boards/esp32s3/lckfb-szpi: Add QMI8658 6-axis IMU sensor support

Add support for the QMI8658 6-axis IMU sensor (accelerometer + gyroscope) on the lckfb-szpi-esp32s3 board. Changes: - New esp32s3_qmi8658.c driver initializes sensor on I2C0 at address 0x6A - Registers uORB devices: /dev/uorb/sensor_accel0 and /dev/uorb/sensor_gyro0 - Adds esp32s3_qmi8658_initialize() function declaration to header - Integrates with board bringup when CONFIG_SENSORS_QMI8658=y Signed-off-by: Huang Qi <huangqi3@xiaomi.com>
2026-05-25 01:39:44 +08:00 · 2025-12-20 09:09:20 +08:00
parent 92f26a98dd
commit beb0a47568
6 changed files with 199 additions and 0 deletions
@@ -454,3 +454,35 @@ Then run the lvgldemo command::
 [LVGL] [User]   (6.560, +0)      lv_nuttx_lcd_create: lcd /dev/lcd0 open success lv_nuttx_lcd.c:84
 [LVGL] [Warn]   (6.570, +10)     lv_demo_widgets: LV_FONT_MONTSERRAT_18 is not enabled for the widgets demo. Using LV_FONT_DEFAULT instead. lv_demo_widgets.c:156
 [LVGL] [Warn]   (6.580, +10)     lv_demo_widgets: LV_FONT_MONTSERRAT_12 is not enabled for the widgets demo. Using LV_FONT_DEFAULT instead. lv_demo_widgets.c:161
+
+qmi8658
+-------
+
+Basic NuttShell configuration console and QMI8658 6-axis IMU sensor enabled.
+
+The QMI8658 is a 6-axis IMU sensor that combines a 3-axis accelerometer and 3-axis gyroscope.
+This configuration enables the sensor on I2C0 at address 0x6A and registers uORB devices:
+
+- ``/dev/uorb/sensor_accel0`` for accelerometer data
+- ``/dev/uorb/sensor_gyro0`` for gyroscope data
+
+You can run the configuration and compilation procedure::
+
+  $ ./tools/configure.sh lckfb-szpi-esp32s3:qmi8658
+  $ make flash -j$(nproc) ESPTOOL_PORT=/dev/ttyUSB0
+
+Then test the IMU sensor::
+
+  # Check available sensor devices
+  nsh> ls /dev/uorb/
+  /dev/uorb:
+   sensor_accel0
+   sensor_gyro0
+
+  nsh> uorb_listener
+
+  Monitor objects num:2
+  object_name:sensor_gyro, object_instance:0
+  object_name:sensor_accel, object_instance:0
+  sensor_gyro(now:113510000):timestamp:113510000,x:1.468750,y:1.562500,z:-0.093750,temperature:22.855469
+  sensor_accel(now:113510000):timestamp:113510000,x:-0.810913,y:0.027343,z:0.571167,temperature:22.855469
@@ -0,0 +1,58 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_ARCH_LEDS is not set
+# CONFIG_NSH_ARGCAT is not set
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+CONFIG_ARCH="xtensa"
+CONFIG_ARCH_BOARD="lckfb-szpi-esp32s3"
+CONFIG_ARCH_BOARD_COMMON=y
+CONFIG_ARCH_BOARD_ESP32S3_LCKFB_SZPI=y
+CONFIG_ARCH_CHIP="esp32s3"
+CONFIG_ARCH_CHIP_ESP32S3=y
+CONFIG_ARCH_CHIP_ESP32S3WROOM1N16R8=y
+CONFIG_ARCH_INTERRUPTSTACK=2048
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARCH_XTENSA=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_UORB=y
+CONFIG_ESP32S3_I2C0=y
+CONFIG_ESP32S3_UART0=y
+CONFIG_FS_PROCFS=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=3072
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3072
+CONFIG_INTELHEX_BINARY=y
+CONFIG_LINE_MAX=64
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FILEIOSIZE=512
+CONFIG_NSH_READLINE=y
+CONFIG_PREALLOC_TIMERS=4
+CONFIG_RAM_SIZE=114688
+CONFIG_RAM_START=0x20000000
+CONFIG_RR_INTERVAL=200
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_SENSORS=y
+CONFIG_SENSORS_QMI8658=y
+CONFIG_SENSORS_QMI8658_POLL=y
+CONFIG_START_DAY=6
+CONFIG_START_MONTH=12
+CONFIG_START_YEAR=2011
+CONFIG_SYSLOG_BUFFER=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_UART0_SERIAL_CONSOLE=y
+CONFIG_UORB=y
+CONFIG_UORB_LISTENER=y
+CONFIG_UORB_STACKSIZE=4096
+CONFIG_USENSOR=y
@@ -52,3 +52,7 @@ endif
 ifeq ($(CONFIG_INPUT_FT5X06),y)
 CSRCS += esp32s3_ft5x06.c
 endif
+
+ifeq ($(CONFIG_SENSORS_QMI8658),y)
+CSRCS += esp32s3_qmi8658.c
+endif
@@ -46,6 +46,9 @@
 #define FT5X06_I2C_ADDRESS  (0x38)
 #define FT5X06_FREQUENCY    (400000)

+#define QMI8658_I2C_PORT    (0)
+#define QMI8658_I2C_ADDR    (0x6A)
+
 /****************************************************************************
 * Public Types
 ****************************************************************************/
@@ -156,5 +159,9 @@ int esp32s3_pca9557_initialize(void);
 int esp32s3_ft5x06_initialize(void);
 #endif

+#ifdef CONFIG_SENSORS_QMI8658
+int esp32s3_qmi8658_initialize(void);
+#endif
+
 #endif /* __ASSEMBLY__ */
 #endif /* __BOARDS_XTENSA_ESP32S3_LCKFB_SZPI_ESP32S3_SRC_ESP32S3_DEVKIT_H */
@@ -113,6 +113,10 @@
 #  include "esp32s3_aes.h"
 #endif

+#ifdef CONFIG_SENSORS_QMI8658
+#  include <nuttx/sensors/qmi8658.h>
+#endif
+
 #ifdef CONFIG_ESP32S3_ADC
 #include "esp32s3_board_adc.h"
 #endif
@@ -306,6 +310,16 @@ int esp32s3_bringup(void)
    }
 #endif

+#ifdef CONFIG_SENSORS_QMI8658
+  /* Register QMI8658 IMU sensor */
+
+  ret = esp32s3_qmi8658_initialize();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to register QMI8658 IMU: %d\n", ret);
+    }
+#endif
+
 #ifdef CONFIG_IOEXPANDER_PCA9557
  ret = esp32s3_pca9557_initialize();
  if (ret < 0)
@@ -0,0 +1,84 @@
+/****************************************************************************
+ * boards/xtensa/esp32s3/lckfb-szpi-esp32s3/src/esp32s3_qmi8658.c
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <unistd.h>
+#include <stdlib.h>
+#include <debug.h>
+#include <assert.h>
+#include <nuttx/arch.h>
+#include <nuttx/board.h>
+#include <nuttx/sensors/qmi8658.h>
+
+#include "esp32s3_i2c.h"
+#include "esp32s3-szpi.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: esp32s3_qmi8658_initialize
+ *
+ * Description:
+ *   Initialize and register the QMI8658 6-axis IMU sensor driver.
+ *
+ *   This function registers the uORB interface which creates:
+ *   - "/dev/uorb/sensor_accel0" for accelerometer data
+ *   - "/dev/uorb/sensor_gyro0" for gyroscope data
+ *
+ * Input Parameters:
+ *   None
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int esp32s3_qmi8658_initialize(void)
+{
+  struct i2c_master_s *i2c;
+  int ret;
+
+  i2c = esp32s3_i2cbus_initialize(QMI8658_I2C_PORT);
+  if (!i2c)
+    {
+      i2cerr("Initialize I2C bus failed!\n");
+      return -EINVAL;
+    }
+
+  /* Register QMI8658 uORB sensor device */
+
+  ret = qmi8658_uorb_register(0, i2c, QMI8658_I2C_ADDR);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "Failed to register QMI8658 uORB driver: %d\n",
+              ret);
+    }
+
+  return ret;
+}