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Added support in Nucleo-L476RG board for MPU9250 sensor.

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This commit is contained in:
Ivan Palijan 2024-05-15 01:43:31 +02:00 committed by Xiang Xiao
parent 63294c5da2
commit fcbae598e4
4 changed files with 229 additions and 2 deletions
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4
boards/arm/stm32l4/nucleo-l476rg/src/Makefile
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@ -89,6 +89,10 @@ ifeq ($(CONFIG_SENSORS_BMP280),y)
CSRCS += stm32_bmp280.c
endif
ifeq ($(CONFIG_SENSORS_MPU9250),y)
CSRCS += stm32_mpu9250.c
endif
ifeq ($(CONFIG_PWM),y)
CSRCS += stm32_pwm.c
endif

19
boards/arm/stm32l4/nucleo-l476rg/src/stm32_appinit.c
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@ -55,6 +55,10 @@
#include "stm32_bmp280.h"
#endif
#ifdef CONFIG_SENSORS_MPU9250
#include "stm32_mpu9250.h"
#endif
/****************************************************************************
* Private Data
****************************************************************************/
@ -437,7 +441,6 @@ int board_app_initialize(uintptr_t arg)
/* Try to register BMP280 device in I2C1 */
ret = board_bmp280_initialize(0, 1);
if (ret < 0)
{
syslog(LOG_ERR, "Failed to initialize BMP280 driver: %d\n", ret);
@ -448,6 +451,20 @@ int board_app_initialize(uintptr_t arg)
}
#endif
#ifdef CONFIG_SENSORS_MPU9250
/* Try to register MPU9250 device in I2C1 */
ret = board_mpu9250_initialize(0, 1);
if (ret < 0)
{
syslog(LOG_ERR, "Failed to initialize MPU9250 driver: %d\n", ret);
}
else
{
syslog(LOG_INFO, "Initialized MPU9250 driver: %d\n", ret);
}
#endif
return ret;
}

117
boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.c Normal file
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@ -0,0 +1,117 @@
/****************************************************************************
* boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.c
*
* 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdio.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/sensors/mpu9250.h>
#include <nuttx/i2c/i2c_master.h>
#include "stm32l4.h"
#include "stm32l4_i2c.h"
#include "stm32_mpu9250.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_mpu9250_initialize
*
* Description:
* Initialize and register
* MPU9250 (Gyro + Accelerometer + Compass) Sensor driver.
*
* Input Parameters:
* devno - The device number, used to build the device path as
* /dev/uorb/sensor_accelx
* /dev/uorb/sensor_gyrox
* /dev/uorb/sensor_magx
*
* busno - The I2C bus number
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int board_mpu9250_initialize(int devno, int busno)
{
struct i2c_master_s *i2c;
int ret;
sninfo("Initializing MPU9250!\n");
/* Initialize MPU9250 */
i2c = stm32l4_i2cbus_initialize(busno);
if (i2c)
{
/* Then try to register the IMU sensor in I2Cx */
struct mpu9250_config_s mpuc;
memset(&mpuc, 0, sizeof(mpuc));
mpuc.i2c = i2c;
mpuc.addr = 0x68;
ret = mpu9250_register(devno, &mpuc);
if (ret < 0)
{
snerr("ERROR: Error registering MPU9250 in I2C%d\n", busno);
}
}
else
{
ret = -ENODEV;
}
return ret;
}

89
boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.h Normal file
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@ -0,0 +1,89 @@
/****************************************************************************
* boards/arm/stm32l4/nucleo-l476rg/src/stm32_mpu9250.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 __BOARDS_ARM_STM32L4_NUCLEO_L476RG_INCLUDE_NUCLEO_L476RG_MPU9250_H
#define __BOARDS_ARM_STM32L4_NUCLEO_L476RG_INCLUDE_NUCLEO_L476RG_MPU9250_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Type Definitions
****************************************************************************/
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Inline Functions
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: board_mpu9250_initialize
*
* Description:
* Initialize and register
* MPU9250 (Gyro + Accelerometer + Compass) Sensor driver.
*
* Input Parameters:
* devno - The device number, used to build the device path as
* /dev/uorb/sensor_accelx
* /dev/uorb/sensor_gyrox
* /dev/uorb/sensor_magx
*
* busno - The I2C bus number
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int board_mpu9250_initialize(int devno, int busno);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* __BOARDS_ARM_STM32L4_NUCLEO_L476RG_INCLUDE_NUCLEO_L476RG_MPU9250_H */