From 9675e55327b72754df0c04197d232610bc500d06 Mon Sep 17 00:00:00 2001 From: Alin Jerpelea Date: Mon, 4 Nov 2019 07:28:14 -0600 Subject: [PATCH] apps/examples/bmi160: Add bmi160 example app. This app will read the BM160 data and list it on the NSH console. --- examples/bmi160/Kconfig | 29 +++++++++ examples/bmi160/Make.defs | 38 ++++++++++++ examples/bmi160/Makefile | 57 ++++++++++++++++++ examples/bmi160/sixaxis_main.c | 105 +++++++++++++++++++++++++++++++++ 4 files changed, 229 insertions(+) create mode 100644 examples/bmi160/Kconfig create mode 100644 examples/bmi160/Make.defs create mode 100644 examples/bmi160/Makefile create mode 100644 examples/bmi160/sixaxis_main.c diff --git a/examples/bmi160/Kconfig b/examples/bmi160/Kconfig new file mode 100644 index 000000000..019ca08f7 --- /dev/null +++ b/examples/bmi160/Kconfig @@ -0,0 +1,29 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +config EXAMPLES_SIXAXIS + bool "BMI160 sensor example" + default n + ---help--- + Enable the 6 axis sensor example + +if EXAMPLES_SIXAXIS + +config EXAMPLES_SIXAXIS_PROGNAME + string "Program name" + default "sixaxis" + ---help--- + This is the name of the program that will be use when the NSH ELF + program is installed. + +config EXAMPLES_SIXAXIS_PRIORITY + int "sixaxis task priority" + default 100 + +config EXAMPLES_SIXAXIS_STACKSIZE + int "sixaxis stack size" + default 2048 + +endif diff --git a/examples/bmi160/Make.defs b/examples/bmi160/Make.defs new file mode 100644 index 000000000..87edf627e --- /dev/null +++ b/examples/bmi160/Make.defs @@ -0,0 +1,38 @@ +############################################################################ +# sixaxis/Make.defs +# +# Copyright 2018 Sony Semiconductor Solutions Corporation +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name of Sony Semiconductor Solutions Corporation nor +# the names of its contributors may be used to endorse or promote +# products derived from this software without specific prior written +# permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +ifeq ($(CONFIG_EXAMPLES_SIXAXIS),y) +CONFIGURED_APPS += examples/bmi160 +endif diff --git a/examples/bmi160/Makefile b/examples/bmi160/Makefile new file mode 100644 index 000000000..367bfc7d3 --- /dev/null +++ b/examples/bmi160/Makefile @@ -0,0 +1,57 @@ +############################################################################ +# examples/bmi160/Makefile +# +# Copyright 2018 Sony Semiconductor Solutions Corporation +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name of Sony Semiconductor Solutions Corporation nor +# the names of its contributors may be used to endorse or promote +# products derived from this software without specific prior written +# permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +-include $(TOPDIR)/Make.defs +-include $(SDKDIR)/Make.defs + +# sixaxis built-in application info + +CONFIG_EXAMPLES_SIXAXIS_PRIORITY ?= SCHED_PRIORITY_DEFAULT +CONFIG_EXAMPLES_SIXAXIS_STACKSIZE ?= 2048 + +APPNAME = bmi160 +PRIORITY = $(CONFIG_EXAMPLES_SIXAXIS_PRIORITY) +STACKSIZE = $(CONFIG_EXAMPLES_SIXAXIS_STACKSIZE) + +# sixaxis Example + +ASRCS = +CSRCS = +MAINSRC = sixaxis_main.c + +CONFIG_EXAMPLES_SIXAXIS_PROGNAME ?= sixaxis$(EXEEXT) +PROGNAME = $(CONFIG_EXAMPLES_SIXAXIS_PROGNAME) + +include $(APPDIR)/Application.mk diff --git a/examples/bmi160/sixaxis_main.c b/examples/bmi160/sixaxis_main.c new file mode 100644 index 000000000..66a2ab794 --- /dev/null +++ b/examples/bmi160/sixaxis_main.c @@ -0,0 +1,105 @@ +/**************************************************************************** + * examples/bmi160/sixaxis_main.c + * + * Copyright 2018 Sony Semiconductor Solutions Corporation + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name of Sony Semiconductor Solutions Corporation nor + * the names of its contributors may be used to endorse or promote + * products derived from this software without specific prior written + * permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include + +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define ACC_DEVPATH "/dev/accel0" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * sixaxis_main + ****************************************************************************/ + +#ifdef CONFIG_BUILD_KERNEL +int main(int argc, FAR char *argv[]) +#else +int sixaxis_main(int argc, char *argv[]) +#endif +{ + int fd; + struct accel_gyro_st_s data; + uint32_t prev; + + fd = open(ACC_DEVPATH, O_RDONLY); + if (fd < 0) + { + printf("Device %s open failure. %d\n", ACC_DEVPATH, fd); + return -1; + } + + prev = 0; + for (; ; ) + { + int ret; + + ret = read(fd, &data, sizeof(struct accel_gyro_st_s)); + if (ret != sizeof(struct accel_gyro_st_s)) + { + fprintf(stderr, "Read failed.\n"); + break; + } + + /* If sensing time has been changed, show 6 axis data. */ + + if (prev != data.sensor_time) + { + printf("[%d] %d, %d, %d / %d, %d, %d\n", + data.sensor_time, + data.gyro.x, data.gyro.y, data.gyro.z, + data.accel.x, data.accel.y, data.accel.z); + fflush(stdout); + prev = data.sensor_time; + } + } + + close(fd); + + return 0; +}