Shriyans406 opened a new pull request, #19359:
URL: https://github.com/apache/nuttx/pull/19359
## Summary
This PR adds a standard lower-half I2C character driver for the InvenSense
MPU6050 6-axis IMU (3-axis accelerometer + 3-axis gyroscope + temperature
sensor), along with board-level bringup integration for the ESP32 Heltec WiFi
LoRa32 board.
Key additions:
- `include/nuttx/sensors/mpu6050.h`: Public header defining register
addresses, data structures (`struct mpu6050_data_s`), and registration
prototype (`mpu6050_register`).
- `drivers/sensors/mpu6050.c`: Lower-half I2C character driver implementing
standard file operations (`open`, `close`, `read`, `write`, `ioctl`). Supports
configurable sample rate divider, gyroscope/accelerometer full-scale range
configuration, and power management.
- `drivers/sensors/Kconfig` & `Make.defs`: Build system integration under
`CONFIG_SENSORS_MPU6050`.
- `boards/xtensa/esp32/common`: MPU6050 common board initialization helper
(`esp32_mpu6050.c`).
- `boards/xtensa/esp32/heltec_wifi_lora32`: Bringup integration initializing
I2C bus 0 and registering `/dev/imu0` during boot when `CONFIG_SENSORS_MPU6050`
is enabled.
## Impact
- **New feature**: Adds native support for MPU6050 IMU sensors across NuttX.
- **Hardware**: Tested and verified on ESP32 (`heltec_wifi_lora32`).
- **Build / Compatibility**: No impact on existing drivers or boards;
enabled optionally via `CONFIG_SENSORS_MPU6050`.
## Testing
Tested on **Heltec WiFi LoRa32 (ESP32)** host board connected to an MPU6050
sensor module via I2C0.
- **Verification steps**:
1. Built NuttX with `CONFIG_SENSORS=y`, `CONFIG_I2C=y`,
`CONFIG_SENSORS_MPU6050=y`, and ESP32 I2C0 enabled.
2. Flashed firmware to Heltec WiFi LoRa32 board and booted.
3. Verified `/dev/imu0` device node creation during board bringup.
4. Performed sensor reads from `/dev/imu0` and verified valid
accelerometer, gyroscope, and temperature readings.
5. Ran `./tools/checkpatch.sh -c -u -m -g upstream/master..HEAD` to verify
style (`nxstyle`), commit messages, and spelling compliance.
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