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Posted to commits@mynewt.apache.org by GitBox <gi...@apache.org> on 2021/07/06 13:04:45 UTC
[GitHub] [mynewt-core] seijikun opened a new pull request #2639: hw/bsp/dwm1001-dev Add LIS2DH12 accelerometer support
seijikun opened a new pull request #2639:
URL: https://github.com/apache/mynewt-core/pull/2639
Hey guys,
this is an attempt at adding support for the LIS2DH12 accelerometer sensor, which is integrated with [DWM1001-DEV](https://www.decawave.com/dwm1001dev/datasheet/) boards.
I'm fairly new to mynewt, so this PR is more like a shot in the dark, and mostly copied from other BSPs with the same accelerometer.
The `sensor_itf.si_ints` values are chosen, such that it does not crash - which does not mean that it's working ;). Would be good if somebody with more hardware knowledge could take a look at them (the `.active = true` certainly isn't true, this should be something like `HAL_GPIO_TRIG_RISING` or `HAL_GPIO_TRIG_FALLING`).
Here is an example application:
```c
#include <assert.h>
#include <string.h>
#include <stdio.h>
#include <math.h>
#include "sysinit/sysinit.h"
#include "os/os.h"
#include "bsp/bsp.h"
#include "hal/hal_gpio.h"
#include "hal/hal_bsp.h"
#include "hal/hal_i2c.h"
#include "mcu/nrf52_hal.h"
#ifdef ARCH_sim
#include "mcu/mcu_sim.h"
#endif
#include <config/config.h>
#include <sensor/sensor.h>
#include "sensor/accel.h"
#include <lis2dh12/lis2dh12.h>
#if MYNEWT_VAL(DW1000_DEVICE_0)
#include <dw1000/dw1000_hal.h>
#endif
int accel_data_cb(struct sensor* sensor, void* a, void* databuf, sensor_type_t sensorType) {
if(!databuf) { return SYS_EINVAL; }
struct sensor_accel_data* sad = (struct sensor_accel_data*) databuf;
if (!sad->sad_x_is_valid || !sad->sad_y_is_valid || !sad->sad_z_is_valid) { return SYS_EINVAL; }
printf("%s: [ secs: %ld usecs: %d cputime: %u ]\n",
"LISTENER_CB",
(long int)sensor->s_sts.st_ostv.tv_sec,
(int)sensor->s_sts.st_ostv.tv_usec,
(unsigned int)sensor->s_sts.st_cputime);
printf("x = %f, y = %f, z = %f\n", sad->sad_x, sad->sad_y, sad->sad_z);
return 0;
}
static struct sensor_listener sensor_listener = {
.sl_sensor_type = SENSOR_TYPE_ACCELEROMETER,
.sl_func = accel_data_cb,
.sl_arg = NULL
};
int main(int argc, char **argv){
sysinit();
struct sensor* accel = sensor_mgr_find_next_bydevname("lis2dh12_0", NULL);
assert(accel != NULL);
assert(0 == lis2dh12_set_full_scale(&accel->s_itf, LIS2DH12_FS_2G));
assert(0 == lis2dh12_set_op_mode(&accel->s_itf, LIS2DH12_OM_HIGH_RESOLUTION));
sensor_set_poll_rate_ms(accel->s_dev->od_name, 1000 / 50);
sensor_register_listener(accel, &sensor_listener);
while (1) {
os_eventq_run(os_eventq_dflt_get());
}
assert(0);
return 0;
}
```
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[GitHub] [mynewt-core] mlaz commented on pull request #2639: hw/bsp/dwm1001-dev Add LIS2DH12 accelerometer support
Posted by GitBox <gi...@apache.org>.
mlaz commented on pull request #2639:
URL: https://github.com/apache/mynewt-core/pull/2639#issuecomment-879236598
Sounds like you need to look at the module's (DWM1001, not DWM1001-dev) [schematic](https://www.qorvo.com/products/d/da007971) there you should find all the pinout info.
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[GitHub] [mynewt-core] seijikun closed pull request #2639: hw/bsp/dwm1001-dev Add LIS2DH12 accelerometer support
Posted by GitBox <gi...@apache.org>.
seijikun closed pull request #2639:
URL: https://github.com/apache/mynewt-core/pull/2639
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[GitHub] [mynewt-core] seijikun commented on pull request #2639: hw/bsp/dwm1001-dev Add LIS2DH12 accelerometer support
Posted by GitBox <gi...@apache.org>.
seijikun commented on pull request #2639:
URL: https://github.com/apache/mynewt-core/pull/2639#issuecomment-927352337
Sorry, I don't have access to the hardware anymore, so I can't continue on this with testing.
I tried having only one entry in the interrupts array, that crashed on initialization.
I'm going to close this. Sorry again!
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[GitHub] [mynewt-core] kasjer commented on a change in pull request #2639: hw/bsp/dwm1001-dev Add LIS2DH12 accelerometer support
Posted by GitBox <gi...@apache.org>.
kasjer commented on a change in pull request #2639:
URL: https://github.com/apache/mynewt-core/pull/2639#discussion_r676875853
##########
File path: hw/bsp/dwm1001-dev/src/hal_bsp.c
##########
@@ -93,6 +118,47 @@ hal_bsp_get_nvic_priority(int irq_num, uint32_t pri)
return cfg_pri;
}
+int
+config_lis2dh12_sensor(void)
+{
+#if MYNEWT_VAL(LIS2DH12_ONB)
+ int rc;
+ struct os_dev *dev;
+ struct lis2dh12_cfg cfg;
+
+ dev = (struct os_dev *) os_dev_open("lis2dh12_0", OS_TIMEOUT_NEVER, NULL);
+ assert(dev != NULL);
+
Review comment:
extra empty line
##########
File path: hw/bsp/dwm1001-dev/src/hal_bsp.c
##########
@@ -93,6 +118,47 @@ hal_bsp_get_nvic_priority(int irq_num, uint32_t pri)
return cfg_pri;
}
+int
+config_lis2dh12_sensor(void)
+{
+#if MYNEWT_VAL(LIS2DH12_ONB)
+ int rc;
+ struct os_dev *dev;
+ struct lis2dh12_cfg cfg;
+
+ dev = (struct os_dev *) os_dev_open("lis2dh12_0", OS_TIMEOUT_NEVER, NULL);
+ assert(dev != NULL);
+
+
+ memset(&cfg, 0, sizeof(cfg));
+
+ cfg.lc_s_mask = SENSOR_TYPE_ACCELEROMETER;
+ cfg.lc_rate = LIS2DH12_DATA_RATE_HN_1344HZ_L_5376HZ;
+ cfg.lc_fs = LIS2DH12_FS_2G;
+ cfg.lc_pull_up_disc = 1;
+
+ rc = lis2dh12_config((struct lis2dh12 *)dev, &cfg);
+ SYSINIT_PANIC_ASSERT(rc == 0);
+
+ os_dev_close(dev);
+#endif
+ return 0;
+}
+
+static void
+sensor_dev_create(void)
+{
+ int rc;
+ (void)rc;
+
+#if MYNEWT_VAL(LIS2DH12_ONB)
+ rc = os_dev_create((struct os_dev *) &lis2dh12, "lis2dh12_0",
Review comment:
extra space after cast expression
##########
File path: hw/bsp/dwm1001-dev/pkg.yml
##########
@@ -41,3 +41,9 @@ pkg.deps.SOFT_PWM:
pkg.deps.UARTBB_0:
- "@apache-mynewt-core/hw/drivers/uart/uart_bitbang"
+
+pkg.deps.LIS2DH12_ONB:
+ - "@apache-mynewt-core/hw/drivers/sensors/lis2dh12"
+
+pkg.init:
Review comment:
if it was changed to:
```yml
pkg.init.LIS2DH12_ONB:
```
whole config_lis2dh12_sensor() function could be ifdef'ed-out not just its body
##########
File path: hw/bsp/dwm1001-dev/syscfg.yml
##########
@@ -62,3 +71,6 @@ syscfg.vals.BLE_CONTROLLER:
OS_CPUTIME_FREQ: 32768
OS_CPUTIME_TIMER_NUM: 5
BLE_LL_RFMGMT_ENABLE_TIME: 1500
+
+syscfg.restrictions:
+ - "LIS2DH12_ONB && I2C_0_PIN_SCL == 28 && I2C_0_PIN_SDA == 29"
Review comment:
if it was:
```yml
syscfg.restrictions:
- "!LIS2DH12_ONB || (I2C_0 == 1 && I2C_0_PIN_SCL == 28 && I2C_0_PIN_SDA == 29)"
```
sensor could be turned on and off as syscfg value implies it could.
notice extra `I2C_0 == 1` that is also needed I guess
##########
File path: hw/bsp/dwm1001-dev/src/hal_bsp.c
##########
@@ -93,6 +118,47 @@ hal_bsp_get_nvic_priority(int irq_num, uint32_t pri)
return cfg_pri;
}
+int
+config_lis2dh12_sensor(void)
+{
+#if MYNEWT_VAL(LIS2DH12_ONB)
+ int rc;
+ struct os_dev *dev;
+ struct lis2dh12_cfg cfg;
+
+ dev = (struct os_dev *) os_dev_open("lis2dh12_0", OS_TIMEOUT_NEVER, NULL);
Review comment:
in mynewt code it is custom not to put space after finishing ) in casts like this
```c
dev = (struct os_dev *)os_dev_open(....
```
##########
File path: hw/bsp/dwm1001-dev/src/hal_bsp.c
##########
@@ -33,6 +33,31 @@
#include "mcu/nrf52_periph.h"
#include "bsp/bsp.h"
+#if MYNEWT_VAL(LIS2DH12_ONB)
+#include "lis2dh12/lis2dh12.h"
+static struct lis2dh12 lis2dh12;
+#endif
+
+#if MYNEWT_VAL(LIS2DH12_ONB)
+static struct sensor_itf i2c_0_itf_lis = {
+ .si_type = SENSOR_ITF_I2C,
+ .si_num = 0,
+ .si_addr = 0x19,
+ .si_ints = {
+ { /* TODO: determine correct values */
+ .host_pin = 25,
+ .device_pin = 0,
+ .active = true
+ },
+ { /* TODO: determine correct values */
+ .host_pin = 25,
+ .device_pin = 0,
+ .active = true
+ }
Review comment:
I would remove this second table entry, first one seems to be correct
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[GitHub] [mynewt-core] mlaz edited a comment on pull request #2639: hw/bsp/dwm1001-dev Add LIS2DH12 accelerometer support
Posted by GitBox <gi...@apache.org>.
mlaz edited a comment on pull request #2639:
URL: https://github.com/apache/mynewt-core/pull/2639#issuecomment-879236598
Sounds like you need to look at the module's (DWM1001, not DWM1001-dev) [schematic](https://www.qorvo.com/products/d/da007971) there you should find all the pinout info.
I'd advise that if you need any help it might be easier if you reach out on slack before posting PRs.
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[GitHub] [mynewt-core] kasjer commented on a change in pull request #2639: hw/bsp/dwm1001-dev Add LIS2DH12 accelerometer support
Posted by GitBox <gi...@apache.org>.
kasjer commented on a change in pull request #2639:
URL: https://github.com/apache/mynewt-core/pull/2639#discussion_r676888481
##########
File path: hw/bsp/dwm1001-dev/pkg.yml
##########
@@ -41,3 +41,9 @@ pkg.deps.SOFT_PWM:
pkg.deps.UARTBB_0:
- "@apache-mynewt-core/hw/drivers/uart/uart_bitbang"
+
+pkg.deps.LIS2DH12_ONB:
+ - "@apache-mynewt-core/hw/drivers/sensors/lis2dh12"
+
+pkg.init:
Review comment:
Fist line of commit message would also be more consistent with what is used in mynewt if it looked like text that was chosen for PR title:
```
hw/bsp/dwm1001-dev: Add LIS2DH12 accelerometer support
```
instead of "Add LIS2DH12 accelerometer support for DWM1001-dev boards"
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