linguini1 commented on code in PR #17363: URL: https://github.com/apache/nuttx/pull/17363#discussion_r2553193700
########## include/nuttx/sensors/qmi8658.h: ########## @@ -0,0 +1,310 @@ +/**************************************************************************** + * include/nuttx/sensors/qmi8658.h + * + * 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. + * + ****************************************************************************/ + +#ifndef __INCLUDE_NUTTX_SENSORS_QMI8658_H +#define __INCLUDE_NUTTX_SENSORS_QMI8658_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/sensors/sensor.h> +#include <nuttx/i2c/i2c_master.h> +#include <stdint.h> +#include <sys/ioctl.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* QMI8658 Register Addresses */ +#define QMI8658_REG_WHOAMI (0x00) /* Chip ID register */ Review Comment: These registers should not be available in the public header file, they should go in the C file where they are used. ########## drivers/sensors/Kconfig: ########## @@ -2151,4 +2151,45 @@ config TMP112_I2C_FREQUENCY endif #SENSORS_TMP112 +config SENSORS_QMI8658 + bool "QST QMI8658 6-Axis IMU Sensor support" + default n + select I2C Review Comment: Someone else can weigh in but since we're trying to avoid `select`, you can have `depends on I2C`. Did your sensor also support SPI? Then I think you can do `depends on I2C || SPI` ########## drivers/sensors/qmi8658_base.h: ########## @@ -0,0 +1,162 @@ +/**************************************************************************** + * drivers/sensors/qmi8658_base.h + * + * 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. + * + ****************************************************************************/ + +#ifndef __DRIVERS_SENSORS_QMI8658_BASE_H +#define __DRIVERS_SENSORS_QMI8658_BASE_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +#include <nuttx/i2c/i2c_master.h> +#include <nuttx/kmalloc.h> +#include <nuttx/mutex.h> +#include <nuttx/signal.h> +#include <nuttx/sensors/qmi8658.h> +#include <debug.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/* QMI8658 configuration structure */ + +struct qmi8658_config_s +{ + uint8_t acc_range; + uint8_t gyro_range; + uint8_t acc_enable; + uint8_t gyro_enable; + uint8_t temp_enable; + uint8_t lp_mode; +}; + +/* Scale factors structure */ + +struct qmi8658_scale_factors_s +{ + float acc_scale; + float gyro_scale; + float temp_scale; +}; + +/**************************************************************************** + * Private Type + ****************************************************************************/ + +struct qmi8658_dev_s Review Comment: This makes the device structure publicly available to users. ########## drivers/sensors/Kconfig: ########## @@ -2151,4 +2151,45 @@ config TMP112_I2C_FREQUENCY endif #SENSORS_TMP112 +config SENSORS_QMI8658 + bool "QST QMI8658 6-Axis IMU Sensor support" + default n + select I2C + ---help--- + Enable driver support for the QST QMI8658 6-axis IMU sensor. + +if SENSORS_QMI8658 + +config SENSORS_QMI8658_UORB + bool "QMI8658 UORB Interface" Review Comment: Add `depends on UORB` ########## include/nuttx/sensors/qmi8658.h: ########## @@ -0,0 +1,310 @@ +/**************************************************************************** + * include/nuttx/sensors/qmi8658.h + * + * 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. + * + ****************************************************************************/ + +#ifndef __INCLUDE_NUTTX_SENSORS_QMI8658_H +#define __INCLUDE_NUTTX_SENSORS_QMI8658_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> +#include <nuttx/sensors/sensor.h> +#include <nuttx/i2c/i2c_master.h> +#include <stdint.h> +#include <sys/ioctl.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* QMI8658 Register Addresses */ +#define QMI8658_REG_WHOAMI (0x00) /* Chip ID register */ +#define QMI8658_REG_REVISION (0x01) /* Revision register */ +#define QMI8658_REG_CTRL1 (0x02) /* Control register 1 */ +#define QMI8658_REG_CTRL2 (0x03) /* Control register 2 (Accelerometer) */ +#define QMI8658_REG_CTRL3 (0x04) /* Control register 3 (Gyroscope) */ +#define QMI8658_REG_CTRL5 (0x06) /* Control register 5 (LPF settings) */ +#define QMI8658_REG_CTRL7 (0x08) /* Control register 7 (Sensor enable) */ +#define QMI8658_REG_CTRL8 (0x09) /* Control register 8 (Motion detection) */ +#define QMI8658_REG_CTRL9 (0x0A) /* Control register 9 (Commands) */ +#define QMI8658_REG_CAL1_L (0x0B) /* Calibration register 1 low */ +#define QMI8658_REG_CAL1_H (0x0C) /* Calibration register 1 high */ +#define QMI8658_REG_CAL2_L (0x0D) /* Calibration register 2 low */ +#define QMI8658_REG_CAL2_H (0x0E) /* Calibration register 2 high */ +#define QMI8658_REG_CAL3_L (0x0F) /* Calibration register 3 low */ +#define QMI8658_REG_CAL3_H (0x10) /* Calibration register 3 high */ +#define QMI8658_REG_CAL4_L (0x11) /* Calibration register 4 low */ +#define QMI8658_REG_CAL4_H (0x12) /* Calibration register 4 high */ +#define QMI8658_REG_FIFO_WTM_TH (0x13) /* FIFO watermark threshold */ +#define QMI8658_REG_FIFO_CTRL (0x14) /* FIFO control */ +#define QMI8658_REG_FIFO_COUNT (0x15) /* FIFO sample count */ +#define QMI8658_REG_FIFO_STATUS (0x16) /* FIFO status */ +#define QMI8658_REG_FIFO_DATA (0x17) /* FIFO data */ +#define QMI8658_REG_STATUS_INT (0x2D) /* Status interrupt */ +#define QMI8658_REG_STATUS0 (0x2E) /* Status register 0 */ +#define QMI8658_REG_STATUS1 (0x2F) /* Status register 1 */ +#define QMI8658_REG_TIMESTAMP_L (0x30) /* Timestamp low */ +#define QMI8658_REG_TIMESTAMP_M (0x31) /* Timestamp middle */ +#define QMI8658_REG_TIMESTAMP_H (0x32) /* Timestamp high */ +#define QMI8658_REG_TEMPERATURE_L (0x33) /* Temperature low */ +#define QMI8658_REG_TEMPERATURE_H (0x34) /* Temperature high */ +#define QMI8658_REG_AX_L (0x35) /* Accelerometer X low */ +#define QMI8658_REG_AX_H (0x36) /* Accelerometer X high */ +#define QMI8658_REG_AY_L (0x37) /* Accelerometer Y low */ +#define QMI8658_REG_AY_H (0x38) /* Accelerometer Y high */ +#define QMI8658_REG_AZ_L (0x39) /* Accelerometer Z low */ +#define QMI8658_REG_AZ_H (0x3A) /* Accelerometer Z high */ +#define QMI8658_REG_GX_L (0x3B) /* Gyroscope X low */ +#define QMI8658_REG_GX_H (0x3C) /* Gyroscope X high */ +#define QMI8658_REG_GY_L (0x3D) /* Gyroscope Y low */ +#define QMI8658_REG_GY_H (0x3E) /* Gyroscope Y high */ +#define QMI8658_REG_GZ_L (0x3F) /* Gyroscope Z low */ +#define QMI8658_REG_GZ_H (0x40) /* Gyroscope Z high */ +#define QMI8658_REG_COD_STATUS (0x46) /* Calibration-on-demand status */ +#define QMI8658_REG_DQW_L (0x49) /* COD quaternion W low */ +#define QMI8658_REG_DQW_H (0x4A) /* COD quaternion W high */ +#define QMI8658_REG_DQX_L (0x4B) /* COD quaternion X low */ +#define QMI8658_REG_DQX_H (0x4C) /* COD quaternion X high */ +#define QMI8658_REG_RST_RESULT (0x4D) /* Reset result register */ +#define QMI8658_REG_DQY_L (0x4E) /* COD quaternion Y low */ +#define QMI8658_REG_DQY_H (0x4F) /* COD quaternion Y high */ +#define QMI8658_REG_DQZ_L (0x50) /* COD quaternion Z low */ +#define QMI8658_REG_DQZ_H (0x51) /* COD quaternion Z high */ +#define QMI8658_REG_DVX_L (0x52) /* Self-test X low */ +#define QMI8658_REG_DVX_H (0x53) /* Self-test X high */ +#define QMI8658_REG_DVY_L (0x54) /* Self-test Y low */ +#define QMI8658_REG_DVY_H (0x55) /* Self-test Y high */ +#define QMI8658_REG_DVZ_L (0x56) /* Self-test Z low */ +#define QMI8658_REG_DVZ_H (0x57) /* Self-test Z high */ +#define QMI8658_REG_TAP_STATUS (0x59) /* Tap status */ +#define QMI8658_REG_STEP_CNT_LOW (0x5A) /* Step counter low */ +#define QMI8658_REG_STEP_CNT_MID (0x5B) /* Step counter middle */ +#define QMI8658_REG_STEP_CNT_HIGH (0x5C) /* Step counter high */ +#define QMI8658_REG_RESET (0x60) /* Reset register */ + +/* Default values */ +#define QMI8658_REG_WHOAMI_DEFAULT (0x05) +#define QMI8658_REG_STATUS_DEFAULT (0x03) +#define QMI8658_REG_RESET_DEFAULT (0xB0) +#define QMI8658_REG_RST_RESULT_VAL (0x80) + +/* Control register bit definitions */ + +/* CTRL1 - Control Register 1 */ +#define QMI8658_CTRL1_ACC_EN (1 << 0) +#define QMI8658_CTRL1_POWER_DOWN (1 << 1) +#define QMI8658_CTRL1_FIFO_INT_EN (1 << 2) +#define QMI8658_CTRL1_INT1_EN (1 << 3) +#define QMI8658_CTRL1_INT2_EN (1 << 4) +#define QMI8658_CTRL1_ADDR_AI_EN (1 << 6) + +/* CTRL5 - Control Register 5 (Low-pass filters) */ +#define QMI8658_ACCEL_LPF_MASK (0xF9) +#define QMI8658_GYRO_LPF_MASK (0x9F) + +/* CTRL7 - Control Register 7 (Enable/Disable) */ +#define QMI8658_CTRL7_ACC_EN (1 << 0) /* Accelerometer enable */ +#define QMI8658_CTRL7_GYRO_EN (1 << 1) /* Gyroscope enable */ +#define QMI8658_CTRL7_RESERVED (0x7C) /* Reserved bits 2-6 */ +#define QMI8658_CTRL7_SYNC_MODE (1 << 7) /* Synchronization mode */ + +/* CTRL7 bit masks */ +#define QMI8658_CTRL7_ACC_EN_MASK (0x01) /* Accelerometer enable mask */ +#define QMI8658_CTRL7_GYRO_EN_MASK (0x02) /* Gyroscope enable mask */ +#define QMI8658_CTRL7_EN_MASK (0x03) /* Enable bits mask */ + +/* CTRL9 - Control Register 9 (Commands) */ +#define QMI8658_CTRL9_CMD_ACK (0x00) /* Acknowledge command */ +#define QMI8658_CTRL9_CMD_RST_FIFO (0x04) /* Reset FIFO command */ +#define QMI8658_CTRL9_CMD_REQ_FIFO (0x05) /* Request FIFO data command */ +#define QMI8658_CTRL9_CMD_CALIB (0xA2) /* Calibration command */ + +/* STATUS0 - Status Register 0 (Data ready status) */ +#define QMI8658_STATUS0_ACC_DRDY (1 << 0) /* Accelerometer data ready */ +#define QMI8658_STATUS0_GYRO_DRDY (1 << 1) /* Gyroscope data ready */ +#define QMI8658_STATUS0_RESERVED (0xFC) /* Reserved bits 2-7 */ + +/* STATUS_INT - Status Interrupt Register */ +#define QMI8658_STATUS_INT_AVAIL (1 << 0) /* Interrupt available */ +#define QMI8658_STATUS_INT_LOCKED (1 << 1) /* Interrupt locked */ +#define QMI8658_STATUS_INT_RESERVED (0x7C) /* Reserved bits 2-6 */ +#define QMI8658_STATUS_INT_CMD_DONE (1 << 7) /* Command done interrupt */ + +/* Legacy compatibility definitions */ +#define STATUS0_ACCEL_AVAIL QMI8658_STATUS0_ACC_DRDY +#define STATUS0_GYRO_AVAIL QMI8658_STATUS0_GYRO_DRDY +#define STATUS_INT_CTRL9_CMD_DONE QMI8658_STATUS_INT_CMD_DONE +#define STATUS_INT_LOCKED QMI8658_STATUS_INT_LOCKED +#define STATUS_INT_AVAIL QMI8658_STATUS_INT_AVAIL + +/* Accelerometer Full Scale Ranges */ +#define QMI8658_ACC_FS_2G (0x00) +#define QMI8658_ACC_FS_4G (0x01) +#define QMI8658_ACC_FS_8G (0x02) +#define QMI8658_ACC_FS_16G (0x03) + +/* Gyroscope Full Scale Ranges */ +#define QMI8658_GYRO_FS_16DPS (0x00) +#define QMI8658_GYRO_FS_32DPS (0x01) +#define QMI8658_GYRO_FS_64DPS (0x02) +#define QMI8658_GYRO_FS_128DPS (0x03) +#define QMI8658_GYRO_FS_256DPS (0x04) +#define QMI8658_GYRO_FS_512DPS (0x05) +#define QMI8658_GYRO_FS_1024DPS (0x06) + +/* Scale Factors */ + +/* Accelerometer scale factors (LSB/g) */ +#define QMI8658_ACC_SCALE_2G (16384.0f) +#define QMI8658_ACC_SCALE_4G (8192.0f) +#define QMI8658_ACC_SCALE_8G (4096.0f) +#define QMI8658_ACC_SCALE_16G (2048.0f) + +/* Gyroscope scale factors (LSB/dps) */ +#define QMI8658_GYRO_SCALE_16DPS (2048.0f) +#define QMI8658_GYRO_SCALE_32DPS (1024.0f) +#define QMI8658_GYRO_SCALE_64DPS (512.0f) +#define QMI8658_GYRO_SCALE_128DPS (256.0f) +#define QMI8658_GYRO_SCALE_256DPS (128.0f) +#define QMI8658_GYRO_SCALE_512DPS (64.0f) +#define QMI8658_GYRO_SCALE_1024DPS (32.0f) + +/* Temperature Scale Factor (LSB/°C) */ +#define QMI8658_TEMP_SCALE (256.0f) + +/* ODR (Output Data Rate) Definitions */ + +/* Accelerometer ODR */ +#define QMI8658_ACC_ODR_1000Hz (0x03) +#define QMI8658_ACC_ODR_500Hz (0x04) +#define QMI8658_ACC_ODR_250Hz (0x05) +#define QMI8658_ACC_ODR_125Hz (0x06) +#define QMI8658_ACC_ODR_62_5Hz (0x07) +#define QMI8658_ACC_ODR_31_25Hz (0x08) +#define QMI8658_ACC_ODR_LOWPOWER_128Hz (0x0C) +#define QMI8658_ACC_ODR_LOWPOWER_21Hz (0x0D) +#define QMI8658_ACC_ODR_LOWPOWER_11Hz (0x0E) +#define QMI8658_ACC_ODR_LOWPOWER_3Hz (0x0F) + +/* Gyroscope ODR */ +#define QMI8658_GYRO_ODR_7174_4Hz (0x00) +#define QMI8658_GYRO_ODR_3587_2Hz (0x01) +#define QMI8658_GYRO_ODR_1793_6Hz (0x02) +#define QMI8658_GYRO_ODR_896_8Hz (0x03) +#define QMI8658_GYRO_ODR_448_4Hz (0x04) +#define QMI8658_GYRO_ODR_224_2Hz (0x05) +#define QMI8658_GYRO_ODR_112_1Hz (0x06) +#define QMI8658_GYRO_ODR_56_05Hz (0x07) +#define QMI8658_GYRO_ODR_28_025Hz (0x08) + +/* Low-Pass Filter Modes */ +#define QMI8658_LPF_MODE_0 (0x00) +#define QMI8658_LPF_MODE_1 (0x01) +#define QMI8658_LPF_MODE_2 (0x02) +#define QMI8658_LPF_MODE_3 (0x03) +#define QMI8658_LPF_OFF (0x04) + +/* Sample Synchronization Modes */ +#define QMI8658_SYNC_MODE (0x00) +#define QMI8658_ASYNC_MODE (0x01) + +/**************************************************************************** + * IOCTL Commands + ****************************************************************************/ + +#define SNIOC_SET_ACC_RANGE _SNIOC(0x1) +#define SNIOC_SET_GYRO_RANGE _SNIOC(0x2) +#define SNIOC_ENABLE_SENSOR _SNIOC(0x3) +#define SNIOC_DISABLE_SENSOR _SNIOC(0x4) + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +struct qmi8658_data_s +{ + int16_t accel_x; + int16_t accel_y; + int16_t accel_z; + int16_t gyro_x; + int16_t gyro_y; + int16_t gyro_z; + int16_t temperature; +}; + +/* Configuration and scale factor structures are defined in qmi8658_base.h + * for internal driver use + */ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#ifdef __cplusplus +extern "C" +{ +#endif + +/**************************************************************************** + * Name: qmi8658_register + * + * Description: + * Register the QMI8658 character device at 'devpath' + * + * Input Parameters: + * devpath - The full path to the driver to register. E.g., "/dev/imu0" + * i2c - Pointer to the I2C master device + * addr - I2C address (use QMI8658_I2C_ADDR for default) + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +int qmi8658_register(FAR const char *devpath, + FAR struct i2c_master_s *i2c, uint8_t addr); Review Comment: NuttX is moving away from the legacy sensor driver interface (char device). I don't think you should support a second version in addition to uORB, it makes more work to maintain. -- 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: [email protected] For queries about this service, please contact Infrastructure at: [email protected]
