STM32H7 SPI + Exti fixes + BMI088 driver

README.md

@@ -454,7 +454,7 @@ Please [discover modm's peripheral drivers for your specific device][discover].
 <td align="center">✅</td>
 <td align="center">✅</td>
 <td align="center">✅</td>
-<td align="center">○</td>
+<td align="center">✅</td>
 <td align="center">✅</td>
 <td align="center">✅</td>
 <td align="center">✅</td>
@@ -723,96 +723,97 @@ your specific needs.
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-block-device-spi-flash">SPI Flash</a></td>
 </tr><tr>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-bme280">BME280</a></td>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmi088">BMI088</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-bmp085">BMP085</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-bno055">BNO055</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-cat24aa">CAT24AA</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-cycle_counter">CYCLE-COUNTER</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-drv832x_spi">DRV832X</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-drv832x_spi">DRV832X</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1302">DS1302</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1631">DS1631</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ds18b20">DS18B20</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">Encoder Input</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">Encoder Input BitBang</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">Encoder Input BitBang</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">Encoder Output BitBang</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ft245">FT245</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6x06</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">Gpio Sampler</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc6343">HMC6343</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ixm42xxx">IXM42XXX</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6dso">LSM6DSO</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-max31855">MAX31855</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-max31865">MAX31865</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23x17</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp3008">MCP3008</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp990x">MCP990X</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5611">MS5611</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5837">MS5837</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-qmc5883l">QMC5883L</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-sx128x">SX128X</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
-<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
 </tr><tr>
+<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
 <td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>

examples/nucleo_h723zg/bmi088/i2c/main.cpp

@@ -0,0 +1,102 @@
+/*
+ * Copyright (c) 2023, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/driver/inertial/bmi088.hpp>
+
+#include <modm/board.hpp>
+#include <atomic>
+
+using namespace Board;
+
+using I2c = I2cMaster1;
+using Scl = GpioB8;  // D15
+using Sda = GpioB9;  // D14
+
+using AccInt1 = GpioC6;
+using GyroInt3 = GpioB15;
+
+using Transport = modm::Bmi088I2cTransport<I2c>;
+using Imu = modm::Bmi088<Transport>;
+
+constexpr uint8_t AccAddress = 0x18;
+constexpr uint8_t GyroAddress = 0x68;
+Imu imu{AccAddress, GyroAddress};
+
+void initializeImu()
+{
+	AccInt1::setInput(AccInt1::InputType::PullDown);
+	GyroInt3::setInput(GyroInt3::InputType::PullDown);
+
+	constexpr bool selfTest = true;
+	while (!imu.initialize(selfTest)) {
+		MODM_LOG_ERROR << "Initialization failed, retrying ...\n";
+		modm::delay(500ms);
+	}
+
+	bool ok = imu.setAccRate(Imu::AccRate::Rate12Hz_Bw5Hz);
+	ok &= imu.setAccRange(Imu::AccRange::Range3g);
+
+	const auto int1Config = (Imu::AccGpioConfig::ActiveHigh | Imu::AccGpioConfig::EnableOutput);
+	ok &= imu.setAccInt1GpioConfig(int1Config);
+	ok &= imu.setAccGpioMap(Imu::AccGpioMap::Int1DataReady);
+
+	ok &= imu.setGyroRate(Imu::GyroRate::Rate100Hz_Bw12Hz);
+	ok &= imu.setGyroRange(Imu::GyroRange::Range250dps);
+	ok &= imu.setGyroGpioConfig(Imu::GyroGpioConfig::Int3ActiveHigh);
+	ok &= imu.setGyroGpioMap(Imu::GyroGpioMap::Int3DataReady);
+
+	if (!ok) {
+		MODM_LOG_ERROR << "Configuration failed!\n";
+	}
+}
+
+int main()
+{
+	Board::initialize();
+	Leds::setOutput();
+	I2c::connect<Scl::Scl, Sda::Sda>(I2c::PullUps::Internal);
+	I2c::initialize<Board::SystemClock, 100_kHz, 10_pct>();
+
+	MODM_LOG_INFO << "BMI088 I2C Test\n";
+	initializeImu();
+
+	std::atomic_bool accReady = false;
+	std::atomic_bool gyroReady = false;
+
+	Exti::connect<AccInt1>(Exti::Trigger::RisingEdge, [&accReady](auto){
+		accReady = true;
+	});
+
+	Exti::connect<GyroInt3>(Exti::Trigger::RisingEdge, [&gyroReady](auto){
+		gyroReady = true;
+	});
+
+	while (true)
+	{
+		while(!accReady or !gyroReady);
+
+		const std::optional accResult = imu.readAccData();
+		accReady = false;
+		const std::optional gyroResult = imu.readGyroData();
+		gyroReady = false;
+
+		if (accResult) {
+			const modm::Vector3f data = accResult->getFloat();
+			MODM_LOG_INFO.printf("Acc  [mg]\tx:\t%5.1f\ty: %5.1f\tz: %5.1f\n", data[0], data[1], data[2]);
+		}
+		if (gyroResult) {
+			const modm::Vector3f data = gyroResult->getFloat();
+			MODM_LOG_INFO.printf("Gyro [deg/s]\tx:\t%5.2f\ty: %5.2f\tz: %5.2f\n", data[0], data[1], data[2]);
+		}
+	}
+
+	return 0;
+}

examples/nucleo_h723zg/bmi088/i2c/project.xml

@@ -0,0 +1,14 @@
+<library>
+  <extends>modm:nucleo-h723zg</extends>
+  <options>
+    <option name="modm:build:build.path">../../../../build/nucleo_h723zg/bmi088_i2c</option>
+    <option name="modm:processing:protothread:use_fiber">yes</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:fiber</module>
+    <module>modm:platform:exti</module>
+    <module>modm:platform:i2c:1</module>
+    <module>modm:driver:bmi088</module>
+  </modules>
+</library>

examples/nucleo_h723zg/bmi088/spi/main.cpp

@@ -0,0 +1,103 @@
+/*
+ * Copyright (c) 2023, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/driver/inertial/bmi088.hpp>
+
+#include <modm/board.hpp>
+#include <atomic>
+
+using namespace Board;
+
+using Spi = SpiMaster2_Dma<Dma1::Channel0, Dma1::Channel1>;
+using CsGyro = GpioC0;
+using CsAcc = GpioD6;
+using Mosi = GpioC3;
+using Miso = GpioC2;
+using Sck = GpioD3;
+
+using AccInt1 = GpioC8;
+using GyroInt3 = GpioC9;
+
+using Transport = modm::Bmi088SpiTransport<Spi, CsAcc, CsGyro>;
+using Imu = modm::Bmi088<Transport>;
+Imu imu;
+
+void initializeImu()
+{
+	AccInt1::setInput(AccInt1::InputType::PullDown);
+	GyroInt3::setInput(GyroInt3::InputType::PullDown);
+
+	constexpr bool selfTest = true;
+	while (!imu.initialize(selfTest)) {
+		MODM_LOG_ERROR << "Initialization failed, retrying ...\n";
+		modm::delay(500ms);
+	}
+
+	bool ok = imu.setAccRate(Imu::AccRate::Rate12Hz_Bw5Hz);
+	ok &= imu.setAccRange(Imu::AccRange::Range3g);
+
+	const auto int1Config = (Imu::AccGpioConfig::ActiveHigh | Imu::AccGpioConfig::EnableOutput);
+	ok &= imu.setAccInt1GpioConfig(int1Config);
+	ok &= imu.setAccGpioMap(Imu::AccGpioMap::Int1DataReady);
+
+	ok &= imu.setGyroRate(Imu::GyroRate::Rate100Hz_Bw12Hz);
+	ok &= imu.setGyroRange(Imu::GyroRange::Range250dps);
+	ok &= imu.setGyroGpioConfig(Imu::GyroGpioConfig::Int3ActiveHigh);
+	ok &= imu.setGyroGpioMap(Imu::GyroGpioMap::Int3DataReady);
+
+	if (!ok) {
+		MODM_LOG_ERROR << "Configuration failed!\n";
+	}
+}
+
+int main()
+{
+	Board::initialize();
+	Leds::setOutput();
+	Dma1::enable();
+	Spi::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();
+	Spi::initialize<Board::SystemClock, 9_MHz, 10_pct>();
+
+	MODM_LOG_INFO << "BMI088 SPI Test\n";
+	initializeImu();
+
+	std::atomic_bool accReady = false;
+	std::atomic_bool gyroReady = false;
+
+	Exti::connect<AccInt1>(Exti::Trigger::RisingEdge, [&accReady](auto){
+		accReady = true;
+	});
+
+	Exti::connect<GyroInt3>(Exti::Trigger::RisingEdge, [&gyroReady](auto){
+		gyroReady = true;
+	});
+
+	while (true)
+	{
+		while(!accReady or !gyroReady);
+
+		const std::optional accResult = imu.readAccData();
+		accReady = false;
+		const std::optional gyroResult = imu.readGyroData();
+		gyroReady = false;
+
+		if (accResult) {
+			const modm::Vector3f data = accResult->getFloat();
+			MODM_LOG_INFO.printf("Acc  [mg]\tx:\t%5.1f\ty: %5.1f\tz: %5.1f\n", data[0], data[1], data[2]);
+		}
+		if (gyroResult) {
+			const modm::Vector3f data = gyroResult->getFloat();
+			MODM_LOG_INFO.printf("Gyro [deg/s]\tx:\t%5.2f\ty: %5.2f\tz: %5.2f\n", data[0], data[1], data[2]);
+		}
+	}
+
+	return 0;
+}

examples/nucleo_h723zg/bmi088/spi/project.xml

@@ -0,0 +1,15 @@
+<library>
+  <extends>modm:nucleo-h723zg</extends>
+  <options>
+    <option name="modm:build:build.path">../../../../build/nucleo_h723zg/bmi088_spi</option>
+    <option name="modm:processing:protothread:use_fiber">yes</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:fiber</module>
+    <module>modm:platform:dma</module>
+    <module>modm:platform:exti</module>
+    <module>modm:platform:spi:2</module>
+    <module>modm:driver:bmi088</module>
+  </modules>
+</library>