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commit 4cf1566657d3b558afd87000c37626be4c6ecb77 Author: Alan Carvalho de Assis <[email protected]> AuthorDate: Fri Oct 9 11:41:12 2026 -0300 boards/stm32f4discovery: Add board support to SCL3300 sensor This commit adds support to SCL3300 driver. Signed-off-by: Alan C. Assis <[email protected]> Assisted-by: Claude Code --- boards/arm/common/stm32/include/stm32_scl3300.h | 83 ++++++++++++++++++++++ boards/arm/common/stm32/src/CMakeLists.txt | 4 ++ boards/arm/common/stm32/src/Make.defs | 4 ++ boards/arm/common/stm32/src/stm32_scl3300.c | 78 ++++++++++++++++++++ .../stm32f4discovery/configs/scl3300/defconfig | 57 +++++++++++++++ .../stm32f4/stm32f4discovery/src/stm32_bringup.c | 17 +++++ .../arm/stm32f4/stm32f4discovery/src/stm32_spi.c | 20 +++++- .../stm32f4discovery/src/stm32f4discovery.h | 17 +++++ 8 files changed, 278 insertions(+), 2 deletions(-) diff --git a/boards/arm/common/stm32/include/stm32_scl3300.h b/boards/arm/common/stm32/include/stm32_scl3300.h new file mode 100644 index 00000000000..2dc639949cd --- /dev/null +++ b/boards/arm/common/stm32/include/stm32_scl3300.h @@ -0,0 +1,83 @@ +/**************************************************************************** + * boards/arm/common/stm32/include/stm32_scl3300.h + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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. + * + ****************************************************************************/ + +#ifndef __BOARDS_ARM_COMMON_STM32_INCLUDE_STM32_SCL3300_H +#define __BOARDS_ARM_COMMON_STM32_INCLUDE_STM32_SCL3300_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include <nuttx/config.h> + +/**************************************************************************** + * Pre-processor Definitions + ****************************************************************************/ + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/**************************************************************************** + * Public Data + ****************************************************************************/ + +#ifdef __cplusplus +#define EXTERN extern "C" +extern "C" +{ +#else +#define EXTERN extern +#endif + +/**************************************************************************** + * Inline Functions + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: board_scl3300_initialize + * + * Description: + * Initialize and register the Murata SCL3300 inclinometer with the + * default configuration (Mode 1, always on). + * + * Input Parameters: + * devno - The uORB topic instance and SPIDEV_ACCELEROMETER() index. + * spi_busno - The SPI bus number. + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +int board_scl3300_initialize(int devno, int spi_busno); + +#undef EXTERN +#ifdef __cplusplus +} +#endif + +#endif /* __BOARDS_ARM_COMMON_STM32_INCLUDE_STM32_SCL3300_H */ diff --git a/boards/arm/common/stm32/src/CMakeLists.txt b/boards/arm/common/stm32/src/CMakeLists.txt index 50b724581eb..6175c5a0c30 100644 --- a/boards/arm/common/stm32/src/CMakeLists.txt +++ b/boards/arm/common/stm32/src/CMakeLists.txt @@ -86,6 +86,10 @@ if(CONFIG_SENSORS_MT6816) list(APPEND SRCS stm32_mt6816.c) endif() +if(CONFIG_SENSORS_SCL3300) + list(APPEND SRCS stm32_scl3300.c) +endif() + if(CONFIG_SENSORS_ZEROCROSS) list(APPEND SRCS stm32_zerocross.c) endif() diff --git a/boards/arm/common/stm32/src/Make.defs b/boards/arm/common/stm32/src/Make.defs index e62d8f0e291..3d92678a36b 100644 --- a/boards/arm/common/stm32/src/Make.defs +++ b/boards/arm/common/stm32/src/Make.defs @@ -92,6 +92,10 @@ ifeq ($(CONFIG_SENSORS_MT6816),y) CSRCS += stm32_mt6816.c endif +ifeq ($(CONFIG_SENSORS_SCL3300),y) + CSRCS += stm32_scl3300.c +endif + ifeq ($(CONFIG_INPUT_MPR121_KEYPAD),y) CSRCS += stm32_mpr121.c endif diff --git a/boards/arm/common/stm32/src/stm32_scl3300.c b/boards/arm/common/stm32/src/stm32_scl3300.c new file mode 100644 index 00000000000..cd10d2ba22a --- /dev/null +++ b/boards/arm/common/stm32/src/stm32_scl3300.c @@ -0,0 +1,78 @@ +/**************************************************************************** + * boards/arm/common/stm32/src/stm32_scl3300.c + * + * SPDX-License-Identifier: Apache-2.0 + * + * 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 <errno.h> +#include <nuttx/debug.h> + +#include <nuttx/sensors/scl3300.h> +#include <nuttx/spi/spi.h> + +#include "stm32_spi.h" +#include "stm32_scl3300.h" + +/**************************************************************************** + * Public Functions + ****************************************************************************/ + +/**************************************************************************** + * Name: board_scl3300_initialize + * + * Description: + * Initialize and register the Murata SCL3300 inclinometer with the + * default configuration (Mode 1, always on). + * + * Input Parameters: + * devno - The uORB topic instance and SPIDEV_ACCELEROMETER() index. + * spi_busno - The SPI bus number. + * + * Returned Value: + * Zero (OK) on success; a negated errno value on failure. + * + ****************************************************************************/ + +int board_scl3300_initialize(int devno, int spi_busno) +{ + struct spi_dev_s *spi; + int ret; + + spi = stm32_spibus_initialize(spi_busno); + if (spi == NULL) + { + snerr("ERROR: Failed to initialize SPI%d\n", spi_busno); + return -ENODEV; + } + + ret = scl3300_register(devno, spi, NULL); + if (ret < 0) + { + snerr("ERROR: Failed to register SCL3300 %d on SPI%d: %d\n", + devno, spi_busno, ret); + } + + return ret; +} diff --git a/boards/arm/stm32f4/stm32f4discovery/configs/scl3300/defconfig b/boards/arm/stm32f4/stm32f4discovery/configs/scl3300/defconfig new file mode 100644 index 00000000000..e12715c8c15 --- /dev/null +++ b/boards/arm/stm32f4/stm32f4discovery/configs/scl3300/defconfig @@ -0,0 +1,57 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_ARCH_FPU is not set +# CONFIG_NSH_ARGCAT is not set +# CONFIG_NSH_CMDOPT_HEXDUMP is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="stm32f4discovery" +CONFIG_ARCH_BOARD_COMMON=y +CONFIG_ARCH_BOARD_STM32F4_DISCOVERY=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32f4" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F407VG=y +CONFIG_ARCH_CHIP_STM32F4=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_BUILTIN=y +CONFIG_EXAMPLES_HELLO=y +CONFIG_FS_PROCFS=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_INIT_ENTRYPOINT="nsh_main" +CONFIG_INTELHEX_BINARY=y +CONFIG_LIBC_FLOATINGPOINT=y +CONFIG_LINE_MAX=64 +CONFIG_MM_REGIONS=2 +CONFIG_NSH_BUILTIN_APPS=y +CONFIG_NSH_FILEIOSIZE=512 +CONFIG_NSH_READLINE=y +CONFIG_PREALLOC_TIMERS=4 +CONFIG_RAM_SIZE=114688 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_WAITPID=y +CONFIG_SENSORS=y +CONFIG_SENSORS_SCL3300=y +CONFIG_START_DAY=6 +CONFIG_START_MONTH=12 +CONFIG_START_YEAR=2011 +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_PWR=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_USART2=y +CONFIG_SYSTEM_NSH=y +CONFIG_SYSTEM_SENSORTEST=y +CONFIG_UORB=y +CONFIG_UORB_LISTENER=y +CONFIG_USART2_RXBUFSIZE=128 +CONFIG_USART2_SERIAL_CONSOLE=y +CONFIG_USART2_TXBUFSIZE=128 +CONFIG_USENSOR=y diff --git a/boards/arm/stm32f4/stm32f4discovery/src/stm32_bringup.c b/boards/arm/stm32f4/stm32f4discovery/src/stm32_bringup.c index 7a8dec8f346..d6fd03eb589 100644 --- a/boards/arm/stm32f4/stm32f4discovery/src/stm32_bringup.c +++ b/boards/arm/stm32f4/stm32f4discovery/src/stm32_bringup.c @@ -67,6 +67,10 @@ #include "stm32_mt6816.h" #endif +#ifdef CONFIG_SENSORS_SCL3300 +#include "stm32_scl3300.h" +#endif + #ifdef CONFIG_INPUT_MPR121_KEYPAD #include "stm32_mpr121.h" #endif @@ -282,6 +286,18 @@ int stm32_bringup(void) } #endif +#ifdef CONFIG_SENSORS_SCL3300 + /* Initialize the SCL3300 inclinometer on SPI1 as + * /dev/uorb/sensor_inclinometer<SCL3300_DEVNO> + */ + + ret = board_scl3300_initialize(SCL3300_DEVNO, 1); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: board_scl3300_initialize failed: %d\n", ret); + } +#endif + #ifdef CONFIG_SENSORS_LIS3DSH_UORB /* Initialize the on-board LIS3DSH accelerometer as a uORB sensor on SPI1 */ @@ -666,6 +682,7 @@ int stm32_bringup(void) #if defined(CONFIG_RNDIS) && !defined(CONFIG_RNDIS_COMPOSITE) uint8_t mac[6]; + mac[0] = 0xa0; /* TODO */ mac[1] = (CONFIG_NETINIT_MACADDR_2 >> (8 * 0)) & 0xff; mac[2] = (CONFIG_NETINIT_MACADDR_1 >> (8 * 3)) & 0xff; diff --git a/boards/arm/stm32f4/stm32f4discovery/src/stm32_spi.c b/boards/arm/stm32f4/stm32f4discovery/src/stm32_spi.c index c55d078d508..c464a3d8b5a 100644 --- a/boards/arm/stm32f4/stm32f4discovery/src/stm32_spi.c +++ b/boards/arm/stm32f4/stm32f4discovery/src/stm32_spi.c @@ -70,8 +70,17 @@ void weak_function stm32_spidev_initialize(void) #endif #if defined(CONFIG_STM32_SPI1) && (defined(CONFIG_SENSORS_LIS3MDL) || \ - defined(CONFIG_SENSORS_LIS3DSH_UORB) || defined(CONFIG_LIS3DSH)) - stm32_configgpio(GPIO_CS_MEMS); /* MEMS chip select */ + defined(CONFIG_SENSORS_LIS3DSH_UORB) || defined(CONFIG_LIS3DSH) || \ + defined(CONFIG_SENSORS_SCL3300)) + /* MEMS chip select. Also driven high with the SCL3300 so that the + * on-board LIS3DSH, which shares SPI1, never drives MISO. + */ + + stm32_configgpio(GPIO_CS_MEMS); +#endif + +#if defined(CONFIG_STM32_SPI1) && defined(CONFIG_SENSORS_SCL3300) + stm32_configgpio(GPIO_SCL3300_CS); /* SCL3300 chip select */ #endif #if defined(CONFIG_STM32_SPI1) && defined(CONFIG_CL_MFRC522) @@ -205,6 +214,13 @@ void stm32_spi1select(struct spi_dev_s *dev, uint32_t devid, } #endif +#if defined(CONFIG_SENSORS_SCL3300) + if (devid == SPIDEV_ACCELEROMETER(SCL3300_DEVNO)) + { + stm32_gpiowrite(GPIO_SCL3300_CS, !selected); + } +#endif + #if defined(CONFIG_CL_MFRC522) if (devid == SPIDEV_CONTACTLESS(0)) { diff --git a/boards/arm/stm32f4/stm32f4discovery/src/stm32f4discovery.h b/boards/arm/stm32f4/stm32f4discovery/src/stm32f4discovery.h index 2989dc8bc33..c0f531409ad 100644 --- a/boards/arm/stm32f4/stm32f4discovery/src/stm32f4discovery.h +++ b/boards/arm/stm32f4/stm32f4discovery/src/stm32f4discovery.h @@ -303,6 +303,23 @@ #define GPIO_CS_MFRC522 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\ GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3) +/* Murata SCL3300 inclinometer on SPI1 (PA5 SCK, PA6 MISO, PA7 MOSI) with + * chip select on PC4. It uses SPIDEV_ACCELEROMETER(SCL3300_DEVNO) and + * the uORB topics sensor_inclinometer<SCL3300_DEVNO> and + * sensor_accel<SCL3300_DEVNO>. Instance 0 belongs to the on-board MEMS + * (LIS3DSH) when its driver is enabled, so the SCL3300 moves to 1. + */ + +#define GPIO_SCL3300_CS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\ + GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN4) + +#if defined(CONFIG_SENSORS_LIS3MDL) || defined(CONFIG_SENSORS_LIS3DSH_UORB) || \ + defined(CONFIG_LIS3DSH) +# define SCL3300_DEVNO 1 +#else +# define SCL3300_DEVNO 0 +#endif + /* Use same pins as ENC28J60 to W5500 */ #define GPIO_W5500_CS (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
