/**************************************************************************** * boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.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 #include #include #include #include #include #include #include "esp32c3_i2c.h" #include "esp32c3_board_mpu60x0_i2c.h" /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: board_mpu60x0_initialize * * Description: * Initialize and register the MPU60x0 Sensor driver. * * Input Parameters: * devno - The device number, used to build the device path as /dev/imuN * busno - The I2C bus number * * Returned Value: * Zero (OK) on success; a negated errno value on failure. * ****************************************************************************/ int board_mpu60x0_initialize(int devno, int busno) { struct i2c_master_s *i2c; char devpath[10]; struct mpu_config_s *mpu_config; int ret; sninfo("Initializing MPU60X0!\n"); /* Initialize MPU60X0 */ i2c = esp32c3_i2cbus_initialize(busno); if (i2c) { /* Then try to register the IMU sensor in I2C */ mpu_config = kmm_zalloc(sizeof(struct mpu_config_s)); if (mpu_config == NULL) { snerr("ERROR: Failed to allocate mpu60x0 driver\n"); ret = -ENODEV; } else { mpu_config->i2c = i2c; mpu_config->addr = 0x68; snprintf(devpath, sizeof(devpath), "/dev/imu%d", devno); ret = mpu60x0_register(devpath, mpu_config); if (ret < 0) { snerr("ERROR: Error registering MPU60X0 in I2C%d\n", busno); } } } else { ret = -ENODEV; } return ret; }