boards/stm32f7: Add i2c and mpu60x0 support to nucleo-144

boards/arm/stm32f7/nucleo-144/README.txt

@@ -573,6 +573,8 @@ f7xx-evalos:
     - Configures nsh with advanced features such as autocompletion.
     - Configures the on-board LEDs to work with the 'leds' example app.
     - Configures the 'helloxx' example app.
+    - Adds character device for i2c1
+    - Tries to register mpu60x0 IMU to i2c1
 
   NOTES:
 

boards/arm/stm32f7/nucleo-144/configs/f767-evalos/defconfig

@@ -31,6 +31,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_MAX_TASKS=16
 CONFIG_MM_REGIONS=3
+CONFIG_MPU60X0_I2C=y
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_FILEIOSIZE=512
@@ -49,14 +50,18 @@ CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
+CONFIG_SENSORS=y
+CONFIG_SENSORS_MPU60X0=y
 CONFIG_SPI=y
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_START_YEAR=2015
+CONFIG_STM32F7_I2C1=y
 CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_SYSTEM_I2CTOOL=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USART3_SERIAL_CONSOLE=y

boards/arm/stm32f7/nucleo-144/src/stm32_appinitialize.c

@@ -48,7 +48,13 @@
 
 #include "nucleo-144.h"
 #include <nuttx/fs/fs.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/kmalloc.h>
 #include <nuttx/leds/userled.h>
+#include <nuttx/sensors/mpu60x0.h>
+
+#include "stm32_i2c.h"
+
 #ifdef CONFIG_STM32_ROMFS
 #include "stm32_romfs.h"
 #endif
@@ -97,6 +103,13 @@ int stm32f7_can_setup(void);
 int board_app_initialize(uintptr_t arg)
 {
   int ret;
+#ifdef CONFIG_I2C
+  int i2c_bus;
+  FAR struct i2c_master_s *i2c;
+#ifdef CONFIG_MPU60X0_I2C
+  FAR struct mpu_config_s *mpu_config;
+#endif
+#endif
 
 #ifdef CONFIG_FS_PROCFS
   /* Mount the procfs file system */
@@ -220,6 +233,40 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
+#if defined(CONFIG_I2C) && defined(CONFIG_STM32F7_I2C1)
+  i2c_bus = 1;
+  i2c = stm32_i2cbus_initialize(i2c_bus);
+  if (i2c == NULL)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to get I2C%d interface\n", i2c_bus);
+    }
+  else
+    {
+#if defined(CONFIG_SYSTEM_I2CTOOL)
+      ret = i2c_register(i2c, i2c_bus);
+      if (ret < 0)
+        {
+          syslog(LOG_ERR, "ERROR: Failed to register I2C%d driver: %d\n",
+                 i2c_bus, ret);
+        }
+#endif
+
+#ifdef CONFIG_MPU60X0_I2C
+      mpu_config = kmm_zalloc(sizeof(struct mpu_config_s));
+      if (mpu_config == NULL)
+        {
+          syslog(LOG_ERR, "ERROR: Failed to allocate mpu60x0 driver\n");
+        }
+      else
+        {
+          mpu_config->i2c = i2c;
+          mpu_config->addr = 0x68;
+          mpu60x0_register("/dev/imu0", mpu_config);
+        }
+#endif
+    }
+#endif
+
   UNUSED(ret);
   return OK;
 }

drivers/sensors/mpu60x0.c

@@ -693,6 +693,7 @@ static void inline mpu_unlock(FAR struct mpu_dev_s *dev)
 
 static int mpu_reset(FAR struct mpu_dev_s *dev)
 {
+  int ret;
 #ifdef CONFIG_MPU60X0_SPI
   if (dev->config.spi == NULL)
     {
@@ -709,7 +710,12 @@ static int mpu_reset(FAR struct mpu_dev_s *dev)
 
   /* Awaken chip, issue hardware reset */
 
-  __mpu_write_pwr_mgmt_1(dev, PWR_MGMT_1__DEVICE_RESET);
+  ret = __mpu_write_pwr_mgmt_1(dev, PWR_MGMT_1__DEVICE_RESET);
+  if (ret != OK)
+    {
+      snerr("Could not find mpu60x0!\n");
+      return ret;
+    }
 
   /* Wait for reset cycle to finish (note: per the datasheet, we don't need
    * to hold NSS for this)
@@ -994,6 +1000,19 @@ int mpu60x0_register(FAR const char *path, FAR struct mpu_config_s *config)
 
   priv->config = *config;
 
+  /* Reset the chip, to give it an initial configuration. */
+
+  ret = mpu_reset(priv);
+  if (ret < 0)
+    {
+      snerr("ERROR: Failed to configure mpu60x0: %d\n", ret);
+
+      nxmutex_destroy(&priv->lock);
+
+      kmm_free(priv);
+      return ret;
+    }
+
   /* Register the device node. */
 
   ret = register_driver(path, &g_mpu_fops, 0666, priv);
@@ -1007,7 +1026,5 @@ int mpu60x0_register(FAR const char *path, FAR struct mpu_config_s *config)
       return ret;
     }
 
-  /* Reset the chip, to give it an initial configuration. */
-
-  return mpu_reset(priv);
+  return OK;
 }