Added initialization code and Kconfig entries to set up the LIS3DSH accelerometer

driver on STM32F4Discovery rev. C boards and attach the associated interrupt callback.

Added the argument parameter (FAR void *arg) to the interrupt handler provided by the LIS3DSH
driver to fit the definition for ISRs in xcpt_t.

Changed the check for working queue availability in lis3dsh interrupt handler to use work_available()
and not crash in case of an overrun.

configs/stm32f4discovery/Kconfig

@@ -27,6 +27,18 @@ config STM32F4DISCO_QETIMER
 	default 2
 	depends on QENCODER
 
+config STM32F4DISCO_LIS3DSH
+    bool "Enable LIS3DSH driver for the IMU on STM32F4Discovery (rev. MB997C)"
+    default n
+    depends on SPI
+    depends on LIS3DSH
+    default n
+    ---help---
+        Select to create a LIS3DSH driver instance for the builtin accelerometer of
+        STM32F4Discovery. Provides /dev/acc0 device file.
+        Also see apps/examples/lis3dsh_reader.
+        The LIS3DSH is available on the STM32F4Discovery rev. MB997C (see the board manual).
+
 config PM_BUTTONS
 	bool "PM button support"
 	default n

configs/stm32f4discovery/src/Makefile

@@ -72,6 +72,10 @@ ifeq ($(CONFIG_SENSORS_MAX31855),y)
 CSRCS += stm32_max31855.c
 endif
 
+ifeq ($(CONFIG_STM32F4DISCO_LIS3DSH),y)
+CSRCS += stm32_lis3dsh.c
+endif
+
 ifeq ($(CONFIG_SENSORS_MAX6675),y)
 CSRCS += stm32_max6675.c
 endif

configs/stm32f4discovery/src/stm32_bringup.c

@@ -287,5 +287,17 @@ int stm32_bringup(void)
   ret = xen1210_archinitialize(0);
 #endif
 
+
+#ifdef CONFIG_STM32F4DISCO_LIS3DSH
+  /* Create a lis3dsh driver instance fitting the chip built into stm32f4discovery */
+
+  ret = stm32_lis3dshinitialize("/dev/acc0");
+  if (ret < 0)
+    {
+      serr("ERROR: Failed to initialize LIS3DSH driver: %d\n", ret);
+    }
+#endif
+
+
   return ret;
 }

configs/stm32f4discovery/src/stm32_lis3dsh.c

@@ -0,0 +1,125 @@
+/************************************************************************************
+ * configs/stm32f4discovery/src/stm32_lis3dsh.c
+ *
+ *   Copyright (C) 2017 Florian Olbrich. All rights reserved.
+ *   Author: Florian Olbrich <flox@posteo.de>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/spi/spi.h>
+#include <nuttx/sensors/lis3dsh.h>
+
+#include "stm32.h"
+#include "stm32f4discovery.h"
+#include <stm32_gpio.h>
+#include <nuttx/sensors/lis3dsh.h>
+
+#if defined(CONFIG_STM32F4DISCO_LIS3DSH) && defined(CONFIG_LIS3DSH)
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+#define GPIO_STM32F4DISCO_LIS3DSH_EXT0 (GPIO_INPUT|GPIO_FLOAT|GPIO_AF0|GPIO_SPEED_50MHz|GPIO_PORTE|GPIO_PIN0)
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: attach_disc_lis3dsh
+ *
+ * Description:
+ *   Attach the lis3dsh interrupt handler to PE0/EXT0 on the STM32F4 as wired on STM32F4Discovery
+ *
+ * Input parameters:
+ *   *config - The lis3dsh instance configuration data containing the IRQ number, device ID and interrupt handler
+ *   interrupt_handler - The interrupt handler to attach
+ *   arg -
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ************************************************************************************/
+int attach_disc_lis3dsh(FAR struct lis3dsh_config_s *config, xcpt_t interrupt_handler) {
+    return stm32_gpiosetevent(GPIO_STM32F4DISCO_LIS3DSH_EXT0, true, false, false, interrupt_handler, NULL );
+}
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_lis3dshinitialize
+ *
+ * Description:
+ *   Initialize and register the LIS3DSH 3-axis accelerometer.
+ *
+ * Input parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/acc0"
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ************************************************************************************/
+int stm32_lis3dshinitialize(FAR const char *devpath)
+{
+  static struct lis3dsh_config_s acc0_config;
+  struct spi_dev_s *spi;
+  int ret;
+
+  sninfo("Initializing LIS3DSH\n");
+
+  acc0_config.irq=22;  // Interrupt no. for PE0 (INT1 on LIS3DSH)
+  acc0_config.spi_devid=0;
+  acc0_config.attach = &attach_disc_lis3dsh;
+
+  spi = stm32_spibus_initialize(1);
+  if( !spi ) {
+    spiinfo("Failed to initialize SPI port\n");
+    ret = -ENODEV;
+  }
+  else {
+    ret = lis3dsh_register(devpath, spi, &acc0_config);
+  }
+
+  return ret;
+}
+
+#endif /* CONFIG_STM32F4DISCO_LIS3DSH && CONFIG_LIS3DSH */

configs/stm32f4discovery/src/stm32f4discovery.h

@@ -429,6 +429,19 @@ int stm32_bh1750initialize(FAR const char *devpath);
 int stm32_bmp180initialize(FAR const char *devpath);
 #endif
 
+/****************************************************************************
+ * Name: stm32_lis3dshinitialize
+ *
+ * Description:
+ *   Called to configure SPI 1, and to register LIS3DSH and its external interrupt
+ *   for the stm32f4discovery board.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_STM32F4DISCO_LIS3DSH
+int stm32_lis3dshinitialize(FAR const char *devpath);
+#endif
+
 /****************************************************************************
  * Name: stm32_bringup
  *

drivers/sensors/lis3dsh.c

@@ -5,6 +5,7 @@
  *   Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
  *   Author:  Alexander Entinger <a.entinger@ds-automotion.com>
  *            Thomas Ilk
+ *            Florian Olbrich <flox@posteo.de>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -309,8 +310,7 @@ static int lis3dsh_interrupt_handler(int irq, FAR void *context)
 
   /* Find out which device caused the interrupt */
 
-  for (priv = g_lis3dsh_list; priv && priv->config->irq != irq;
+  for (priv = g_lis3dsh_list; priv && priv->config->irq != irq; priv = priv->flink);
-       priv = priv->flink);
   DEBUGASSERT(priv != NULL);
 
   /* Task the worker with retrieving the latest sensor data. We should not do
@@ -318,13 +318,13 @@ static int lis3dsh_interrupt_handler(int irq, FAR void *context)
    * SPI bus from within an interrupt.
    */
 
-  DEBUGASSERT(priv->work.worker == NULL);
+  if(work_available(&priv->work)) {
-  ret = work_queue(HPWORK, &priv->work, lis3dsh_worker, priv, 0);
+    ret = work_queue(HPWORK, &priv->work, lis3dsh_worker, priv, 0);
-  if (ret < 0)
+    if (ret < 0) {
-    {
+        snerr("ERROR: Failed to queue work: %d\n", ret);
-      snerr("ERROR: Failed to queue work: %d\n", ret);
+        return ret;
-      return ret;
     }
+  }
 
   return OK;
 }