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Posted to commits@nuttx.apache.org by "AuroraRAS (via GitHub)" <gi...@apache.org> on 2023/03/09 18:41:26 UTC
[GitHub] [nuttx] AuroraRAS opened a new pull request, #8781: Add MPU60x0 IMU sensors support for ESP32C3
AuroraRAS opened a new pull request, #8781:
URL: https://github.com/apache/nuttx/pull/8781
## Summary
Add MPU60x0 IMU sensors support for ESP32C3
## Impact
ESP32C3
## Testing
ESP32-C3-WROOM-02
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[GitHub] [nuttx] acassis commented on a diff in pull request #8781: Add MPU60x0 IMU sensors support for ESP32C3
Posted by "acassis (via GitHub)" <gi...@apache.org>.
acassis commented on code in PR #8781:
URL: https://github.com/apache/nuttx/pull/8781#discussion_r1131470647
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_bmp180_initialize
Review Comment:
Please fix function name
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_bmp180_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];
+ FAR 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 I2C0 */
Review Comment:
I2Cx where x = busno
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[GitHub] [nuttx] pkarashchenko commented on a diff in pull request #8781: Add MPU60x0 IMU sensors support for ESP32C3
Posted by "pkarashchenko (via GitHub)" <gi...@apache.org>.
pkarashchenko commented on code in PR #8781:
URL: https://github.com/apache/nuttx/pull/8781#discussion_r1139880514
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
Review Comment:
I think we can clean-up many unused sections here
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * 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];
+ FAR 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<busno> */
+
+ 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, 10, "/dev/imu%d", devno);
Review Comment:
```suggestion
snprintf(devpath, sizeof(devpath), "/dev/imu%d", devno);
```
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[GitHub] [nuttx] AuroraRAS commented on a diff in pull request #8781: Add MPU60x0 IMU sensors support for ESP32C3
Posted by "AuroraRAS (via GitHub)" <gi...@apache.org>.
AuroraRAS commented on code in PR #8781:
URL: https://github.com/apache/nuttx/pull/8781#discussion_r1139915666
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * 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];
+ FAR 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<busno> */
+
+ 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, 10, "/dev/imu%d", devno);
Review Comment:
You are right, it looks better now
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[GitHub] [nuttx] AuroraRAS commented on a diff in pull request #8781: Add MPU60x0 IMU sensors support for ESP32C3
Posted by "AuroraRAS (via GitHub)" <gi...@apache.org>.
AuroraRAS commented on code in PR #8781:
URL: https://github.com/apache/nuttx/pull/8781#discussion_r1140429749
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
Review Comment:
Thanks. it's passed the check, but one cancelled after 359 min. timeout maybe?
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[GitHub] [nuttx] AuroraRAS commented on a diff in pull request #8781: Add MPU60x0 IMU sensors support for ESP32C3
Posted by "AuroraRAS (via GitHub)" <gi...@apache.org>.
AuroraRAS commented on code in PR #8781:
URL: https://github.com/apache/nuttx/pull/8781#discussion_r1139914747
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
Review Comment:
It seems necessary in nxstyle.json rules
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[GitHub] [nuttx] xiaoxiang781216 merged pull request #8781: Add MPU60x0 IMU sensors support for ESP32C3
Posted by "xiaoxiang781216 (via GitHub)" <gi...@apache.org>.
xiaoxiang781216 merged PR #8781:
URL: https://github.com/apache/nuttx/pull/8781
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[GitHub] [nuttx] pkarashchenko commented on a diff in pull request #8781: Add MPU60x0 IMU sensors support for ESP32C3
Posted by "pkarashchenko (via GitHub)" <gi...@apache.org>.
pkarashchenko commented on code in PR #8781:
URL: https://github.com/apache/nuttx/pull/8781#discussion_r1139941814
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
Review Comment:
The public functions section is obviously needed ;) I was talking about defines, types and other empty sections
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[GitHub] [nuttx] AuroraRAS commented on a diff in pull request #8781: Add MPU60x0 IMU sensors support for ESP32C3
Posted by "AuroraRAS (via GitHub)" <gi...@apache.org>.
AuroraRAS commented on code in PR #8781:
URL: https://github.com/apache/nuttx/pull/8781#discussion_r1139843157
##########
boards/risc-v/esp32c3/common/src/esp32c3_board_mpu60x0_i2c.c:
##########
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * 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 <nuttx/config.h>
+
+#include <stdio.h>
+#include <debug.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>
+#include <nuttx/sensors/mpu60x0.h>
+#include <nuttx/i2c/i2c_master.h>
+
+#include "esp32c3_i2c.h"
+
+#include "esp32c3_board_mpu60x0_i2c.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Data
+ ****************************************************************************/
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_bmp180_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];
+ FAR 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 I2C0 */
Review Comment:
I pushed a more compliant version.
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