M5Stack StickS3 - New Tab5 - driver modules (#516)
Font size set to 18 for 800x480 displays Fix web server dashboard not rendering when sdcard isn't present Added new driver modules - BM8563 RTC - RX8130CE RTC - MPU6886 IMU - QMI8658 IMU - M5PM1 Power Management Chip Applied the above modules to applicable devicetrees. Added new device: M5Stack StickS3 Added new M5Stack Tab5 St7123 variant. ButtonControl changed to use interupts and xQueue, added AppClose action. And some bonus symbols of course, the apps are hungry for symbols.
This commit is contained in:
Shadowtrance
@@ -0,0 +1,11 @@
|
||||
cmake_minimum_required(VERSION 3.20)
|
||||
|
||||
include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake")
|
||||
|
||||
file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
|
||||
|
||||
tactility_add_module(mpu6886-module
|
||||
SRCS ${SOURCE_FILES}
|
||||
INCLUDE_DIRS include/
|
||||
REQUIRES TactilityKernel
|
||||
)
|
||||
@@ -0,0 +1,195 @@
|
||||
Apache License
|
||||
==============
|
||||
|
||||
_Version 2.0, January 2004_
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_<<http://www.apache.org/licenses/>>_
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### Terms and Conditions for use, reproduction, and distribution
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@@ -0,0 +1,7 @@
|
||||
# MPU6886 I2C Driver
|
||||
|
||||
A driver for the `MPU6886` 6-axis IMU.
|
||||
|
||||
See https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/datasheet/core/MPU-6886-000193%2Bv1.1_GHIC_en.pdf
|
||||
|
||||
License: [Apache v2.0](LICENSE-Apache-2.0.md)
|
||||
@@ -0,0 +1,5 @@
|
||||
description: InvenSense (TDK) MPU-6886 6-axis IMU
|
||||
|
||||
include: ["i2c-device.yaml"]
|
||||
|
||||
compatible: "invensense,mpu6886"
|
||||
@@ -0,0 +1,3 @@
|
||||
dependencies:
|
||||
- TactilityKernel
|
||||
bindings: bindings
|
||||
@@ -0,0 +1,15 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#pragma once
|
||||
|
||||
#include <tactility/bindings/bindings.h>
|
||||
#include <drivers/mpu6886.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
DEFINE_DEVICETREE(mpu6886, struct Mpu6886Config)
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,33 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#pragma once
|
||||
|
||||
#include <stdint.h>
|
||||
#include <tactility/error.h>
|
||||
|
||||
struct Device;
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
struct Mpu6886Config {
|
||||
/** Address on bus */
|
||||
uint8_t address;
|
||||
};
|
||||
|
||||
struct Mpu6886Data {
|
||||
float ax, ay, az; // acceleration in g (±8g range)
|
||||
float gx, gy, gz; // angular rate in °/s (±2000°/s range)
|
||||
};
|
||||
|
||||
/**
|
||||
* Read accelerometer and gyroscope data.
|
||||
* @param[in] device mpu6886 device
|
||||
* @param[out] data Pointer to Mpu6886Data to populate
|
||||
* @return ERROR_NONE on success
|
||||
*/
|
||||
error_t mpu6886_read(struct Device* device, struct Mpu6886Data* data);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,14 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#pragma once
|
||||
|
||||
#include <tactility/module.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
extern struct Module mpu6886_module;
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
@@ -0,0 +1,34 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <tactility/check.h>
|
||||
#include <tactility/driver.h>
|
||||
#include <tactility/module.h>
|
||||
|
||||
extern "C" {
|
||||
|
||||
extern Driver mpu6886_driver;
|
||||
|
||||
static error_t start() {
|
||||
/* We crash when construct fails, because if a single driver fails to construct,
|
||||
* there is no guarantee that the previously constructed drivers can be destroyed */
|
||||
check(driver_construct_add(&mpu6886_driver) == ERROR_NONE);
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
static error_t stop() {
|
||||
/* We crash when destruct fails, because if a single driver fails to destruct,
|
||||
* there is no guarantee that the previously destroyed drivers can be recovered */
|
||||
check(driver_remove_destruct(&mpu6886_driver) == ERROR_NONE);
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
extern const ModuleSymbol mpu6886_module_symbols[];
|
||||
|
||||
Module mpu6886_module = {
|
||||
.name = "mpu6886",
|
||||
.start = start,
|
||||
.stop = stop,
|
||||
.symbols = mpu6886_module_symbols,
|
||||
.internal = nullptr
|
||||
};
|
||||
|
||||
} // extern "C"
|
||||
@@ -0,0 +1,158 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <drivers/mpu6886.h>
|
||||
#include <mpu6886_module.h>
|
||||
#include <tactility/device.h>
|
||||
#include <tactility/drivers/i2c_controller.h>
|
||||
#include <tactility/log.h>
|
||||
|
||||
#define TAG "MPU6886"
|
||||
|
||||
// Register map
|
||||
static constexpr uint8_t REG_SMPLRT_DIV = 0x19; // sample rate divider
|
||||
static constexpr uint8_t REG_CONFIG = 0x1A; // DLPF config
|
||||
static constexpr uint8_t REG_GYRO_CONFIG = 0x1B; // gyro full-scale select
|
||||
static constexpr uint8_t REG_ACCEL_CONFIG = 0x1C; // accel full-scale select
|
||||
static constexpr uint8_t REG_ACCEL_CONFIG2 = 0x1D; // accel low-pass filter
|
||||
static constexpr uint8_t REG_INT_PIN_CFG = 0x37; // interrupt pin config
|
||||
static constexpr uint8_t REG_INT_ENABLE = 0x38; // interrupt enable
|
||||
static constexpr uint8_t REG_ACCEL_XOUT_H = 0x3B; // first accel output register
|
||||
static constexpr uint8_t REG_GYRO_XOUT_H = 0x43; // first gyro output register
|
||||
static constexpr uint8_t REG_USER_CTRL = 0x6A; // user control (DMP, FIFO, I2C)
|
||||
static constexpr uint8_t REG_PWR_MGMT_1 = 0x6B; // power management 1
|
||||
static constexpr uint8_t REG_PWR_MGMT_2 = 0x6C; // power management 2
|
||||
static constexpr uint8_t REG_FIFO_EN = 0x23; // FIFO enable
|
||||
static constexpr uint8_t REG_WHO_AM_I = 0x75; // chip ID — expect 0x19
|
||||
|
||||
static constexpr uint8_t WHO_AM_I_VALUE = 0x19;
|
||||
|
||||
// Configuration values
|
||||
// GYRO_CONFIG: FS_SEL=3 (±2000°/s), FCHOICE_B=00 → 0x18
|
||||
static constexpr uint8_t GYRO_CONFIG_VAL = 0x18;
|
||||
// ACCEL_CONFIG: AFS_SEL=2 (±8g) → 0x10
|
||||
static constexpr uint8_t ACCEL_CONFIG_VAL = 0x10;
|
||||
// CONFIG: DLPF_CFG=1 → gyro BW=176Hz, temp BW=188Hz → 0x01
|
||||
static constexpr uint8_t CONFIG_VAL = 0x01;
|
||||
// SMPLRT_DIV: sample rate = 1kHz / (1 + 5) = 166Hz → 0x05
|
||||
static constexpr uint8_t SMPLRT_DIV_VAL = 0x05;
|
||||
|
||||
// Scaling: full-scale / 2^15
|
||||
static constexpr float ACCEL_SCALE = 8.0f / 32768.0f; // g per LSB (±8g)
|
||||
static constexpr float GYRO_SCALE = 2000.0f / 32768.0f; // °/s per LSB (±2000°/s)
|
||||
|
||||
static constexpr TickType_t I2C_TIMEOUT_TICKS = pdMS_TO_TICKS(10);
|
||||
|
||||
#define GET_CONFIG(device) (static_cast<const Mpu6886Config*>((device)->config))
|
||||
|
||||
// region Driver lifecycle
|
||||
|
||||
static error_t start(Device* device) {
|
||||
auto* i2c_controller = device_get_parent(device);
|
||||
if (device_get_type(i2c_controller) != &I2C_CONTROLLER_TYPE) {
|
||||
LOG_E(TAG, "Parent is not an I2C controller");
|
||||
return ERROR_RESOURCE;
|
||||
}
|
||||
|
||||
auto address = GET_CONFIG(device)->address;
|
||||
|
||||
// Verify chip ID
|
||||
uint8_t who_am_i = 0;
|
||||
if (i2c_controller_register8_get(i2c_controller, address, REG_WHO_AM_I, &who_am_i, I2C_TIMEOUT_TICKS) != ERROR_NONE
|
||||
|| who_am_i != WHO_AM_I_VALUE) {
|
||||
LOG_E(TAG, "WHO_AM_I mismatch: got 0x%02X, expected 0x%02X", who_am_i, WHO_AM_I_VALUE);
|
||||
return ERROR_RESOURCE;
|
||||
}
|
||||
|
||||
// Wake from sleep (clear all PWR_MGMT_1 bits)
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_PWR_MGMT_1, 0x00, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
|
||||
// Device reset (bit 7)
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_PWR_MGMT_1, 0x80, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
|
||||
// Select auto clock (CLKSEL=1: PLL with gyro reference when available)
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_PWR_MGMT_1, 0x01, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
vTaskDelay(pdMS_TO_TICKS(10));
|
||||
|
||||
// Configure accel: ±8g
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_ACCEL_CONFIG, ACCEL_CONFIG_VAL, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
// Configure gyro: ±2000°/s
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_GYRO_CONFIG, GYRO_CONFIG_VAL, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
// DLPF: gyro BW=176Hz
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_CONFIG, CONFIG_VAL, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
// Sample rate: 1kHz / (1+5) = 166Hz
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_SMPLRT_DIV, SMPLRT_DIV_VAL, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
// Clear interrupt enables before reconfiguring
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_INT_ENABLE, 0x00, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
// Accel low-pass filter: ACCEL_FCHOICE_B=0, A_DLPF_CFG=0
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_ACCEL_CONFIG2, 0x00, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
// Disable DMP and FIFO
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_USER_CTRL, 0x00, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_FIFO_EN, 0x00, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
// Interrupt: active-high (ACTL=0), push-pull (OPEN=0), latched (LATCH_INT_EN=1), cleared on any read (INT_ANYRD_2CLEAR=1) → 0x30
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_INT_PIN_CFG, 0x30, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
// Enable DATA_RDY interrupt
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_INT_ENABLE, 0x01, I2C_TIMEOUT_TICKS) != ERROR_NONE) return ERROR_RESOURCE;
|
||||
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
static error_t stop(Device* device) {
|
||||
auto* i2c_controller = device_get_parent(device);
|
||||
if (device_get_type(i2c_controller) != &I2C_CONTROLLER_TYPE) {
|
||||
LOG_E(TAG, "Parent is not an I2C controller");
|
||||
return ERROR_RESOURCE;
|
||||
}
|
||||
|
||||
auto address = GET_CONFIG(device)->address;
|
||||
|
||||
// Put device to sleep (set SLEEP bit in PWR_MGMT_1)
|
||||
if (i2c_controller_register8_set(i2c_controller, address, REG_PWR_MGMT_1, 0x40, I2C_TIMEOUT_TICKS) != ERROR_NONE) {
|
||||
LOG_E(TAG, "Failed to put MPU6886 to sleep");
|
||||
return ERROR_RESOURCE;
|
||||
}
|
||||
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
// endregion
|
||||
|
||||
extern "C" {
|
||||
|
||||
error_t mpu6886_read(Device* device, Mpu6886Data* data) {
|
||||
auto* i2c_controller = device_get_parent(device);
|
||||
auto address = GET_CONFIG(device)->address;
|
||||
|
||||
// MPU6886 is big-endian (MSB first), unlike BMI270
|
||||
auto toI16 = [](uint8_t hi, uint8_t lo) -> int16_t {
|
||||
return static_cast<int16_t>(static_cast<uint16_t>(hi) << 8 | lo);
|
||||
};
|
||||
|
||||
// Burst read: accel (6) + temp (2) + gyro (6) = 14 bytes at 0x3B
|
||||
uint8_t buf[14] = {};
|
||||
error_t error = i2c_controller_read_register(i2c_controller, address, REG_ACCEL_XOUT_H, buf, sizeof(buf), I2C_TIMEOUT_TICKS);
|
||||
if (error != ERROR_NONE) return error;
|
||||
|
||||
data->ax = toI16(buf[0], buf[1]) * ACCEL_SCALE;
|
||||
data->ay = toI16(buf[2], buf[3]) * ACCEL_SCALE;
|
||||
data->az = toI16(buf[4], buf[5]) * ACCEL_SCALE;
|
||||
// buf[6..7] = temperature (skipped)
|
||||
data->gx = toI16(buf[8], buf[9]) * GYRO_SCALE;
|
||||
data->gy = toI16(buf[10], buf[11]) * GYRO_SCALE;
|
||||
data->gz = toI16(buf[12], buf[13]) * GYRO_SCALE;
|
||||
|
||||
return ERROR_NONE;
|
||||
}
|
||||
|
||||
Driver mpu6886_driver = {
|
||||
.name = "mpu6886",
|
||||
.compatible = (const char*[]) { "invensense,mpu6886", nullptr },
|
||||
.start_device = start,
|
||||
.stop_device = stop,
|
||||
.api = nullptr,
|
||||
.device_type = nullptr,
|
||||
.owner = &mpu6886_module,
|
||||
.internal = nullptr
|
||||
};
|
||||
|
||||
} // extern "C"
|
||||
@@ -0,0 +1,8 @@
|
||||
// SPDX-License-Identifier: Apache-2.0
|
||||
#include <drivers/mpu6886.h>
|
||||
#include <tactility/module.h>
|
||||
|
||||
const struct ModuleSymbol mpu6886_module_symbols[] = {
|
||||
DEFINE_MODULE_SYMBOL(mpu6886_read),
|
||||
MODULE_SYMBOL_TERMINATOR
|
||||
};
|
||||
Reference in New Issue
Block a user