From 4ff4562401401a3a86c74cb2bda9a1a2b8d94e6d Mon Sep 17 00:00:00 2001
From: Lwazi Dube <lwazeh@gmail.com>
Date: Thu, 30 Mar 2023 10:38:59 -0400
Subject: [PATCH] tm4c1294-launchpad: Use bmi160 driver for boostxl-sensors.

Use the preexisting bmi160 driver for the boostxl-sensors
boosterpack. Add macros to allow the bluetooth module to be
used with UART6.
---
 boards/arm/tiva/tm4c1294-launchpad/Kconfig    | 16 +++++
 .../tiva/tm4c1294-launchpad/include/board.h   | 37 +++++++++---
 .../tm4c1294-launchpad/src/tm4c_bringup.c     | 60 +++++++++++++++++++
 3 files changed, 105 insertions(+), 8 deletions(-)

diff --git a/boards/arm/tiva/tm4c1294-launchpad/Kconfig b/boards/arm/tiva/tm4c1294-launchpad/Kconfig
index 27d881752a..942d50abe1 100644
--- a/boards/arm/tiva/tm4c1294-launchpad/Kconfig
+++ b/boards/arm/tiva/tm4c1294-launchpad/Kconfig
@@ -110,4 +110,20 @@ config TM4C1294_LAUNCHPAD_UART2_TX_D5
 
 endchoice # UART2 Tx pin selection
 
+choice
+	prompt "Sensors selection"
+	depends on TIVA_I2C
+	default BOOSTXL_SENSORS_NONE
+
+config BOOSTXL_SENSORS_NONE
+	bool "None"
+
+config BOOSTXL_SENSORS_1
+	bool "BOOSTXL-SENSORS on BOOSTERPACK1"
+	depends on TIVA_I2C0
+
+config BOOSTXL_SENSORS_2
+	bool "BOOSTXL-SENSORS on BOOSTERPACK2"
+	depends on TIVA_I2C2
+endchoice
 endif # ARCH_BOARD_TM4C1294_LAUNCHPAD
diff --git a/boards/arm/tiva/tm4c1294-launchpad/include/board.h b/boards/arm/tiva/tm4c1294-launchpad/include/board.h
index a7b57c1907..fdff84956e 100644
--- a/boards/arm/tiva/tm4c1294-launchpad/include/board.h
+++ b/boards/arm/tiva/tm4c1294-launchpad/include/board.h
@@ -202,19 +202,40 @@
 #define GPIO_UART2_TX     GPIO_UART2_TX_1
 #endif
 
-/* Control pins for BOOST-CC2564MODA plugged into BoosterPack1
+/* Control pins for BOOST-CC2564MODA plugged into BoosterPack 1 or 2.
  *
- *   --- ------------
- *   Pin Pin Function
- *   --- ------------
- *   PM3 NSHUTD
- *   PG0 RTS
- *   PL4 CTS
- *   --- ------------
+ *   BoosterPack1            BoosterPack2
+ *
+ *   --- ------------        --- ------------
+ *   Pin Pin Function        Pin Pin Function
+ *   --- ------------        --- ------------
+ *   PM3 NSHUTD              PM7 NSHUTD
+ *   PG0 RTS                 PM0 RTS
+ *   PL4 CTS                 PM1 CTS
+ *   --- ------------        --- ------------
  */
 
 #define UART7_GPIO_NSHUTD (GPIO_FUNC_OUTPUT | GPIO_PORTM | GPIO_PIN_3)
 #define UART7_GPIO_RTS    (GPIO_FUNC_OUTPUT | GPIO_PORTG | GPIO_PIN_0)
 #define UART7_GPIO_CTS    (GPIO_FUNC_INPUT | GPIO_PORTL | GPIO_PIN_4)
 
+#define UART6_GPIO_NSHUTD (GPIO_FUNC_OUTPUT | GPIO_PORTM | GPIO_PIN_7)
+#define UART6_GPIO_RTS    (GPIO_FUNC_OUTPUT | GPIO_PORTM | GPIO_PIN_0)
+#define UART6_GPIO_CTS    (GPIO_FUNC_INPUT | GPIO_PORTM | GPIO_PIN_1)
+
+/* Pins for I2C.
+ *
+ *   BoosterPack1 I2C0       BoosterPack2 I2C2
+ *
+ *   --- ------------        --- ------------
+ *   Pin Pin Function        Pin Pin Function
+ *   --- ------------        --- ------------
+ *   PB2 SCL                 PN5 SCL
+ *   PB3 SDA                 PN4 SDA
+ *   --- ------------        --- ------------
+ */
+
+#define GPIO_I2C2_SCL  GPIO_I2C2_SCL_3
+#define GPIO_I2C2_SDA  GPIO_I2C2_SDA_2
+
 #endif /* __BOARDS_ARM_TIVA_TM4C1294_LAUNCHPAD_INCLUDE_BOARD_H */
diff --git a/boards/arm/tiva/tm4c1294-launchpad/src/tm4c_bringup.c b/boards/arm/tiva/tm4c1294-launchpad/src/tm4c_bringup.c
index 5d73175e37..57e2644475 100644
--- a/boards/arm/tiva/tm4c1294-launchpad/src/tm4c_bringup.c
+++ b/boards/arm/tiva/tm4c1294-launchpad/src/tm4c_bringup.c
@@ -29,6 +29,7 @@
 #include <debug.h>
 
 #include <nuttx/i2c/i2c_master.h>
+#include <nuttx/sensors/bmi160.h>
 #include <nuttx/sensors/qencoder.h>
 #include <arch/board/board.h>
 #include <nuttx/fs/fs.h>
@@ -151,6 +152,46 @@ static void tm4c_i2ctool(void)
 #  define tm4c_i2ctool()
 #endif
 
+/****************************************************************************
+ * Name: tm4c_bmi160_setup
+ *
+ * Description:
+ *   Initialize and register the bmi160 sensor.
+ *
+ * Input Parameters:
+ *   bus - A number identifying the I2C bus.
+ *
+ * Returned Value:
+ *   On success, zero (OK) is returned.  On failure, a negated errno value
+ *   is returned to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SENSORS_BMI160
+static int tm4c_bmi160_setup(int bus)
+{
+  int ret;
+  struct i2c_master_s *i2c;
+
+  /* Initialize i2c device */
+
+  i2c = tiva_i2cbus_initialize(bus);
+  if (!i2c)
+    {
+      syslog(LOG_ERR, "ERROR: Failed to initialize i2c%d.\n", bus);
+      return -ENODEV;
+    }
+
+  ret = bmi160_register("/dev/accel0", i2c);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "Error registering BMI160\n");
+    }
+
+  return ret;
+}
+#endif
+
 /****************************************************************************
  * Name: tm4c_pwm_register
  *
@@ -306,6 +347,25 @@ int tm4c_bringup(void)
 
   tm4c_i2ctool();
 
+#ifdef CONFIG_SENSORS_BMI160
+#if defined(CONFIG_BOOSTXL_SENSORS_1)
+
+  ret = tm4c_bmi160_setup(0);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: BMI160 on 1 failed %d\n", ret);
+    }
+#endif
+#if defined(CONFIG_BOOSTXL_SENSORS_2)
+
+  ret = tm4c_bmi160_setup(2);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: BMI160 on 2 failed %d\n", ret);
+    }
+#endif
+#endif
+
 #ifdef CONFIG_FS_PROCFS
   /* Mount the procfs file system */