Added support in Nucleo-L476RG board for MPU9250 sensor.
This commit is contained in:
Ivan Palijan
Xiang Xiao
parent
63294c5da2
commit
fcbae598e4
@ -89,6 +89,10 @@ ifeq ($(CONFIG_SENSORS_BMP280),y)
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CSRCS += stm32_bmp280.c
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endif
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ifeq ($(CONFIG_SENSORS_MPU9250),y)
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CSRCS += stm32_mpu9250.c
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endif
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ifeq ($(CONFIG_PWM),y)
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CSRCS += stm32_pwm.c
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endif
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@ -52,7 +52,11 @@
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#include "stm32l4_i2c.h"
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#ifdef CONFIG_SENSORS_BMP280
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# include "stm32_bmp280.h"
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#include "stm32_bmp280.h"
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#endif
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#ifdef CONFIG_SENSORS_MPU9250
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#include "stm32_mpu9250.h"
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#endif
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/****************************************************************************
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@ -437,7 +441,6 @@ int board_app_initialize(uintptr_t arg)
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/* Try to register BMP280 device in I2C1 */
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ret = board_bmp280_initialize(0, 1);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize BMP280 driver: %d\n", ret);
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@ -448,6 +451,20 @@ int board_app_initialize(uintptr_t arg)
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}
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#endif
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#ifdef CONFIG_SENSORS_MPU9250
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/* Try to register MPU9250 device in I2C1 */
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ret = board_mpu9250_initialize(0, 1);
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if (ret < 0)
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{
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syslog(LOG_ERR, "Failed to initialize MPU9250 driver: %d\n", ret);
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}
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else
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{
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syslog(LOG_INFO, "Initialized MPU9250 driver: %d\n", ret);
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}
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#endif
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return ret;
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}
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117
boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.c
Normal file
117
boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.c
Normal file
@ -0,0 +1,117 @@
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/****************************************************************************
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* boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <debug.h>
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#include <nuttx/arch.h>
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#include <nuttx/sensors/mpu9250.h>
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#include <nuttx/i2c/i2c_master.h>
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#include "stm32l4.h"
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#include "stm32l4_i2c.h"
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#include "stm32_mpu9250.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_mpu9250_initialize
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*
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* Description:
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* Initialize and register
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* MPU9250 (Gyro + Accelerometer + Compass) Sensor driver.
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*
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* Input Parameters:
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* devno - The device number, used to build the device path as
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* /dev/uorb/sensor_accelx
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* /dev/uorb/sensor_gyrox
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* /dev/uorb/sensor_magx
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*
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* busno - The I2C bus number
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int board_mpu9250_initialize(int devno, int busno)
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{
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struct i2c_master_s *i2c;
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int ret;
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sninfo("Initializing MPU9250!\n");
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/* Initialize MPU9250 */
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i2c = stm32l4_i2cbus_initialize(busno);
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if (i2c)
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{
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/* Then try to register the IMU sensor in I2Cx */
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struct mpu9250_config_s mpuc;
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memset(&mpuc, 0, sizeof(mpuc));
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mpuc.i2c = i2c;
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mpuc.addr = 0x68;
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ret = mpu9250_register(devno, &mpuc);
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if (ret < 0)
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{
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snerr("ERROR: Error registering MPU9250 in I2C%d\n", busno);
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}
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}
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else
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{
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ret = -ENODEV;
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}
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return ret;
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}
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89
boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.h
Normal file
89
boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.h
Normal file
@ -0,0 +1,89 @@
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/****************************************************************************
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* boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __BOARDS_ARM_STM32L4_NUCLEO_L476RG_INCLUDE_NUCLEO_L476RG_MPU9250_H
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#define __BOARDS_ARM_STM32L4_NUCLEO_L476RG_INCLUDE_NUCLEO_L476RG_MPU9250_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Type Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* Inline Functions
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: board_mpu9250_initialize
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*
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* Description:
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* Initialize and register
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* MPU9250 (Gyro + Accelerometer + Compass) Sensor driver.
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*
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* Input Parameters:
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* devno - The device number, used to build the device path as
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* /dev/uorb/sensor_accelx
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* /dev/uorb/sensor_gyrox
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* /dev/uorb/sensor_magx
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*
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* busno - The I2C bus number
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*
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* Returned Value:
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* Zero (OK) on success; a negated errno value on failure.
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*
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****************************************************************************/
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int board_mpu9250_initialize(int devno, int busno);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __BOARDS_ARM_STM32L4_NUCLEO_L476RG_INCLUDE_NUCLEO_L476RG_MPU9250_H */
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