Add LSM9DS1 accelerometer, gyroscope and magnetometer

drivers/sensors/Kconfig

@@ -24,6 +24,13 @@ config LIS331DL
 	select I2C
 	select I2C_TRANSFER
 
+config SN_LSM9DS1
+	bool "STMicro LSM9DS1 support"
+	default n
+	depends on I2C
+	---help---
+		Enable driver support for the STMicro LSM9DS1.
+
 config MB7040
 	bool "MaxBotix MB7040 Sonar support"
 	default n

drivers/sensors/Make.defs

@@ -53,6 +53,10 @@ ifeq ($(CONFIG_LIS331DL),y)
   CSRCS += lis331dl.c
 endif
 
+ifeq ($(CONFIG_SN_LSM9DS1),y)
+  CSRCS += lsm9ds1.c
+endif
+
 ifeq ($(CONFIG_ADXL345_I2C),y)
   CSRCS += adxl345_i2c.c
 endif

include/nuttx/sensors/lsm9ds1.h

@@ -0,0 +1,151 @@
+/****************************************************************************
+ * include/nuttx/sensors/lsm9ds1.h
+ *
+ *   Copyright (C) 2016 Omni Hoverboards Inc. All rights reserved.
+ *   Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
+ *
+ * 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 NuttX 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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_LSM9DS1
+#define __INCLUDE_NUTTX_SENSORS_LSM9DS1
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+
+#if defined(CONFIG_I2C) && defined(CONFIG_SN_LSM9DS1)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+/* IOCTL Commands ***********************************************************/
+
+#define SNIOC_START         _SNIOC(0x0001) /* Arg: None */
+#define SNIOC_STOP          _SNIOC(0x0002) /* Arg: None */
+#define SNIOC_SETSAMPLERATE _SNIOC(0x0003) /* Arg: uint32_t value */
+#define SNIOC_SETFULLSCALE  _SNIOC(0x0004) /* Arg: uint32_t value */
+
+/* I2C Addresses ************************************************************/
+/* Accelerometer addresses */
+
+#define LSM9DS1ACCEL_ADDR0  0x6a
+#define LSM9DS1ACCEL_ADDR1  0x6b
+
+/* Gyroscope addresses */
+
+#define LSM9DS1GYRO_ADDR0   LSM9DS1ACCEL_ADDR0
+#define LSM9DS1GYRO_ADDR1   LSM9DS1ACCEL_ADDR1
+
+/* Magnetometer addresses */
+
+#define LSM9DS1MAG_ADDR0    0x1c
+#define LSM9DS1MAG_ADDR1    0x1e
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+struct i2c_dev_s;
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/****************************************************************************
+ * Name: lsm9ds1accel_register
+ *
+ * Description:
+ *   Register the LSM9DS1 accelerometer character device as 'devpath'.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register, e.g., "/dev/accel0".
+ *   i2c     - An I2C driver instance.
+ *   addr    - The I2C address of the LSM9DS1 accelerometer.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int lsm9ds1accel_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
+                          uint8_t addr);
+
+/****************************************************************************
+ * Name: lsm9ds1gyro_register
+ *
+ * Description:
+ *   Register the LSM9DS1 gyroscope character device as 'devpath'.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register, e.g., "/dev/gyro0".
+ *   i2c     - An I2C driver instance.
+ *   addr    - The I2C address of the LSM9DS1 gyroscope.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int lsm9ds1gyro_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
+                         uint8_t addr);
+
+/****************************************************************************
+ * Name: lsm9ds1mag_register
+ *
+ * Description:
+ *   Register the LSM9DS1 magnetometer character device as 'devpath'.
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register, e.g., "/dev/mag0".
+ *   i2c     - An I2C driver instance.
+ *   addr    - The I2C address of the LSM9DS1 magnetometer.
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int lsm9ds1mag_register(FAR const char *devpath, FAR struct i2c_dev_s *i2c,
+                        uint8_t addr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_I2C && CONFIG_SN_LSM9DS1 */
+#endif /* __INCLUDE_NUTTX_SENSORS_LSM9DS1 */