acassis commented on code in PR #16294: URL: https://github.com/apache/nuttx/pull/16294#discussion_r2069666720
########## boards/risc-v/esp32c6/common/src/esp_board_mpu60x0.c: ########## @@ -0,0 +1,108 @@ +/**************************************************************************** + * boards/risc-v/esp32c6/common/src/esp_board_mpu60x0.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 <stdio.h> +#include <debug.h> + +#include <nuttx/arch.h> +#include <nuttx/sensors/mpu60x0.h> +#include <nuttx/i2c/i2c_master.h> + +#ifndef CONFIG_ESPRESSIF_I2C_BITBANG +#include "espressif/esp_i2c.h" +#else +#include "espressif/esp_i2c_bitbang.h" +#endif + +#include "esp_board_mpu60x0.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * 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 + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +int board_mpu60x0_initialize(int devno) +{ + struct i2c_master_s *i2c; + struct mpu_config_s *config; + char devpath[12]; + int ret; + + sninfo("Initializing MPU60x0!\n"); + + /* Initialize MPU60x0 */ + +#ifndef CONFIG_ESPRESSIF_I2C_BITBANG + i2c = esp_i2cbus_initialize(ESPRESSIF_I2C0); +#else + i2c = esp_i2cbus_bitbang_initialize(); +#endif + + config = kmm_zalloc(sizeof(struct mpu_config_s)); + if (config == NULL) + { + syslog(LOG_ERR, "ERROR: Failed to allocate mpu60x0 driver\n"); + return -ENOMEM; + } + else + { + config->i2c = i2c; + config->addr = 0x68; + } + + if (i2c) Review Comment: if (i2c != NULL) -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: commits-unsubscr...@nuttx.apache.org For queries about this service, please contact Infrastructure at: us...@infra.apache.org
