btashton opened a new pull request #3646:
URL: https://github.com/apache/incubator-nuttx/pull/3646
## Summary
This adds i2c support to the NUCLEO-F676ZI board and optionally includes
support for an mpu60x0 IMU to be attached to it.
Additionally it fixes a bad bug in the mpu60x0 driver where bitmasks were
not computed correctly causing incorrect settings to be set.
## Impact
* mpu60x0 driver not produces expected results
* board optionally includes this driver now.
## Testing
```
NuttShell (NSH) NuttX-10.1.0-RC1
nsh> uname -a
NuttX 10.1.0-RC1 93f4526a4a-dirty May 2 2021 22:21:09 arm nucleo-144
nsh> hexdump /dev/imu0 count=14
/dev/imu0 at 00000000:
0000: fe 7f ff 8d 0c 5a f0 c5 ff 75 ff b0 ff dc .....Z...u....
nsh> i2c dev -b 1 0x00 0x7f
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: -- -- -- -- -- -- -- -- 68 -- -- -- -- -- -- --
70: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
nsh>
```
This hex dump can then be supplied to this python script to decode the IMU
output:
```python
rawdata = 'fe 7f ff 8d 0c 5a f0 c5 ff 75 ff b0 ff dc'
data = struct.unpack(">7h",bytearray.fromhex(rawdata))
temp = data[3]/340 + 36.5
acel = [elm / 4096.0 for elm in data[0:3]]
gyro = [elm / 32.8 for elm in data[4:7]]
print(f'{temp}C\nacel: {acel}\ngyro: {gyro}')
```
```
25.03235294117647C
acel: [-0.093994140625, -0.028076171875, 0.77197265625]
gyro: [-4.237804878048781, -2.439024390243903, -1.0975609756097562]
```
This was also tested without the sensor connected to make sure that we do
not hang (previously the mpu60x0 driver would hang forever if it was not found).
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