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commit a015aa4fca69518b935bb3e59c65b28320dd9e6c Author: SPRESENSE <[email protected]> AuthorDate: Tue Aug 29 19:49:52 2023 +0900 boards: cxd56xx: Add board-specific driver for bmi270 --- boards/arm/cxd56xx/common/CMakeLists.txt | 4 ++ boards/arm/cxd56xx/common/src/Make.defs | 4 ++ boards/arm/cxd56xx/common/src/cxd56_bmi270_i2c.c | 69 ++++++++++++++++++++++ boards/arm/cxd56xx/common/src/cxd56_sensors.c | 15 ++++- boards/arm/cxd56xx/spresense/include/board.h | 1 + .../arm/cxd56xx/spresense/include/cxd56_bmi270.h | 69 ++++++++++++++++++++++ drivers/sensors/bmi270.c | 2 +- 7 files changed, 162 insertions(+), 2 deletions(-) diff --git a/boards/arm/cxd56xx/common/CMakeLists.txt b/boards/arm/cxd56xx/common/CMakeLists.txt index 3f7e4165ec..4ed42aa228 100644 --- a/boards/arm/cxd56xx/common/CMakeLists.txt +++ b/boards/arm/cxd56xx/common/CMakeLists.txt @@ -79,6 +79,10 @@ if(CONFIG_ARCH_BOARD_COMMON) list(APPEND SRCS src/cxd56_bmi160_i2c.c) endif() + if(CONFIG_SENSORS_BMI270_I2C) + list(APPEND SRCS src/cxd56_bmi270_i2c.c) + endif() + if(CONFIG_SENSORS_BMI160_SCU) list(APPEND SRCS src/cxd56_bmi160_scu.c) endif() diff --git a/boards/arm/cxd56xx/common/src/Make.defs b/boards/arm/cxd56xx/common/src/Make.defs index f518d2d630..f118b89607 100644 --- a/boards/arm/cxd56xx/common/src/Make.defs +++ b/boards/arm/cxd56xx/common/src/Make.defs @@ -88,6 +88,10 @@ ifeq ($(CONFIG_SENSORS_BMI160_SPI),y) CSRCS += cxd56_bmi160_spi.c endif +ifeq ($(CONFIG_SENSORS_BMI270_I2C),y) +CSRCS += cxd56_bmi270_i2c.c +endif + ifeq ($(CONFIG_SENSORS_BMP280),y) CSRCS += cxd56_bmp280_i2c.c endif diff --git a/boards/arm/cxd56xx/common/src/cxd56_bmi270_i2c.c b/boards/arm/cxd56xx/common/src/cxd56_bmi270_i2c.c new file mode 100644 index 0000000000..9ba10d364a --- /dev/null +++ b/boards/arm/cxd56xx/common/src/cxd56_bmi270_i2c.c @@ -0,0 +1,69 @@ +/**************************************************************************** + * boards/arm/cxd56xx/common/src/cxd56_bmi270_i2c.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 <stdio.h> +#include <debug.h> +#include <errno.h> + +#include <nuttx/board.h> +#include <nuttx/sensors/bmi270.h> + +#include "cxd56_i2c.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define BMI270_I2C_ADDRESS (0x69) + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int board_bmi270_initialize(int bus) +{ + int ret; + struct i2c_master_s *i2c; + + sninfo("Initializing BMI270..\n"); + + /* Initialize i2c device */ + + i2c = cxd56_i2cbus_initialize(bus); + if (!i2c) + { + snerr("ERROR: Failed to initialize i2c%d.\n", bus); + return -ENODEV; + } + + ret = bmi270_register("/dev/accel0", i2c, BMI270_I2C_ADDRESS); + if (ret < 0) + { + snerr("Error registering BMI270\n"); + } + + return ret; +} diff --git a/boards/arm/cxd56xx/common/src/cxd56_sensors.c b/boards/arm/cxd56xx/common/src/cxd56_sensors.c index 741d07dc40..407906887a 100644 --- a/boards/arm/cxd56xx/common/src/cxd56_sensors.c +++ b/boards/arm/cxd56xx/common/src/cxd56_sensors.c @@ -53,6 +53,12 @@ # define _BMI160 0 #endif +#if defined(CONFIG_SENSORS_BMI270) || defined(CONFIG_SENSORS_BMI270_SCU) +# define _BMI270 1 +#else +# define _BMI270 0 +#endif + #if defined(CONFIG_SENSORS_KX022) || defined(CONFIG_SENSORS_KX022_SCU) # define _KX022 1 #else @@ -107,7 +113,7 @@ # define _RPR0521RS 0 #endif -#if (_BMI160 + _KX022) > 1 +#if (_BMI160 + _BMI270 + _KX022) > 1 # error "Duplicate accelerometer sensor device." #endif @@ -183,6 +189,13 @@ static struct sensor_device_s sensor_device[] = _SPI_DEVICE_WOPATH(bmi160), # endif #endif +#if defined(CONFIG_SENSORS_BMI270) || defined(CONFIG_SENSORS_BMI270_SCU) +# if defined(CONFIG_SENSORS_BMI270_I2C) || defined(CONFIG_SENSORS_BMI270_SCU_I2C) + _I2C_DEVICE_WOPATH(bmi270), +# else /* CONFIG_SENSORS_BMI270_SPI */ + _SPI_DEVICE_WOPATH(bmi270), +# endif +#endif #if defined(CONFIG_SENSORS_KX022) || defined(CONFIG_SENSORS_KX022_SCU) _I2C_DEVICE(kx022, "/dev/accel"), /* Accel */ #endif diff --git a/boards/arm/cxd56xx/spresense/include/board.h b/boards/arm/cxd56xx/spresense/include/board.h index 64a42cfeb4..76e196faf2 100644 --- a/boards/arm/cxd56xx/spresense/include/board.h +++ b/boards/arm/cxd56xx/spresense/include/board.h @@ -57,6 +57,7 @@ #include "cxd56_bm1383glv.h" #include "cxd56_bm1422gmv.h" #include "cxd56_bmi160.h" +#include "cxd56_bmi270.h" #include "cxd56_bmp280.h" #include "cxd56_emmcdev.h" #include "cxd56_spisd.h" diff --git a/boards/arm/cxd56xx/spresense/include/cxd56_bmi270.h b/boards/arm/cxd56xx/spresense/include/cxd56_bmi270.h new file mode 100644 index 0000000000..4359811f4c --- /dev/null +++ b/boards/arm/cxd56xx/spresense/include/cxd56_bmi270.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * boards/arm/cxd56xx/spresense/include/cxd56_bmi270.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_CXD56XX_SPRESENSE_INCLUDE_CXD56_BMI270_H +#define __BOARDS_ARM_CXD56XX_SPRESENSE_INCLUDE_CXD56_BMI270_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +#ifndef __ASSEMBLY__ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +#undef EXTERN +#if defined(__cplusplus) +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: board_bmi270_initialize + * + * Description: + * Initialize BMI270 i2c driver and register the BMI270 device. + * + ****************************************************************************/ + +int board_bmi270_initialize(int bus); + +#undef EXTERN +#if defined(__cplusplus) +} +#endif + +#endif /* __ASSEMBLY__ */ +#endif /* __BOARDS_ARM_CXD56XX_SPRESENSE_INCLUDE_CXD56_BMI270_H */ diff --git a/drivers/sensors/bmi270.c b/drivers/sensors/bmi270.c index 1b3ba7bbcd..59686150e4 100644 --- a/drivers/sensors/bmi270.c +++ b/drivers/sensors/bmi270.c @@ -1241,7 +1241,7 @@ static int bmi270_init_seq(FAR struct bmi270_dev_s *priv) FAR uint8_t *tmp = NULL; uint8_t regval = 0; - /* Check if initalization already done */ + /* Check if initialization already done */ regval = bmi270_getreg8(priv, BMI270_INTERNAL_STAT); if ((regval & INTSTAT_MSG_MASK) == INTSTAT_MSG_INITOK)
