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drivers/sensors: Add CXD5602PWBIMU driver for IMU Add-on board

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Add CXD5602PWBIMU driver for IMU Add-on board.

Signed-off-by: SPRESENSE <41312067+SPRESENSE@users.noreply.github.com>
This commit is contained in:
SPRESENSE 2025-03-24 16:22:26 +09:00 • committed by Alan C. Assis
parent 0bbdeb4b22
commit 64b97bda5d
12 changed files with 2423 additions and 0 deletions
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include/nuttx/sensors/cxd5602pwbimu.h Normal file
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/****************************************************************************
* include/nuttx/sensors/cxd5602pwbimu.h
*
* SPDX-License-Identifier: Apache-2.0
*
* 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 __INCLUDE_NUTTX_SENSORS_CXD5602PWBIMU_H
#define __INCLUDE_NUTTX_SENSORS_CXD5602PWBIMU_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <nuttx/fs/ioctl.h>
#include <sys/types.h>
#include <nuttx/spi/spi.h>
#include <nuttx/i2c/i2c_master.h>
#if defined(CONFIG_SENSORS_CXD5602PWBIMU)
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* IOCTL Commands ***********************************************************/
#define SNIOC_ENABLE _SNIOC(0x0001)
#define SNIOC_SSAMPRATE _SNIOC(0x0002)
#define SNIOC_SDRANGE _SNIOC(0x0003)
#define SNIOC_SCALIB _SNIOC(0x0004)
#define SNIOC_SFIFOTHRESH _SNIOC(0x0005)
#define SNIOC_UPDATEFW _SNIOC(0x0010)
#define SNIOC_SETDATASIZE _SNIOC(0x0080)
#define SNIOC_WREGSPI _SNIOC(0x0081)
#define SNIOC_RREGSPI _SNIOC(0x0082)
#define SNIOC_WREGS _SNIOC(0x0083)
#define SNIOC_RREGS _SNIOC(0x0084)
#define SNIOC_RREGS_WOADR _SNIOC(0x0085)
#define SNIOC_GETBNUM _SNIOC(0x0086)
/****************************************************************************
* Public Types
****************************************************************************/
/* Interrupt configuration data structure */
typedef struct cxd5602pwbimu_config_s
{
CODE int (*irq_attach)(FAR const struct cxd5602pwbimu_config_s *state,
xcpt_t isr, FAR void *arg);
CODE void (*irq_enable)(FAR const struct cxd5602pwbimu_config_s *state,
bool enable);
CODE void (*csx)(FAR const struct cxd5602pwbimu_config_s *state,
bool pol);
CODE void (*power)(FAR const struct cxd5602pwbimu_config_s *state,
bool pol);
CODE void (*reset)(FAR const struct cxd5602pwbimu_config_s *state,
bool assert);
} cxd5602pwbimu_config_t;
/****************************************************************************
* struct 6-axis data
****************************************************************************/
struct cxd5602pwbimu_data_s
{
uint32_t timestamp; /* timestamp */
float temp; /* temperature */
float gx; /* gyro x */
float gy; /* gyro y */
float gz; /* gyro z */
float ax; /* accel x */
float ay; /* accel y */
float az; /* accel z */
};
typedef struct cxd5602pwbimu_data_s cxd5602pwbimu_data_t;
struct cxd5602pwbimu_range_s
{
int accel; /* 2, 4, 8, 16 */
int gyro; /* 125, 250, 500, 1000, 2000, 4000 */
};
typedef struct cxd5602pwbimu_range_s cxd5602pwbimu_range_t;
begin_packed_struct struct cxd5602pwbimu_calib_s
{
uint8_t offset;
uint32_t coef;
} end_packed_struct;
typedef struct cxd5602pwbimu_calib_s cxd5602pwbimu_calib_t;
struct cxd5602pwbimu_regs_s
{
uint8_t addr; /* Register address */
FAR uint8_t *value; /* Write value or read value */
uint8_t len; /* Length of value */
int slaveid; /* Target 0=master, 1,2,3=slave{1,2,3} */
};
typedef struct cxd5602pwbimu_regs_s cxd5602pwbimu_regs_t;
struct cxd5602pwbimu_updatefw_s
{
FAR const char *path;
void (*progress)(off_t current, off_t total);
};
typedef struct cxd5602pwbimu_updatefw_s cxd5602pwbimu_updatefw_t;
struct spi_dev_s;
struct i2c_master_s;
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Name: cxd5602pwbimu_register
*
* Description:
* Register the CXD5602PWBIMU character device as 'devpath'
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/imu0"
* dev_spi - An instance of the SPI interface to use to communicate
* with CXD5602PWBIMU
* dev_i2c - An instance of the I2C interface to use to communicate
* with CXD5602PWBIMU
* config - An instance of the interrupt configuration data structure
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
*
****************************************************************************/
int cxd5602pwbimu_register(FAR const char *devpath,
FAR struct spi_dev_s *dev_spi,
FAR struct i2c_master_s *dev_i2c,
FAR cxd5602pwbimu_config_t *config);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif /* CONFIG_SENSORS_CXD5602PWBIMU */
#endif /* __INCLUDE_NUTTX_SENSORS_CXD5602PWBIMU_H */