
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snerr("ERROR: Failed to initialize i2c%d.\n", bus);
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return -ENODEV;
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}
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ret = bmi160_register("/dev/accel0", i2c);
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if (ret < 0)
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{
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snerr("Error registering BMI160\n");
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}
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return ret;
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}
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@@ -346,5 +346,13 @@ int cxd56_bringup(void)
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}
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#endif
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#ifdef CONFIG_SENSORS_BMI160_I2C
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ret = board_bmi160_initialize(0);
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if (ret < 0)
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{
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_err("ERROR: Failed to initialze BMI160. \n");
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}
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#endif
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return 0;
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}
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@@ -49,6 +49,36 @@ config SENSORS_BMG160
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---help---
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Enable driver support for the Bosch BMG160 gyroscope sensor.
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config SENSORS_BMI160
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bool "Bosch BMI160 Inertial Measurement Sensor support"
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default n
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select I2C
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---help---
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Enable driver support for the Bosch BMI160 Inertial
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Measurement sensor
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if SENSORS_BMI160
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choice
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prompt "BMI160 Interface"
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default SENSORS_BMI160_SPI
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config SENSORS_BMI160_I2C
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bool "BMI160 I2C Interface"
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select I2C
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---help---
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Enables support for the I2C interface
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config SENSORS_BMI160_SPI
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bool "BMI160 SPI Interface"
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select SPI
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---help---
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Enables support for the SPI interface
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endchoice
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endif
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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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@@ -105,6 +105,10 @@ ifeq ($(CONFIG_SENSORS_BMG160),y)
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CSRCS += bmg160.c
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endif
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ifeq ($(CONFIG_SENSORS_BMI160),y)
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CSRCS += bmi160.c
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endif
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ifeq ($(CONFIG_SENSORS_BMP180),y)
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CSRCS += bmp180.c
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endif
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File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,148 @@
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/****************************************************************************
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* include/nuttx/sensors/bmi160.h
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*
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* Copyright 2018 Sony Semiconductor Solutions Corporation
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name of Sony Semiconductor Solutions Corporation nor
|
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* the names of its contributors may be used to endorse or promote
|
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* products derived from this software without specific prior written
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* permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_SENSORS_BMI160_H
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#define __INCLUDE_NUTTX_SENSORS_BMI160_H
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#include <nuttx/config.h>
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#include <nuttx/fs/ioctl.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define BMI160_SPI_MAXFREQUENCY 10000000
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/* Configuration ************************************************************/
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/* Power mode */
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#define BMI160_PM_SUSPEND (0x00)
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#define BMI160_PM_NORMAL (0x01)
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#define BMI160_PM_LOWPOWER (0x02)
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#define BMI160_PM_FASTSTARTUP (0x03)
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/* Output data rate */
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#define BMI160_ACCEL_ODR_0_78HZ (0x01)
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#define BMI160_ACCEL_ODR_1_56HZ (0x02)
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#define BMI160_ACCEL_ODR_3_12HZ (0x03)
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#define BMI160_ACCEL_ODR_6_25HZ (0x04)
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#define BMI160_ACCEL_ODR_12_5HZ (0x05)
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#define BMI160_ACCEL_ODR_25HZ (0x06)
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#define BMI160_ACCEL_ODR_50HZ (0x07)
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#define BMI160_ACCEL_ODR_100HZ (0x08)
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#define BMI160_ACCEL_ODR_200HZ (0x09)
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#define BMI160_ACCEL_ODR_400HZ (0x0A)
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#define BMI160_ACCEL_ODR_800HZ (0x0B)
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#define BMI160_ACCEL_ODR_1600HZ (0x0C)
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/* IOCTL Commands ***********************************************************/
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#define SNIOC_ENABLESC _SNIOC(0x0001) /* Arg: uint8_t value */
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#define SNIOC_READSC _SNIOC(0x0002) /* Arg: int16_t* pointer */
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#define SNIOC_SETACCPM _SNIOC(0x0003) /* Arg: uint8_t value */
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#define SNIOC_SETACCODR _SNIOC(0x0004) /* Arg: uint8_t value */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/****************************************************************************
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* struct 6-axis data
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****************************************************************************/
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struct accel_t
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{
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int16_t x;
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int16_t y;
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int16_t z;
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};
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struct gyro_t
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{
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int16_t x;
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int16_t y;
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int16_t z;
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};
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struct accel_gyro_st_s
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{
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struct gyro_t gyro;
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struct accel_t accel;
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uint32_t sensor_time;
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};
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struct spi_dev_s;
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struct i2c_master_s;
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __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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* Name: bmi160_register
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*
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* Description:
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* Register the BMI160 character device as 'devpath'
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*
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* Input Parameters:
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* devpath - The full path to the driver to register. E.g., "/dev/accel0"
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* dev - An instance of the SPI or I2C interface to use to communicate
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* with BMI160
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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# ifdef CONFIG_SENSORS_BMI160_I2C
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int bmi160_register(FAR const char *devpath, FAR struct i2c_master_s *dev);
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# else
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int bmi160_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
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# endif
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCLUDE_NUTTX_SENSORS_BMI160_H */
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