This is an automated email from the ASF dual-hosted git repository. xiaoxiang pushed a commit to branch master in repository https://gitbox.apache.org/repos/asf/nuttx.git
commit af4a065efb43e547e5e6efc1aef7960dda16e382 Author: raiden00pl <[email protected]> AuthorDate: Sat Aug 26 15:46:03 2023 +0200 nrf52840-dk: add lsm9ds1 sensor support --- boards/arm/nrf52/common/include/nrf52_lsm9ds1.h | 46 +++++++++++ boards/arm/nrf52/common/src/CMakeLists.txt | 4 + boards/arm/nrf52/common/src/Make.defs | 4 + boards/arm/nrf52/common/src/nrf52_lsm9ds1.c | 97 ++++++++++++++++++++++++ boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c | 16 +++- 5 files changed, 166 insertions(+), 1 deletion(-) diff --git a/boards/arm/nrf52/common/include/nrf52_lsm9ds1.h b/boards/arm/nrf52/common/include/nrf52_lsm9ds1.h new file mode 100644 index 0000000000..80f79c9c51 --- /dev/null +++ b/boards/arm/nrf52/common/include/nrf52_lsm9ds1.h @@ -0,0 +1,46 @@ +/**************************************************************************** + * boards/arm/nrf52/common/include/nrf52_lsm9ds1.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_ARM_NRF52_COMMON_INCLUDE_NRF52_LSM9DS1_H +#define __BOARDS_ARM_NRF52_COMMON_INCLUDE_NRF52_LSM9DS1_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +/**************************************************************************** + * Public Functions Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: nrf52_lsm9ds1_initialize + * + * Description: + * Initialize I2C-based LSM9DS1. + * + ****************************************************************************/ + +#ifdef CONFIG_SENSORS_LSM9DS1 +int nrf52_lsm9ds1_initialize(int bus); +#endif + +#endif /* __BOARDS_ARM_NRF52_COMMON_INCLUDE_NRF52_LSM9DS1_H */ diff --git a/boards/arm/nrf52/common/src/CMakeLists.txt b/boards/arm/nrf52/common/src/CMakeLists.txt index 5a2844de3e..7c3d75b759 100644 --- a/boards/arm/nrf52/common/src/CMakeLists.txt +++ b/boards/arm/nrf52/common/src/CMakeLists.txt @@ -32,6 +32,10 @@ if(CONFIG_ARCH_BOARD_COMMON) list(APPEND SRCS nrf52_progmem.c) endif() + if(CONFIG_SENSORS_LSM9DS1) + list(APPEND SRCS nrf52_lsm9ds1.c) + endif() + target_sources(board PRIVATE ${SRCS}) endif() diff --git a/boards/arm/nrf52/common/src/Make.defs b/boards/arm/nrf52/common/src/Make.defs index 7656988081..07994dc14a 100644 --- a/boards/arm/nrf52/common/src/Make.defs +++ b/boards/arm/nrf52/common/src/Make.defs @@ -32,6 +32,10 @@ ifeq ($(CONFIG_NRF52_PROGMEM),y) CSRCS += nrf52_progmem.c endif +ifeq ($(CONFIG_SENSORS_LSM9DS1),y) +CSRCS += nrf52_lsm9ds1.c +endif + DEPPATH += --dep-path src VPATH += :src CFLAGS += ${INCDIR_PREFIX}$(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src diff --git a/boards/arm/nrf52/common/src/nrf52_lsm9ds1.c b/boards/arm/nrf52/common/src/nrf52_lsm9ds1.c new file mode 100644 index 0000000000..af6ba01b3d --- /dev/null +++ b/boards/arm/nrf52/common/src/nrf52_lsm9ds1.c @@ -0,0 +1,97 @@ +/**************************************************************************** + * boards/arm/nrf52/common/src/nrf52_lsm9ds1.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 <nuttx/arch.h> + +#include <errno.h> +#include <debug.h> + +#include <nuttx/board.h> +#include "nrf52_i2c.h" +#include <nuttx/sensors/lsm9ds1.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define LSM9DS1MAG_DEVPATH "/dev/lsm9ds1mag0" +#define LSM9DS1ACC_DEVPATH "/dev/lsm9ds1acc0" +#define LSM9DS1GYR_DEVPATH "/dev/lsm9ds1gyr0" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: nrf52_lsm9ds1_initialize + * + * Description: + * Initialize I2C-based LSM9DS1. + * + ****************************************************************************/ + +int nrf52_lsm9ds1_initialize(int bus) +{ + struct i2c_master_s *i2c; + int ret = OK; + + sninfo("Initializing LMS6DSL!\n"); + + i2c = nrf52_i2cbus_initialize(bus); + if (i2c == NULL) + { + return -ENODEV; + } + + sninfo("INFO: Initializing LMS9DS1 9DoF sensor over I2C%d\n", bus); + + /* Register snesors as character devices */ + + ret = lsm9ds1mag_register(LSM9DS1MAG_DEVPATH, i2c, LSM9DS1MAG_ADDR1); + if (ret < 0) + { + snerr("ERROR: Failed to initialize LMS9DS1 mag driver %s\n", + LSM9DS1MAG_DEVPATH); + return -ENODEV; + } + + ret = lsm9ds1gyro_register(LSM9DS1GYR_DEVPATH, i2c, LSM9DS1GYRO_ADDR1); + if (ret < 0) + { + snerr("ERROR: Failed to initialize LMS9DS1 gyro driver %s\n", + LSM9DS1MAG_DEVPATH); + return -ENODEV; + } + + ret = lsm9ds1accel_register(LSM9DS1ACC_DEVPATH, i2c, LSM9DS1ACCEL_ADDR1); + if (ret < 0) + { + snerr("ERROR: Failed to initialize LMS9DS1 accel driver %s\n", + LSM9DS1MAG_DEVPATH); + return -ENODEV; + } + + return ret; +} diff --git a/boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c b/boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c index cc2ceac865..f59b7b7a97 100644 --- a/boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c +++ b/boards/arm/nrf52/nrf52840-dk/src/nrf52_bringup.c @@ -57,13 +57,18 @@ # include "nrf52_sdc.h" #endif +#ifdef CONFIG_SENSORS_LSM9DS1 +# include "nrf52_lsm9ds1.h" +#endif + #include "nrf52840-dk.h" /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ -#define NRF52_TIMER (0) +#define NRF52_TIMER (0) +#define LMS9DS1_I2CBUS (0) /**************************************************************************** * Public Functions @@ -295,6 +300,15 @@ int nrf52_bringup(void) } #endif /* CONFIG_MTD */ +#ifdef CONFIG_SENSORS_LSM9DS1 + ret = nrf52_lsm9ds1_initialize(LMS9DS1_I2CBUS); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: Failed to initialize LSM9DS1 driver: %d\n", + ret); + } +#endif /* CONFIG_SENSORS_LSM6DSL */ + UNUSED(ret); return OK; }
