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drivers/sensors: add BMI270 IMU support

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raiden00pl 2023-05-31 21:09:10 +02:00 committed by David Sidrane
parent 0ed9842180
commit e1ffacfc33
5 changed files with 1621 additions and 0 deletions
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29
drivers/sensors/Kconfig
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@ -182,6 +182,35 @@ config BMI160_I2C_ADDR_69
endchoice
endif
config SENSORS_BMI270
bool "Bosch BMI270 Inertial Measurement Sensor support"
default n
---help---
Enable driver support for the Bosch BMI270 Inertial
Measurement sensor
if SENSORS_BMI270
choice
prompt "BMI270 Interface"
default SENSORS_BMI270_SPI
config SENSORS_BMI270_I2C
bool "BMI270 I2C Interface"
select I2C
---help---
Enables support for the I2C interface
config SENSORS_BMI270_SPI
bool "BMI270 SPI Interface"
select SPI
---help---
Enables support for the SPI interface
endchoice
endif
config SENSORS_BMP180
bool "Bosch BMP180 Barometer Sensor support"
default n

4
drivers/sensors/Make.defs
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@ -132,6 +132,10 @@ ifeq ($(CONFIG_SENSORS_BMI160),y)
CSRCS += bmi160.c
endif
ifeq ($(CONFIG_SENSORS_BMI270),y)
CSRCS += bmi270.c
endif
ifeq ($(CONFIG_SENSORS_BMP180),y)
CSRCS += bmp180.c
endif

1483
drivers/sensors/bmi270.c Normal file
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File diff suppressed because it is too large Load Diff

103
include/nuttx/sensors/bmi270.h Normal file
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@ -0,0 +1,103 @@
/****************************************************************************
* include/nuttx/sensors/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 __INCLUDE_NUTTX_SENSORS_BMI270_H
#define __INCLUDE_NUTTX_SENSORS_BMI270_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/compiler.h>
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* struct 6-axis data
****************************************************************************/
struct accel_t
{
int16_t x;
int16_t y;
int16_t z;
};
struct gyro_t
{
int16_t x;
int16_t y;
int16_t z;
};
struct accel_gyro_st_s
{
struct gyro_t gyro;
struct accel_t accel;
uint32_t sensor_time;
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: bmi270_register
*
* Description:
* Register the BMI270 character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/accel0"
* dev - An instance of the SPI or I2C interface to use to communicate
* with BMI270
* addr - (I2C only) I2C address
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
#ifdef CONFIG_SENSORS_BMI270_I2C
struct i2c_master_s;
int bmi270_register(FAR const char *devpath, FAR struct i2c_master_s *dev,
uint8_t addr);
#else /* CONFIG_BMI270_SPI */
struct spi_dev_s;
int bmi270_register(FAR const char *devpath, FAR struct spi_dev_s *dev);
#endif
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __INCLUDE_NUTTX_SENSORS_BMI270_H */

2
include/nuttx/spi/spi.h
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@ -475,6 +475,7 @@
#define SPIDEV_LPWAN(n) SPIDEV_ID(SPIDEVTYPE_LPWAN, (n))
#define SPIDEV_ADC(n) SPIDEV_ID(SPIDEVTYPE_ADC, (n))
#define SPIDEV_MOTOR(n) SPIDEV_ID(SPIDEVTYPE_MOTOR, (n))
#define SPIDEV_IMU(n) SPIDEV_ID(SPIDEVTYPE_IMU, (n))
#define SPIDEV_USER(n) SPIDEV_ID(SPIDEVTYPE_USER, (n))
/****************************************************************************
@ -515,6 +516,7 @@ enum spi_devtype_e
SPIDEVTYPE_LPWAN, /* Select SPI LPWAN controller over SPI */
SPIDEVTYPE_ADC, /* Select SPI ADC device */
SPIDEVTYPE_MOTOR, /* Select SPI motor device */
SPIDEVTYPE_IMU, /* Select SPI IMU device */
SPIDEVTYPE_USER /* Board-specific values start here
* This must always be the last definition. */
};