JerrySlhao opened a new pull request, #15428:
URL: https://github.com/apache/nuttx/pull/15428
add bmi088 device used spi,now support spi. By the way, the STM32G4 series
SPI driver is added to the SPI driver of STM32.
## Summary
There is no driver of BMI088 in the sensor device driver, I am using this
sensor driver, so it is just submitted.
## Impact
This part of the code for the system just adds a new device driver function,
convenient for everyone to use.
## Testing
I used STM32G474 to create the board-level driver in the board directory,
registered the bmi088 device driver when bringing up, and then created the test
program of bmi088 in nuttx-app/example.
### nuttx-apps/examples/bmi088/bmi088_main.c
```
/****************************************************************************
* apps/system/bmi088/bmi088_main.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 <nuttx/arch.h>
#include <errno.h>
#include <sched.h>
#include <stdint.h>
#include <stdio.h>
#include <sys/boardctl.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <nuttx/fs/fs.h>
#include <nuttx/semaphore.h>
#include <unistd.h>
#include <arch/board/board.h>
#include <nuttx/sensors/bmi088.h>
int bmi088_acc_fd;
int bmi088_gyro_fd;
struct acc_gyro_st_s acc_gyro;
/****************************************************************************
* Public Functions
****************************************************************************/
static int bmi088_acc_irq_handler(int irq, FAR void *context, FAR void *arg)
{
sem_t *sem;
sem = sem_open("/acc_semphore", O_CREAT, S_IRUSR | S_IWUSR, 1);
if (sem == SEM_FAILED)
{
return 1;
}
sem_post(sem);
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
static void bmi088_acc_irq_handler_process(void)
{
sem_t *sem;
sem = sem_open("/acc_semphore", O_CREAT, S_IRUSR | S_IWUSR, 1);
if (sem == SEM_FAILED)
{
return;
}
while (1)
{
sem_wait(sem);
read (bmi088_acc_fd , &acc_gyro, sizeof(struct acc_gyro_st_s));
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
static int bmi088_gyro_irq_handler(int irq, FAR void *context, FAR void *arg)
{
sem_t *sem;
sem = sem_open("/gyro_semphore", O_CREAT, S_IRUSR | S_IWUSR, 1);
if (sem == SEM_FAILED)
{
return 1;
}
sem_post(sem);
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
static void bmi088_gyro_irq_handler_process(void)
{
sem_t *sem;
sem = sem_open("/gyro_semphore", O_CREAT, S_IRUSR | S_IWUSR, 1);
if (sem == SEM_FAILED)
{
return;
}
while (1)
{
sem_wait(sem);
read (bmi088_gyro_fd, &acc_gyro, sizeof(struct acc_gyro_st_s));
}
}
/****************************************************************************
* Name: bmi088_main
*
* Description:
* This is the main logic for the case of the BMI088 task. It will perform
* one-time NSH initialization and start an interactive session on the
* current console device.
*
****************************************************************************/
int main(int argc, FAR char *argv[])
{
int ret = 0;
bmi088_acc_fd = open("dev/spi2/acc" , O_RDWR);
bmi088_gyro_fd = open("dev/spi2/gyro", O_RDWR);
bmi088_acc_irq_handler_register (bmi088_acc_irq_handler , &acc_gyro);
bmi088_gyro_irq_handler_register(bmi088_gyro_irq_handler, &acc_gyro);
pid_t pid;
pid = fork();
if (pid == -1)
{
return 1;
}
else if (pid == 0)
{
bmi088_gyro_irq_handler_process();
}
else
{
bmi088_acc_irq_handler_process();
}
return ret;
}
```
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