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The following commit(s) were added to refs/heads/master by this push:
new 581e9ce80b Add MPU60x0 IMU sensors support for ESP32C3
581e9ce80b is described below
commit 581e9ce80b4f6b9a207c9c30713c0d7d602a0a3f
Author: AuroraRAS <[email protected]>
AuthorDate: Fri Mar 10 02:32:21 2023 +0800
Add MPU60x0 IMU sensors support for ESP32C3
Add MPU60x0 IMU sensors support for ESP32C3
Signed-off-by: AuroraRAS <[email protected]>
---
.../common/include/esp32c3_board_mpu60x0_i2c.h | 74 ++++++++++++++++
boards/risc-v/esp32c3/common/src/Make.defs | 4 +
.../esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c | 99 ++++++++++++++++++++++
.../esp32c3/esp32c3-devkit/src/esp32c3_bringup.c | 13 +++
4 files changed, 190 insertions(+)
diff --git a/boards/risc-v/esp32c3/common/include/esp32c3_board_mpu60x0_i2c.h
b/boards/risc-v/esp32c3/common/include/esp32c3_board_mpu60x0_i2c.h
new file mode 100644
index 0000000000..ff7059bf4a
--- /dev/null
+++ b/boards/risc-v/esp32c3/common/include/esp32c3_board_mpu60x0_i2c.h
@@ -0,0 +1,74 @@
+/****************************************************************************
+ * boards/risc-v/esp32c3/common/include/esp32c3_board_mpu60x0_i2c.h
+ *
+ * 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 __BOARDS_RISCV_ESP32C3_COMMON_INCLUDE_ESP32C3_BOARD_MPU60X0_H
+#define __BOARDS_RISCV_ESP32C3_COMMON_INCLUDE_ESP32C3_BOARD_MPU60X0_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+#undef EXTERN
+#if defined(__cplusplus)
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_mpu60x0_initialize
+ *
+ * Description:
+ * Initialize and register the MPU60X0 IMU Sensor driver.
+ *
+ * Input Parameters:
+ * devno - The device number, used to build the device path as /dev/imuN
+ * busno - The I2C bus number
+ *
+ * Returned Value:
+ * Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SENSORS_MPU60X0
+int board_mpu60x0_initialize(int devno, int busno);
+#endif
+
+#undef EXTERN
+#if defined(__cplusplus)
+}
+#endif
+
+#endif /* __ASSEMBLY__ */
+#endif /* __BOARDS_RISCV_ESP32C3_COMMON_INCLUDE_ESP32C3_BOARD_MPU60X0_H */
diff --git a/boards/risc-v/esp32c3/common/src/Make.defs
b/boards/risc-v/esp32c3/common/src/Make.defs
index 78ca51f6fd..25fe787a03 100644
--- a/boards/risc-v/esp32c3/common/src/Make.defs
+++ b/boards/risc-v/esp32c3/common/src/Make.defs
@@ -88,6 +88,10 @@ ifeq ($(CONFIG_LCD_APA102),y)
CSRCS += esp32c3_board_apa102.c
endif
+ifeq ($(CONFIG_MPU60X0_I2C),y)
+ CSRCS += esp32c3_board_mpu60x0_i2c.c
+endif
+
DEPPATH += --dep-path src
VPATH += :src
CFLAGS += $(shell $(INCDIR) "$(CC)"
$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src)
diff --git a/boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c
b/boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c
new file mode 100644
index 0000000000..bf4f5534d1
--- /dev/null
+++ b/boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c
@@ -0,0 +1,99 @@
+/****************************************************************************
+ * boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c
+ *
+ * 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 <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_mpu60x0_initialize
+ *
+ * Description:
+ * Initialize and register the MPU60x0 Sensor driver.
+ *
+ * Input Parameters:
+ * devno - The device number, used to build the device path as /dev/imuN
+ * busno - The I2C bus number
+ *
+ * Returned Value:
+ * Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int board_mpu60x0_initialize(int devno, int busno)
+{
+ struct i2c_master_s *i2c;
+ char devpath[10];
+ FAR struct mpu_config_s *mpu_config;
+ int ret;
+
+ sninfo("Initializing MPU60X0!\n");
+
+ /* Initialize MPU60X0 */
+
+ i2c = esp32c3_i2cbus_initialize(busno);
+
+ if (i2c)
+ {
+ /* Then try to register the IMU sensor in I2C<busno> */
+
+ mpu_config = kmm_zalloc(sizeof(struct mpu_config_s));
+ if (mpu_config == NULL)
+ {
+ snerr("ERROR: Failed to allocate mpu60x0 driver\n");
+ ret = -ENODEV;
+ }
+ else
+ {
+ mpu_config->i2c = i2c;
+ mpu_config->addr = 0x68;
+ snprintf(devpath, sizeof(devpath), "/dev/imu%d", devno);
+ ret = mpu60x0_register(devpath, mpu_config);
+ if (ret < 0)
+ {
+ snerr("ERROR: Error registering MPU60X0 in I2C%d\n", busno);
+ }
+ }
+ }
+ else
+ {
+ ret = -ENODEV;
+ }
+
+ return ret;
+}
+
diff --git a/boards/risc-v/esp32c3/esp32c3-devkit/src/esp32c3_bringup.c
b/boards/risc-v/esp32c3/esp32c3-devkit/src/esp32c3_bringup.c
index 3a6206cb24..dbb5708cf2 100644
--- a/boards/risc-v/esp32c3/esp32c3-devkit/src/esp32c3_bringup.c
+++ b/boards/risc-v/esp32c3/esp32c3-devkit/src/esp32c3_bringup.c
@@ -53,6 +53,7 @@
#include "esp32c3_board_twai.h"
#include "esp32c3_board_wdt.h"
#include "esp32c3_board_wlan.h"
+#include "esp32c3_board_mpu60x0_i2c.h"
#ifdef CONFIG_SPI
# include "esp32c3_spi.h"
@@ -373,6 +374,18 @@ int esp32c3_bringup(void)
}
#endif
+#ifdef CONFIG_MPU60X0_I2C
+ /* Try to register MPU60x0 device in I2C0 */
+
+ ret = board_mpu60x0_initialize(0, 0);
+
+ if (ret < 0)
+ {
+ syslog(LOG_ERR, "Failed to initialize MPU60x0 "
+ "Driver for I2C0: %d\n", ret);
+ }
+#endif
+
/* If we got here then perhaps not all initialization was successful, but
* at least enough succeeded to bring-up NSH with perhaps reduced
* capabilities.
