From 5cf8c0bb40c8ac2a3781fb10897194fe6caf2afa Mon Sep 17 00:00:00 2001 From: shino Date: Mon, 26 Sep 2022 16:11:19 +0900 Subject: [PATCH] examples: Add i2c_direct sample application --- examples/i2c_direct/Kconfig | 68 ++ examples/i2c_direct/Make.defs | 6 + examples/i2c_direct/Makefile | 21 + examples/i2c_direct/README.txt | 46 + examples/i2c_direct/bmi270.c | 949 +++++++++++++++++++++ examples/i2c_direct/i2c_bmi270.c | 521 +++++++++++ examples/i2c_direct/i2c_common.c | 172 ++++ examples/i2c_direct/i2c_direct_main.c | 292 +++++++ examples/i2c_direct/include/debug_printf.h | 133 +++ examples/i2c_direct/include/i2c_bmi270.h | 101 +++ examples/i2c_direct/include/i2c_common.h | 68 ++ sdk/configs/examples/i2c_direct/README.txt | 4 + sdk/configs/examples/i2c_direct/defconfig | 2 + 13 files changed, 2383 insertions(+) create mode 100644 examples/i2c_direct/Kconfig create mode 100644 examples/i2c_direct/Make.defs create mode 100644 examples/i2c_direct/Makefile create mode 100644 examples/i2c_direct/README.txt create mode 100644 examples/i2c_direct/bmi270.c create mode 100644 examples/i2c_direct/i2c_bmi270.c create mode 100644 examples/i2c_direct/i2c_common.c create mode 100644 examples/i2c_direct/i2c_direct_main.c create mode 100644 examples/i2c_direct/include/debug_printf.h create mode 100644 examples/i2c_direct/include/i2c_bmi270.h create mode 100644 examples/i2c_direct/include/i2c_common.h create mode 100644 sdk/configs/examples/i2c_direct/README.txt create mode 100644 sdk/configs/examples/i2c_direct/defconfig diff --git a/examples/i2c_direct/Kconfig b/examples/i2c_direct/Kconfig new file mode 100644 index 000000000..08b540d19 --- /dev/null +++ b/examples/i2c_direct/Kconfig @@ -0,0 +1,68 @@ +# +# For a description of the syntax of this configuration file, +# see the file kconfig-language.txt in the NuttX tools repository. +# + +config EXAMPLES_I2C_DIRECT + tristate "I2C direct to control sensor (like BMI270 6axis-IMU)" + default n + ---help--- + Enable the i2c_direct without SCU function + +if EXAMPLES_I2C_DIRECT + +config EXAMPLES_I2C_DIRECT_PROGNAME + string "Program name" + default "i2c_direct" + ---help--- + This is the name of the program that will be use when the NSH ELF + program is installed. + +config EXAMPLES_I2C_DIRECT_PRIORITY + int "i2c_direct task priority" + default 100 + +config EXAMPLES_I2C_DIRECT_STACKSIZE + int "i2c_direct stack size" + default 2048 + +config EXAMPLES_I2C_DIRECT_DEBUG_ON + bool "Enable Debug Print" + default n + ---help--- + Enable the Debug print in i2c_direct + +if EXAMPLES_I2C_DIRECT_DEBUG_ON + +config EXAMPLES_I2C_DIRECT_DPRINT_DEBUG + bool "Enable Debug Print (DEBUG) in i2c_direct" + default n + ---help--- + Enable the DEBUG Debug print in i2c_direct + +config EXAMPLES_I2C_DIRECT_DPRINT_TRACE + bool "Enable Debug Print (TRACE) in i2c_direct" + default n + ---help--- + Enable the TRACE Debug print in i2c_direct + +config EXAMPLES_I2C_DIRECT_DPRINT_INFO + bool "Enable Debug Print (INFO) in i2c_direct" + default n + ---help--- + Enable the INFO Debug print in i2c_direct + +config EXAMPLES_I2C_DIRECT_DPRINT_WARN + bool "Enable Debug Print (WARN) in i2c_direct" + default n + ---help--- + Enable the WARN Debug print in i2c_direct + +config EXAMPLES_I2C_DIRECT_DPRINT_ERROR + bool "Enable Debug Print (ERROR) in i2c_direct" + default n + ---help--- + Enable the ERROR Debug print in i2c_direct +endif + +endif diff --git a/examples/i2c_direct/Make.defs b/examples/i2c_direct/Make.defs new file mode 100644 index 000000000..5b5ee606a --- /dev/null +++ b/examples/i2c_direct/Make.defs @@ -0,0 +1,6 @@ +############################################################################ +# i2c_direct/Make.defs +############################################################################ +ifneq ($(CONFIG_EXAMPLES_I2C_DIRECT),) +CONFIGURED_APPS += i2c_direct +endif diff --git a/examples/i2c_direct/Makefile b/examples/i2c_direct/Makefile new file mode 100644 index 000000000..0f1b9d4cd --- /dev/null +++ b/examples/i2c_direct/Makefile @@ -0,0 +1,21 @@ +############################################################################ +# i2c_direct/Makefile +############################################################################ + +include $(APPDIR)/Make.defs + +# i2c_direct built-in application info +PROGNAME = $(CONFIG_EXAMPLES_I2C_DIRECT_PROGNAME) +PRIORITY = $(CONFIG_EXAMPLES_I2C_DIRECT_PRIORITY) +STACKSIZE = $(CONFIG_EXAMPLES_I2C_DIRECT_STACKSIZE) +MODULE = $(CONFIG_EXAMPLES_I2C_DIRECT) + +# I2C direct Example +ASRCS = +CSRCS = i2c_common.c i2c_bmi270.c bmi270.c +MAINSRC = i2c_direct_main.c + +CFLAGS += -I ./include +CXXFLAGS += -I ./include + +include $(APPDIR)/Application.mk diff --git a/examples/i2c_direct/README.txt b/examples/i2c_direct/README.txt new file mode 100644 index 000000000..fb4ef0184 --- /dev/null +++ b/examples/i2c_direct/README.txt @@ -0,0 +1,46 @@ +examplex/i2c_direct +^^^^^^^^^^^^^^^^^^^ + + Example for using i2c_direct with BMI270 + + Sample application to control I2C-connected sensors + by directly manipulating /dev/i2cx. + This sample controls a BMI270 Bosch 6-axis IMU, taking + 512 measurements and displaying acceleration and angular + rate of rotation. It also displays the tilt using LEDs + on the SPRESENSE Main Board. + + The following configuration options can be selected: + + CONFIG_EXAMPLES_I2C_DIRECT -- i2c_direct example. + Default: n + CONFIG_EXAMPLES_I2C_DIRECT_PROGNAME -- You can choice other name for + this program if change this field. Default: "i2c_direct" + CONFIG_EXAMPLES_I2C_DIRECT_PRIORITY -- Specified this example's task priority. + Default: 100 + CONFIG_EXAMPLES_I2C_DIRECT_STACKSIZE -- Specified this example's stack size. + Default: 2048 + CONFIG_EXAMPLES_I2C_DIRECT_DEBUG_ON -- Toggle with or without debug display. + Default: n + CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_DEBUG -- Toggle with or without DEBUG display. + Default: n + CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_TRACE -- Toggle with or without TRACE display. + Default: n + CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_INFO -- Toggle with or without INFO display. + Default: n + CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_WARN -- Toggle with or without WARN display. + Default: n + CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_ERROR -- Toggle with or without ERROR display. + Default: n + + Build kernel and SDK: + + This application can be used by i2c_direct default config. + + $ ./tools/config.py examples/i2c_direct + $ make + + Execute under nsh: + + Type 'i2c_direct' on nsh like this. + nsh> i2c_direct diff --git a/examples/i2c_direct/bmi270.c b/examples/i2c_direct/bmi270.c new file mode 100644 index 000000000..3b10310ee --- /dev/null +++ b/examples/i2c_direct/bmi270.c @@ -0,0 +1,949 @@ +/** + * examples/i2c_direct/bmi270.c + * + * Copyright (c) 2021 Bosch Sensortec GmbH. All rights reserved. + * + * BSD-3-Clause + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * 3. Neither the name of the copyright holder nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING + * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + * @file bmi270.c + * @date 2021-09-30 + * @version v2.71.8 + * + */ + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/** + * @brief Initializa data table for BMI270 + * from https://github.com/BoschSensortec/ + * BMI270-Sensor-API/blob/master/bmi270.c + */ + +static const uint8_t bmi270_config_file[] = + { + 0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x3d, 0xb1, 0xc8, + 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x91, 0x03, 0x80, 0x2e, 0xbc, + 0xb0, 0x80, 0x2e, 0xa3, 0x03, 0xc8, 0x2e, 0x00, 0x2e, + 0x80, 0x2e, 0x00, 0xb0, 0x50, 0x30, 0x21, 0x2e, 0x59, 0xf5, + 0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x80, 0x2e, 0x3b, + 0x03, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x01, 0x00, 0x22, + 0x00, 0x75, 0x00, 0x00, 0x10, 0x00, 0x10, 0xd1, 0x00, + 0xb3, 0x43, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, + 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, + 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, + 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, + 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, + 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, + 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, + 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, + 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0xe0, + 0x5f, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x92, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08, 0x19, 0x00, + 0x00, 0x88, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x05, + 0xe0, 0xaa, 0x38, 0x05, 0xe0, 0x90, 0x30, 0xfa, 0x00, + 0x96, 0x00, 0x4b, 0x09, 0x11, 0x00, 0x11, 0x00, 0x02, 0x00, + 0x2d, 0x01, 0xd4, 0x7b, 0x3b, 0x01, 0xdb, 0x7a, 0x04, + 0x00, 0x3f, 0x7b, 0xcd, 0x6c, 0xc3, 0x04, 0x85, 0x09, 0xc3, + 0x04, 0xec, 0xe6, 0x0c, 0x46, 0x01, 0x00, 0x27, 0x00, + 0x19, 0x00, 0x96, 0x00, 0xa0, 0x00, 0x01, 0x00, 0x0c, 0x00, + 0xf0, 0x3c, 0x00, 0x01, 0x01, 0x00, 0x03, 0x00, 0x01, + 0x00, 0x0e, 0x00, 0x00, 0x00, 0x32, 0x00, 0x05, 0x00, 0xee, + 0x06, 0x04, 0x00, 0xc8, 0x00, 0x00, 0x00, 0x04, 0x00, + 0xa8, 0x05, 0xee, 0x06, 0x00, 0x04, 0xbc, 0x02, 0xb3, 0x00, + 0x85, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0xb4, 0x00, 0x01, 0x00, 0xb9, 0x00, + 0x01, 0x00, 0x98, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x01, 0x00, 0x80, 0x00, 0x04, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x80, 0x2e, 0x00, 0xc1, 0xfd, 0x2d, 0xde, + 0x00, 0xeb, 0x00, 0xda, 0x00, 0x00, 0x0c, 0xff, 0x0f, + 0x00, 0x04, 0xc0, 0x00, 0x5b, 0xf5, 0xc9, 0x01, 0x1e, 0xf2, + 0x80, 0x00, 0x3f, 0xff, 0x19, 0xf4, 0x58, 0xf5, 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0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, + 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, + 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, + 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, + 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, + 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, + 0x2e, 0x00, 0xc1 + }; + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +int +get_bmi270_config_file_size +(void) +{ + return sizeof(bmi270_config_file); +} + +const uint8_t * +get_bmi270_config_file_addr +(void) +{ + return bmi270_config_file; +} diff --git a/examples/i2c_direct/i2c_bmi270.c b/examples/i2c_direct/i2c_bmi270.c new file mode 100644 index 000000000..a89c748ef --- /dev/null +++ b/examples/i2c_direct/i2c_bmi270.c @@ -0,0 +1,521 @@ +/** + * examples/i2c_direct/i2c_bmi270.c + * + * Copyright (C) 2022, Ixy Design Studio, All Rights Reserved + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed 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 "i2c_bmi270.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/* CONV */ + +#define CONV(a, n) (int16_t)((((uint16_t)a[n + 1]) << 8) | ((uint16_t)a[n])) + +/* Register MAP */ + +#define BMI270_REG_CHIPID (0x00) +#define BMI270_REG_ERR_REG (0x02) +#define BMI270_REG_STATUS (0x03) +#define BMI270_REG_DATA(n) (0x04 + n) +#define BMI270_REG_SENSORTIME0 (0x18) +#define BMI270_REG_SENSORTIME1 (0x19) +#define BMI270_REG_SENSORTIME2 (0x1a) +#define BMI270_REG_EVENT (0x1b) +#define BMI270_REG_INT_STATUS0 (0x1c) +#define BMI270_REG_INT_STATUS1 (0x1d) +#define BMI270_REG_SC_OUT0 (0x1e) +#define BMI270_REG_SC_OUT1 (0x1f) +#define BMI270_REG_WR_GEST_ACT (0x20) +#define BMI270_REG_INTERNAL_STATUS (0x21) +#define BMI270_REG_TEMPERATURE_0 (0x22) +#define BMI270_REG_TEMPERATURE_1 (0x23) +#define BMI270_REG_FIFO_LENGTH_0 (0x24) +#define BMI270_REG_FIFO_LENGTH_1 (0x25) +#define BMI270_REG_FIFO_DATA (0x26) +#define BMI270_REG_FEAT_PAGE (0x2f) +#define BMI270_REG_FEATURES (0x30) +#define BMI270_REG_ACC_CONF (0x40) +#define BMI270_REG_ACC_RANGE (0x41) +#define BMI270_REG_GYR_CONF (0x42) +#define BMI270_REG_GYR_RANGE (0x43) +#define BMI270_REG_AUX_CONF (0x44) +#define BMI270_REG_FIFO_DOWNS (0x45) +#define BMI270_REG_FIFO_WTM_0 (0x46) +#define BMI270_REG_FIFO_WTM_1 (0x47) +#define BMI270_REG_FIFO_CONFIG_0 (0x48) +#define BMI270_REG_FIFO_CONFIG_1 (0x49) +#define BMI270_REG_SATURATION (0x4A) +#define BMI270_REG_AUX_DEV_ID (0x4B) +#define BMI270_REG_AUX_IF_CONF (0x4C) +#define BMI270_REG_AUX_RD_ADDR (0x4D) +#define BMI270_REG_AUX_WR_ADDR (0x4E) +#define BMI270_REG_AUX_WR_DATA (0x4F) + +#define BMI270_REG_ERR_REG_MSK (0x52) +#define BMI270_REG_INT1_IO_CTRL (0x53) +#define BMI270_REG_INT2_IO_CTRL (0x54) +#define BMI270_REG_INT_LATCH (0x55) +#define BMI270_REG_INT1_MAP_FEAT (0x56) +#define BMI270_REG_INT2_MAP_FEAT (0x57) +#define BMI270_REG_INT_MAP_DATA (0x58) + +#define BMI270_REG_INIT_CTRL (0x59) +#define BMI270_REG_INIT_ADDR_0 (0x5b) +#define BMI270_REG_INIT_ADDR_1 (0x5c) +#define BMI270_REG_INIT_DATA (0x5e) +#define BMI270_REG_INTERNAL_ERROR (0x5f) + +#define BMI270_REG_AUX_IF_TRIM (0x68) +#define BMI270_REG_GYR_CRT_CONF (0x69) +#define BMI270_REG_NVM_CONF (0x6a) +#define BMI270_REG_IF_CONF (0x6b) +#define BMI270_REG_DRV (0x6c) +#define BMI270_REG_ACC_SELF_TEST (0x6d) +#define BMI270_REG_GYR_SELF_TEST_AXES (0x6e) +#define BMI270_REG_NV_CONF (0x70) +#define BMI270_REG_OFFSET(n) (0x71 + n) +#define BMI270_REG_PWR_CONF (0x7c) +#define BMI270_REG_PWR_CTRL (0x7d) +#define BMI270_REG_CMD (0x7e) + +#define BMI270_STORE_TABLE_LENGTH (1024) +#define BMI270_FIFO_MAX_LENGTH (2560) + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static int enable_fifo_bmi270(i2c_ctrl_t *pi2c); +static void bmi270_fifo_decoder(i2c_bmi270_t *pctrl); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/** + * @brief start BMI270 FIFO + * + * @param fd file descriptor + * @return int success == 0 + */ + +static int +enable_fifo_bmi270 +(i2c_ctrl_t *pi2c) +{ + int ret; + ret = i2c_reg_write(pi2c, BMI270_REG_FIFO_CONFIG_1, 0xd0); + if (ret < 0) + { + return -1; + } + + ret = i2c_reg_write(pi2c, BMI270_REG_FIFO_CONFIG_0, 0x02); + if (ret < 0) + { + return -1; + } + + ret = i2c_reg_write(pi2c, BMI270_REG_CMD, 0xb0); + if (ret < 0) + { + return -1; + } + + return 0; +} + +/** + * @brief Decoder for BMI270 FIFO + * + * @param fifo dequeued data + * @param fifo_depth dequeued length + */ + +static void +bmi270_fifo_decoder +(i2c_bmi270_t *pctrl) +{ + int i = 0; + int fifo_depth = pctrl->fifo_depth; + uint8_t *fifo = pctrl->fifo; + + while (i < fifo_depth) + { + DPRINT_DEBUG("[%02x]", fifo[i]); + if (fifo[i] & 0x40) + { + uint8_t type = ((fifo[i] >> 2) & 0x0f); + i += 1; + switch (type) + { + case 0: + DPRINT_DEBUG(" - SKIP - %02x", + fifo[i]); + i += 1; + break; + case 1: + DPRINT_DEBUG(" - TIME - %02x,%02x", + fifo[i], fifo[i + 1]); + i += 2; + break; + case 2: + DPRINT_DEBUG(" - CFGF - %02x,%02x,%02x,%02x", + fifo[i], fifo[i + 1], fifo[i + 2], fifo[i + 3]); + i += 4; + break; + } + } + else if (fifo[i] & 0x80) + { + uint8_t enable = ((fifo[i] >> 2) & 0x0f); + i += 1; + if (enable & 0x02) + { + DPRINT_DEBUG(" - GYR - %d,%d,%d", + CONV(fifo, i), CONV(fifo, i + 2), CONV(fifo, i + 4)); + if (pctrl->gyr_table_pos >= BMI270_STORE_TABLE_LENGTH) + { + printf("store overflow\n"); + } + else + { + pctrl->gyr_table[pctrl->gyr_table_pos].x = + CONV(fifo, i); + pctrl->gyr_table[pctrl->gyr_table_pos].y = + CONV(fifo, i + 2); + pctrl->gyr_table[pctrl->gyr_table_pos].z = + CONV(fifo, i + 4); + pctrl->gyr_table_pos++; + } + + i += 6; + } + + if (enable & 0x01) + { + DPRINT_DEBUG(" - ACC - %d,%d,%d", + CONV(fifo, i), CONV(fifo, i + 2), CONV(fifo, i + 4)); + if (pctrl->acc_table_pos >= BMI270_STORE_TABLE_LENGTH) + { + printf("store overflow\n"); + } + else + { + pctrl->acc_table[pctrl->acc_table_pos].x = + CONV(fifo, i); + pctrl->acc_table[pctrl->acc_table_pos].y = + CONV(fifo, i + 2); + pctrl->acc_table[pctrl->acc_table_pos].z = + CONV(fifo, i + 4); + pctrl->acc_table_pos++; + } + + i += 6; + } + } + } + + return; +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/** + * @brief finialize BMI270 + * + * @param pctrl control structure + */ + +void +fini_bmi270 +(i2c_bmi270_t *pctrl) +{ + if (pctrl->acc_table != NULL) + { + free(pctrl->acc_table); + pctrl->acc_table = NULL; + } + + if (pctrl->gyr_table != NULL) + { + free(pctrl->gyr_table); + pctrl->gyr_table = NULL; + } + + if (pctrl->fifo != NULL) + { + free(pctrl->fifo); + pctrl->fifo = NULL; + } + + return; +} + +/** + * @brief initialization BMI270 and start mesurement + * + * @param pctrl control structure + * @return int success == 0 + */ + +int +init_bmi270 +(i2c_bmi270_t *pctrl) +{ + int ret; + uint8_t chipid; + i2c_ctrl_t *pi2c = &pctrl->i2c; + struct timespec waittime; + + /* alloc working memory */ + + pctrl->fifo = NULL; + pctrl->acc_table = NULL; + pctrl->gyr_table = NULL; + + pctrl->fifo = (uint8_t *)malloc(BMI270_FIFO_MAX_LENGTH); + if (pctrl->fifo == NULL) + { + return -1; + } + + /* alloc store memory for ACCEL */ + + pctrl->acc_table = (axis_t *)malloc(BMI270_STORE_TABLE_LENGTH); + if (pctrl->acc_table == NULL) + { + return -1; + } + + pctrl->acc_table_pos = 0; + + /* alloc store memory for GYRO */ + + pctrl->gyr_table = (axis_t *)malloc(BMI270_STORE_TABLE_LENGTH); + if (pctrl->acc_table == NULL) + { + return -1; + } + + pctrl->gyr_table_pos = 0; + + ret = i2c_reg_read(pi2c, BMI270_REG_CHIPID, &chipid, 1); + if ((ret < 0) || (chipid != 0x24)) + { + printf("communication:ERROR %d, chipid=0x%02x", ret, chipid); + return -1; + } + + DPRINT_INFO("chipid = 0x%02x", chipid); + + ret = i2c_reg_write(pi2c, BMI270_REG_CMD, 0xb6); + if (ret < 0) + { + /* NOP */ + } + + /* -- WAIT 1ms -- */ + + waittime.tv_sec = 0; + waittime.tv_nsec = 1000 * 1000; + nanosleep(&waittime, NULL); + + /** clear PREV status */ + + ret = i2c_reg_write(pi2c, BMI270_REG_PWR_CONF, 0x00); + if (ret < 0) + { + return -1; + } + + /* -- WAIT 450us -- */ + + waittime.tv_sec = 0; + waittime.tv_nsec = 450 * 1000; + nanosleep(&waittime, NULL); + + ret = i2c_reg_write(pi2c, BMI270_REG_INIT_CTRL, 0x00); + if (ret < 0) + { + return -1; + } + + ret = i2c_reg_write_burst(pi2c, BMI270_REG_INIT_DATA, + get_bmi270_config_file_addr(), + get_bmi270_config_file_size()); + if (ret < 0) + { + return -1; + } + + ret = i2c_reg_write(pi2c, BMI270_REG_INIT_CTRL, 0x01); + if (ret < 0) + { + return -1; + } + + /* -- WAIT 20ms -- */ + + waittime.tv_sec = 0; + waittime.tv_nsec = 20 * 1000 * 1000; + nanosleep(&waittime, NULL); + + uint8_t internal_stat; + ret = i2c_reg_read(pi2c, BMI270_REG_INTERNAL_STATUS, &internal_stat, 1); + if ((ret < 0) || ((internal_stat & 0x0f) != 0x01)) + { + printf("communication:ERROR %d, " + "internal_stat=0x%02x\n", ret, internal_stat); + return -1; + } + + /* -- Initialize success -- */ + + DPRINT_INFO("init success(0x%02x)", internal_stat); + + /* -- Start Mesurement ACC & GYR -- */ + + ret = i2c_reg_write(pi2c, BMI270_REG_PWR_CTRL, 0x0e); + if (ret < 0) + { + return -1; + } + + ret = i2c_reg_write(pi2c, BMI270_REG_ACC_CONF, 0xa8); + if (ret < 0) + { + return -1; + } + + ret = i2c_reg_write(pi2c, BMI270_REG_GYR_CONF, 0xa9); + if (ret < 0) + { + return -1; + } + + ret = i2c_reg_write(pi2c, BMI270_REG_PWR_CONF, 0x02); + if (ret < 0) + { + return -1; + } + + ret = enable_fifo_bmi270(pi2c); + if (ret < 0) + { + return -1; + } + + return 0; +} + +/** + * @brief Fetch FIFO of BMI270 + * + * @param fd I2C descriptor + * @return int success == 0 + */ + +int +exec_dequeue_fifo +(i2c_bmi270_t *pctrl) +{ + int ret; + uint8_t fifo_len_reg[2]; + i2c_ctrl_t *pi2c = &pctrl->i2c; + + ret = i2c_reg_read(pi2c, BMI270_REG_FIFO_LENGTH_0, fifo_len_reg, 2); + if (ret < 0) + { + return -1; + } + + pctrl->fifo_depth = CONV(fifo_len_reg, 0); + DPRINT_DEBUG("FIFO_LENGTH=%d", pctrl->fifo_depth); + + ret = i2c_reg_read(pi2c, BMI270_REG_FIFO_DATA, + pctrl->fifo, pctrl->fifo_depth); + if (ret < 0) + { + return -1; + } + + bmi270_fifo_decoder(pctrl); + return 0; +} + +/** + * @brief get latest accel value + * + * @param pd values[output] + * @return int success == 0 + */ + +int +get_latest_acc +(axis_t *pd, i2c_bmi270_t *pctrl) +{ + int ret = -1; + int apos = pctrl->acc_table_pos - 1; + if (apos >= 0) + { + pd->x = pctrl->acc_table[apos].x; + pd->y = pctrl->acc_table[apos].y; + pd->z = pctrl->acc_table[apos].z; + ret = 0; + } + + pctrl->acc_table_pos = 0; + return ret; +} + +/** + * @brief get latest gyro value + * + * @param pd values[output] + * @return int success == 0 + */ + +int +get_latest_gyr +(axis_t *pd, i2c_bmi270_t *pctrl) +{ + int ret = -1; + int gpos = pctrl->gyr_table_pos - 1; + if (gpos >= 0) + { + pd->x = pctrl->gyr_table[gpos].x; + pd->y = pctrl->gyr_table[gpos].y; + pd->z = pctrl->gyr_table[gpos].z; + ret = 0; + } + + pctrl->gyr_table_pos = 0; + return ret; +} diff --git a/examples/i2c_direct/i2c_common.c b/examples/i2c_direct/i2c_common.c new file mode 100644 index 000000000..c7765bd62 --- /dev/null +++ b/examples/i2c_direct/i2c_common.c @@ -0,0 +1,172 @@ +/** + * examples/i2c_direct/i2c_common.c + * + * Copyright (C) 2022, Ixy Design Studio, All Rights Reserved + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed 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 "i2c_common.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/** + * @brief I2C Device register write + * + * @param fd file descriptor + * @param reg register id + * @param value write value [in] + * @return int success == 0 + */ + +int +i2c_reg_write +(i2c_ctrl_t *pi2c, uint8_t reg, uint8_t value) +{ + int ret; + struct i2c_msg_s i2c_msg; + struct i2c_transfer_s i2c_transfer; + uint8_t txbuffer[2]; + + txbuffer[0] = reg; + txbuffer[1] = value; + i2c_msg.addr = pi2c->i2c_addr; + i2c_msg.flags = 0; + i2c_msg.buffer = txbuffer; + i2c_msg.length = 2; + i2c_msg.frequency = pi2c->speed; + + i2c_transfer.msgv = &i2c_msg; + i2c_transfer.msgc = 1; + ret = ioctl(pi2c->fd, I2CIOC_TRANSFER, + (unsigned long)(uintptr_t)&i2c_transfer); + if (ret < 0) + { + printf("I2C:Write Error(reg 0x%02x) %d\n", reg, ret); + } + + return ret; +} + +/** + * @brief I2C Device register burst write + * + * @param fd file descriptor + * @param reg register id + * @param pvalue write value [in] + * @param len burst length + * @return int success == 0 + */ + +int +i2c_reg_write_burst +(i2c_ctrl_t *pi2c, uint8_t reg, uint8_t *pvalue, int len) +{ + int ret; + struct i2c_msg_s i2c_msg[2]; + struct i2c_transfer_s i2c_transfer; + uint8_t txbuffer[1]; + + txbuffer[0] = reg; + i2c_msg[0].addr = pi2c->i2c_addr; + i2c_msg[0].flags = 0; + i2c_msg[0].buffer = txbuffer; + i2c_msg[0].length = 1; + i2c_msg[0].frequency = pi2c->speed; + + i2c_msg[1].addr = pi2c->i2c_addr; + i2c_msg[1].flags = 0; + i2c_msg[1].buffer = pvalue; + i2c_msg[1].length = len; + i2c_msg[1].frequency = pi2c->speed; + + i2c_transfer.msgv = i2c_msg; + i2c_transfer.msgc = 2; + ret = ioctl(pi2c->fd, I2CIOC_TRANSFER, + (unsigned long)(uintptr_t)&i2c_transfer); + if (ret < 0) + { + printf("I2C:Write Error(reg 0x%02x) %d\n", reg, ret); + } + + return ret; +} + +/** + * @brief I2C Device register read + * + * @param fd file descriptor + * @param reg register id + * @param value read value [out] + * @param len burst length + * @return int success == 0 + */ + +int +i2c_reg_read +(i2c_ctrl_t *pi2c, uint8_t reg, uint8_t * value, int16_t len) +{ + int ret; + struct i2c_msg_s i2c_msg[2]; + struct i2c_transfer_s i2c_transfer; + + /* Write Data SEQ */ + + i2c_msg[0].addr = pi2c->i2c_addr; + i2c_msg[0].flags = 0; + i2c_msg[0].buffer = ® + i2c_msg[0].length = 1; + i2c_msg[0].frequency = pi2c->speed; + + /* Read Data SEQ */ + + i2c_msg[1].addr = pi2c->i2c_addr; + i2c_msg[1].flags = I2C_M_READ; + i2c_msg[1].buffer = value; + i2c_msg[1].length = len; + i2c_msg[1].frequency = pi2c->speed; + + i2c_transfer.msgv = i2c_msg; + i2c_transfer.msgc = 2; + ret = ioctl(pi2c->fd, I2CIOC_TRANSFER, + (unsigned long)(uintptr_t)&i2c_transfer); + if (ret < 0) + { + printf("I2C:Read Error(reg 0x%02x) %d\n", reg, ret); + } + + return ret; +} diff --git a/examples/i2c_direct/i2c_direct_main.c b/examples/i2c_direct/i2c_direct_main.c new file mode 100644 index 000000000..81a5d9564 --- /dev/null +++ b/examples/i2c_direct/i2c_direct_main.c @@ -0,0 +1,292 @@ +/** + * examples/i2c_direct/i2c_direct_main.c + * + * Copyright (C) 2022, Ixy Design Studio, All Rights Reserved + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed 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 +#include + +#include +#include +#include + +#include "debug_printf.h" +#include "i2c_common.h" +#include "i2c_bmi270.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define LED0 PIN_I2S1_DATA_OUT +#define LED1 PIN_I2S1_DATA_IN +#define LED2 PIN_I2S1_LRCK +#define LED3 PIN_I2S1_BCK + +/**************************************************************************** + * Private Function Prototypes + ****************************************************************************/ + +static void gpio_setup_direction(int id, bool input); +static void gpio_set(int id); +static void gpio_clear(int id); +static void init_pins(void); + +/**************************************************************************** + * Private Data + ****************************************************************************/ + +/**************************************************************************** + * Private Functions + ****************************************************************************/ + +/** + * @brief Initialize I/O pins + * + */ + +static void +init_pins +(void) +{ + gpio_setup_direction(LED0, false); + gpio_setup_direction(LED1, false); + gpio_setup_direction(LED2, false); + gpio_setup_direction(LED3, false); +} + +/** + * @brief GPIO Setup + * + * @param id pin number + * @param input input=true, output=false + */ + +static void +gpio_setup_direction +(int id, bool input) +{ + int _gabege_value = 0; + if (input == true) + { + /* Input Pin Config */ + + board_gpio_config(id, 0, true, false, PIN_PULLUP); + _gabege_value = board_gpio_read(id); + } + else + { + /* Output Pin Config */ + + board_gpio_config(id, 0, false, true, 0); + board_gpio_write(id, _gabege_value); + } + + return; +} + +/** + * @brief GPIO Write = 1 + * + * @param id pin number + */ + +static void +gpio_set +(int id) +{ + board_gpio_write(id, 1); +} + +/** + * @brief GPIO Write = 0 + * + * @param id pin number + */ + +static void +gpio_clear +(int id) +{ + board_gpio_write(id, 0); +} + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/** + * @brief main - init BMI270 and measurement 512 times. + * + * @param argc UNUSED + * @param argv UNUSED + * @return int success == 0 + */ + +int +main +(int argc, char *argv[]) +{ + int fd; + int ret; + int total = 512; + struct timespec waittime; + axis_t acc_data; + axis_t gyr_data; + i2c_bmi270_t bmi270 = + { + 0 + }; + +#ifdef CONFIG_SCU_SENSORS + printf("This sample could not work with CONFIG_SCU_SENSORS\n"); + return -1; +#endif + + /* I2C confiuguration */ + + bmi270.i2c.fd = -1; + bmi270.i2c.i2c_addr = BMI270_I2C_ADDRESS; + bmi270.i2c.speed = I2C_SPEED; + + /** init LED */ + + init_pins(); + + /** open I2C bus */ + + fd = open(I2C_DEVNAME_FOR_BMI270, O_WRONLY); + if (fd < 0) + { + printf("ERROR: Failed to open %s: %d\n", + I2C_DEVNAME_FOR_BMI270, errno); + return -1; + } + + bmi270.i2c.fd = fd; + + /** init bmi270 */ + + ret = init_bmi270(&bmi270); + if (ret < 0) + { + printf("ERROR: Failed to initialize: %d\n", ret); + goto error_on_using_bmi270; + } + + /* -- WAIT 250ms -- */ + + waittime.tv_sec = 0; + waittime.tv_nsec = 250 * 1000 * 1000; + nanosleep(&waittime, NULL); + + /** mesurement */ + + for (int i = 0; i < total; i++) + { + ret = exec_dequeue_fifo(&bmi270); + if (ret < 0) + { + printf("ERROR: Failed to Dequeue: %d\n", ret); + goto error_on_using_bmi270; + } + + ret = get_latest_acc(&acc_data, &bmi270); + ret = get_latest_gyr(&gyr_data, &bmi270); + printf("(%3d/%3d) ACC|%6d,%6d,%6d || GYR|%6d,%6d,%6d\n", + i, total - 1, + acc_data.x, acc_data.y, acc_data.z, + gyr_data.x, gyr_data.y, gyr_data.z); + + gpio_clear(LED0); + gpio_clear(LED1); + gpio_clear(LED2); + gpio_clear(LED3); + + /* set LED */ + + if (acc_data.x < -1500) + { + gpio_set(LED0); + } + else if (acc_data.x < -1000) + { + gpio_set(LED0); + gpio_set(LED1); + } + else if (acc_data.x < -400) + { + gpio_set(LED1); + } + else if ((acc_data.x >= -400) && (acc_data.x <= 400)) + { + gpio_set(LED1); + gpio_set(LED2); + } + else if (acc_data.x > 1500) + { + gpio_set(LED3); + } + else if (acc_data.x > 1000) + { + gpio_set(LED3); + gpio_set(LED2); + } + else + { + gpio_set(LED2); + } + + /* -- WAIT 50ms -- */ + + waittime.tv_sec = 0; + waittime.tv_nsec = 50 * 1000 * 1000; + nanosleep(&waittime, NULL); + } + + ret = 0; + +error_on_using_bmi270: + + /* clear LEDS */ + + gpio_clear(LED0); + gpio_clear(LED1); + gpio_clear(LED2); + gpio_clear(LED3); + + /** close I2C bus */ + + close(fd); + + /** init bmi270 */ + + fini_bmi270(&bmi270); + + return ret; +} diff --git a/examples/i2c_direct/include/debug_printf.h b/examples/i2c_direct/include/debug_printf.h new file mode 100644 index 000000000..5d5be9f60 --- /dev/null +++ b/examples/i2c_direct/include/debug_printf.h @@ -0,0 +1,133 @@ +/** + * examples/i2c_direct/include/debug_printf.h + * + * Copyright (C) 2022, Ixy Design Studio, All Rights Reserved + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed 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 __EXAMPLES_I2C_DIRECT_INCLUDE_DEBUG_PRINTF_H +#define __EXAMPLES_I2C_DIRECT_INCLUDE_DEBUG_PRINTF_H + +#ifdef __cplusplus +extern "C" + { +#endif + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/** + * @brief Debug level logging macro. + * + * Macro to expose function, line number as well as desired log message. + */ +#ifdef CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_DEBUG +#define DPRINT_DEBUG(...) \ +{\ +printf("DEBUG: %s L#%d ", __func__, __LINE__); \ +printf(__VA_ARGS__); \ +printf("\n"); \ +} +#else +#define DPRINT_DEBUG(...) +#endif + +/** + * @brief Debug level trace logging macro. + * + * Macro to print message function entry and exit + */ +#ifdef CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_TRACE +#define FUNC_ENTRY \ +{\ +printf("FUNC_ENTRY: %s L#%d \n", __func__, __LINE__); \ +} +#define FUNC_EXIT \ +{\ +printf("FUNC_EXIT: %s L#%d \n", __func__, __LINE__); \ +} +#define FUNC_EXIT_RC(x) \ +{\ +printf("FUNC_EXIT: %s L#%d Return Code : %d \n", __func__, __LINE__, (int)(x)); \ +return x; \ +} +#else +#define FUNC_ENTRY + +#define FUNC_EXIT +#define FUNC_EXIT_RC(x) { return x; } +#endif + +/** + * @brief Info level logging macro. + * + * Macro to expose desired log message. + * Info messages do not include automatic function names and line numbers. + */ +#ifdef CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_INFO +#define DPRINT_INFO(...) \ +{\ +printf(__VA_ARGS__); \ +printf("\n"); \ +} +#else +#define DPRINT_INFO(...) +#endif + +/** + * @brief Warn level logging macro. + * + * Macro to expose function, line number as well as desired log message. + */ +#ifdef CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_WARN +#define DPRINT_WARN(...) \ +{ \ +printf("WARN: %s L#%d ", __func__, __LINE__); \ +printf(__VA_ARGS__); \ +printf("\n"); \ +} +#else +#define DPRINT_WARN(...) +#endif + +/** + * @brief Error level logging macro. + * + * Macro to expose function, line number as well as desired log message. + */ +#ifdef CONFIG_EXAMPLES_I2C_DIRECT_DPRINT_ERROR +#define DPRINT_ERROR(...) \ +{ \ +printf("ERROR: %s L#%d ", __func__, __LINE__); \ +printf(__VA_ARGS__); \ +printf("\n"); \ +} +#else +#define DPRINT_ERROR(...) +#endif + +#ifdef __cplusplus +} +#endif + +#endif /* __EXAMPLES_I2C_DIRECT_INCLUDE_DEBUG_PRINTF_H */ diff --git a/examples/i2c_direct/include/i2c_bmi270.h b/examples/i2c_direct/include/i2c_bmi270.h new file mode 100644 index 000000000..b00dd7c00 --- /dev/null +++ b/examples/i2c_direct/include/i2c_bmi270.h @@ -0,0 +1,101 @@ +/** + * examples/i2c_direct/include/i2c_bmi270.h + * + * Copyright (C) 2022, Ixy Design Studio, All Rights Reserved + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed 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 __EXAMPLES_I2C_DIRECT_INCLUDE_I2C_BMI270_H +#define __EXAMPLES_I2C_DIRECT_INCLUDE_I2C_BMI270_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "i2c_common.h" +#include "debug_printf.h" + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +#define I2C_DEVNAME_FOR_BMI270 "/dev/i2c0" +#define BMI270_I2C_ADDRESS (0x69) +#define I2C_SPEED (400*1000) /* fast mode */ + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +typedef struct _axis_type +{ + int16_t x; + int16_t y; + int16_t z; +} axis_t; + +typedef struct _i2c_bmi270_type +{ + /* i2c */ + + i2c_ctrl_t i2c; + + /* fetched fifo */ + + uint8_t *fifo; + int fifo_depth; + + /* fetched data ACC/GYR */ + + int acc_table_pos; + int gyr_table_pos; + axis_t *acc_table; + axis_t *gyr_table; +} i2c_bmi270_t; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#if defined(__cplusplus) +extern "C" +{ +#endif + +int init_bmi270(i2c_bmi270_t *pctrl); +void fini_bmi270(i2c_bmi270_t *pctrl); +int exec_dequeue_fifo(i2c_bmi270_t *pctrl); +int get_latest_acc(axis_t *pd, i2c_bmi270_t *pctrl); +int get_latest_gyr(axis_t *pd, i2c_bmi270_t *pctrl); + +/* bmi270.c */ + +int get_bmi270_config_file_size(void); +uint8_t *get_bmi270_config_file_addr(void); + +#if defined(__cplusplus) +} +#endif + +#endif /* __EXAMPLES_I2C_DIRECT_INCLUDE_I2C_BMI270_H */ diff --git a/examples/i2c_direct/include/i2c_common.h b/examples/i2c_direct/include/i2c_common.h new file mode 100644 index 000000000..f9eeae81a --- /dev/null +++ b/examples/i2c_direct/include/i2c_common.h @@ -0,0 +1,68 @@ +/** + * examples/i2c_direct/include/i2c_common.h + * + * Copyright (C) 2022, Ixy Design Studio, All Rights Reserved + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed 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 __EXAMPLES_I2C_DIRECT_INCLUDE_I2C_COMMON_H +#define __EXAMPLES_I2C_DIRECT_INCLUDE_I2C_COMMON_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "debug_printf.h" + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +typedef struct _i2c_ctrl_type +{ + int fd; + int i2c_addr; + int speed; +} i2c_ctrl_t; + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +#if defined(__cplusplus) +extern "C" +{ +#endif + +int i2c_reg_write(i2c_ctrl_t *pi2c, uint8_t reg, uint8_t value); +int i2c_reg_write_burst(i2c_ctrl_t *pi2c, + uint8_t reg, uint8_t *pvalue, int len); +int i2c_reg_read(i2c_ctrl_t *pi2c, + uint8_t reg, uint8_t *value, int16_t len); + +#if defined(__cplusplus) +} +#endif + +#endif /* __EXAMPLES_I2C_DIRECT_INCLUDE_I2C_COMMON_H */ diff --git a/sdk/configs/examples/i2c_direct/README.txt b/sdk/configs/examples/i2c_direct/README.txt new file mode 100644 index 000000000..bb2a686e3 --- /dev/null +++ b/sdk/configs/examples/i2c_direct/README.txt @@ -0,0 +1,4 @@ +This configuration contains required options to use i2c_direct example. + +[Source path] +examples/i2c_direct diff --git a/sdk/configs/examples/i2c_direct/defconfig b/sdk/configs/examples/i2c_direct/defconfig new file mode 100644 index 000000000..3e373fe28 --- /dev/null +++ b/sdk/configs/examples/i2c_direct/defconfig @@ -0,0 +1,2 @@ ++EXAMPLES_I2C_DIRECT=y ++EXAMPLES_I2C_DIRECT_DEBUG_ON=y