Boiler plate driver implemented with WHO_AM_I register reading. This …

…adds support for the driver to all RP2040 devices and also adds the documentation page for the driver, to be added to as it's implemented.

Documentation/components/drivers/special/sensors/lsm6dso32.rst

@@ -0,0 +1,40 @@
+LSM6DSO32
+=========
+
+Contributed by Carleton University InSpace.
+
+The LSM6DSO32 is an inertial measurement unit that contains an accelerometer and
+gyroscope.
+
+Application Programming Interface
+=================================
+
+The header file for the LSM6DSO32 interface can be included using:
+
+.. code-block:: c
+
+   #include <nuttx/sensors/lsm6dso32.h>
+
+The LSM6DSO32 registration function allows the driver to be registered as a
+POSIX character driver.
+
+The standard POSIX `read()` function will return the 3 axes measurements of both
+acceleration and angular velocity in plain-text, which is useful when
+debugging/testing the driver using `cat` from the shell.
+
+The `write()` operation is not implemented for this sensor.
+
+Specific operations the sensor offers can be performed via the POSIX `ioctl`
+operation. The supported commands are:
+
+ * :c:macro:`SNIOC_WHO_AM_I`
+
+.. c:macro:: SNIOC_WHO_AM_I
+
+This command reads the `WHO_AM_I` register of the sensor. The register value is
+returned in the argument to the command, which must be a `uint8_t` pointer.
+
+.. code-block:: c
+
+  uint8_t whoami = 0;
+  err = ioctl(sensor, SNIOC_WHO_AM_I, &whoami);

boards/arm/rp2040/common/src/rp2040_common_bringup.c

@@ -73,6 +73,11 @@
 #include "rp2040_i2c.h"
 #endif
 
+#ifdef CONFIG_SENSORS_LSM6DSO32
+#include <nuttx/sensors/lsm6dso32.h>
+#include "rp2040_i2c.h"
+#endif
+
 #ifdef CONFIG_SENSORS_MAX6675
 #include <nuttx/sensors/max6675.h>
 #include "rp2040_max6675.h"
@@ -508,6 +513,16 @@ int rp2040_common_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_SENSORS_LSM6DSO32
+  /* Try to register LSM6DSO32 device as /dev/imu0 at I2C0. */
+
+  ret = lsm6dso32_register("/dev/imu0", rp2040_i2cbus_initialize(0), 0x6b);
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: couldn't initialize LSM6DSO32: %d\n", ret);
+    }
+#endif // CONFIG_SENSORS_LSM6DSO32
+
 #ifdef CONFIG_VIDEO_FB
   ret = fb_register(0, 0);
   if (ret < 0)

drivers/sensors/Kconfig

@@ -723,6 +723,22 @@ config LSM6DSL_I2C_FREQUENCY
 	range 1 400000
 	depends on SENSORS_LSM6DSL
 
+config SENSORS_LSM6DSO32
+	bool "LSM6DSO32 inertial module"
+	default n
+	select I2C
+	---help---
+		Enable driver support for the Semtech LSM6DSO32 intertial module.
+
+if SENSORS_LSM6DSO32
+
+config LSM6DSO32_I2C_FREQUENCY
+	int "LSM6DSO32 I2C frequency"
+	default 400000
+	range 1 400000
+
+endif # SENSORS_LSM6DSO32
+
 config SENSORS_LSM9DS1
 	bool "STMicro LSM9DS1 support"
 	default n

drivers/sensors/Make.defs

@@ -281,6 +281,10 @@ ifeq ($(CONFIG_SENSORS_SHT4X),y)
   CSRCS += sht4x.c
 endif
 
+ifeq ($(CONFIG_SENSORS_LSM6DSO32),y)
+  CSRCS += lsm6dso32.c
+endif
+
 ifeq ($(CONFIG_SENSORS_SPS30),y)
   CSRCS += sps30.c
 endif