100 lines
3.0 KiB
C
100 lines
3.0 KiB
C
/****************************************************************************
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* boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.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/kmalloc.h>
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#include <nuttx/sensors/mpu60x0.h>
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#include <nuttx/i2c/i2c_master.h>
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#include "esp32c3_i2c.h"
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#include "esp32c3_board_mpu60x0_i2c.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_mpu60x0_initialize
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*
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* Description:
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* Initialize and register the MPU60x0 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 /dev/imuN
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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_mpu60x0_initialize(int devno, int busno)
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{
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struct i2c_master_s *i2c;
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char devpath[10];
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struct mpu_config_s *mpu_config;
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int ret;
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sninfo("Initializing MPU60X0!\n");
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/* Initialize MPU60X0 */
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i2c = esp32c3_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 I2C<busno> */
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mpu_config = kmm_zalloc(sizeof(struct mpu_config_s));
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if (mpu_config == NULL)
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{
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snerr("ERROR: Failed to allocate mpu60x0 driver\n");
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ret = -ENODEV;
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}
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else
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{
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mpu_config->i2c = i2c;
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mpu_config->addr = 0x68;
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snprintf(devpath, sizeof(devpath), "/dev/imu%d", devno);
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ret = mpu60x0_register(devpath, mpu_config);
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if (ret < 0)
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{
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snerr("ERROR: Error registering MPU60X0 in I2C%d\n", busno);
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}
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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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