BSP for Blue Clover PLT Demo V2, Support for BMI270 IMU (#41)

* BSP for Blue Clover PLT Demo V2

* Configure BMI270 if present, enable shell.

Supports both LY10DEMO and PLT Demo V2 boards.

* Add PLT Demo V2 to README and make dist.

* Make copyright comments consistent.

Makefile

@@ -36,7 +36,7 @@ ZEPHYR_BOARD_ROOT := $(BASE_PATH)
 
 BOARDS_APP :=
 BOARDS_APP += ly10demo
-#BOARDS_APP := nrf52dk_nrf52832
+BOARDS_APP += blueclover_plt_demo_v2_nrf52832
 
 APP_TARGETS := $(patsubst %,build.%/app/zephyr/zephyr.hex,$(BOARDS_APP))
 
@@ -80,7 +80,11 @@ dist: dist-clean dist-prep build
 	install -m 666 build.ly10demo/app/zephyr/zephyr.hex dist/app-pltdemov1-$(VERSION_TAG).hex
 	install -m 666 build.ly10demo/app/zephyr/zephyr.elf dist/app-pltdemov1-$(VERSION_TAG).elf
 	install -m 666 build.ly10demo/app/zephyr/zephyr.map dist/app-pltdemov1-$(VERSION_TAG).map
-	sed 's/{{VERSION}}/$(VERSION_TAG)/g' test-suites/suite-demo-board-zephyr.yaml.template > dist/suite-demo-board-zephyr-$(VERSION_TAG).yaml
+	sed 's/{{BOARD}}/pltdemov1/g; s/{{VERSION}}/$(VERSION_TAG)/g' test-suites/suite-demo-board-zephyr.yaml.template > dist/suite-pltdemov1-board-zephyr-$(VERSION_TAG).yaml
+	install -m 666 build.blueclover_plt_demo_v2_nrf52832/app/zephyr/zephyr.hex dist/app-pltdemov2-$(VERSION_TAG).hex
+	install -m 666 build.blueclover_plt_demo_v2_nrf52832/app/zephyr/zephyr.elf dist/app-pltdemov2-$(VERSION_TAG).elf
+	install -m 666 build.blueclover_plt_demo_v2_nrf52832/app/zephyr/zephyr.map dist/app-pltdemov2-$(VERSION_TAG).map
+	sed 's/{{BOARD}}/pltdemov2/g; s/{{VERSION}}/$(VERSION_TAG)/g' test-suites/suite-demo-board-zephyr.yaml.template > dist/suite-pltdemov2-board-zephyr-$(VERSION_TAG).yaml
 
 .PHONY: deploy
 deploy:

README.md

@@ -1,10 +1,10 @@
 # ly10-zephyr-fw
 
-Zephyr-based firmware for LY10DEMO
+Zephyr-based firmware for LY10DEMO and PLT Demo V2
 
 - Build platform: macOS, Linux
-- Host platform: LY10DEMO(nRF52)
-- Target platform: LY10DEMO(nRF52)
+- Host platform: LY10DEMO(nRF52), PLT Demo V2 (nRF52)
+- Target platform: LY10DEMO(nRF52), PLT Demo V2 (nRF52)
 
 ## Docker build
 

app/prj.conf

@@ -18,3 +18,8 @@ CONFIG_SPI=y
 CONFIG_NRFX_SPI=y
 CONFIG_LED_STRIP=y
 CONFIG_APA102_STRIP=y
+
+CONFIG_SHELL=y
+CONFIG_SHELL_PROMPT_UART="plt-demo:~$ "
+CONFIG_GPIO_SHELL=y
+CONFIG_I2C_SHELL=y

app/src/app_sensor.c

@@ -13,7 +13,7 @@
 
 #include "app_sensor.h"
 
-int app_sensor_setup(void)
+int app_sensor_evironmental_setup(void)
 {
 	struct sensor_value temp, hum;
 	const struct device *dev = device_get_binding("SHT3XD");
@@ -39,3 +39,91 @@ int app_sensor_setup(void)
 	       sensor_value_to_double(&temp), sensor_value_to_double(&hum));
 	return 0;
 }
+
+int app_sensor_motion_setup(void)
+{
+	int rc;
+	struct sensor_value acc[3], gyr[3];
+	const struct device *dev = device_get_binding("BMI270");
+	struct sensor_value full_scale, sampling_freq, oversampling;
+
+	if (dev == NULL) {
+		printf("Could not get BMI270 device\n");
+		return -1;
+	}
+
+	/* Set accelerometer scale, frequency, and mode. */
+	full_scale.val1 = 2;       /* 2G scale range */
+	full_scale.val2 = 0;
+	sampling_freq.val1 = 100;  /* 100Hz frequency */
+	sampling_freq.val2 = 0;
+	oversampling.val1 = 1;     /* Normal mode */
+	oversampling.val2 = 0;
+
+	rc = sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_FULL_SCALE,
+			&full_scale);
+	if (rc != 0) {
+		printf("%s setting accel full_scale failed, rc=%d\n", __func__, rc);
+		return rc;
+	}
+	rc = sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_OVERSAMPLING,
+			&oversampling);
+	if (rc != 0) {
+		printf("%s setting accel oversampling failed, rc=%d\n", __func__, rc);
+		return rc;
+	}
+	rc = sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
+			SENSOR_ATTR_SAMPLING_FREQUENCY,
+			&sampling_freq);
+	if (rc != 0) {
+		printf("%s setting accel sampling_freq failed, rc=%d\n", __func__, rc);
+		return rc;
+	}
+
+	/* Set gyroscope scale, frequency, and mode. */
+	full_scale.val1 = 500;     /* dps */
+	full_scale.val2 = 0;
+	sampling_freq.val1 = 100;  /* 100Hz. Performance mode */
+	sampling_freq.val2 = 0;
+	oversampling.val1 = 1;     /* Normal mode */
+	oversampling.val2 = 0;
+
+	rc = sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_FULL_SCALE,
+			&full_scale);
+	if (rc != 0) {
+		printf("%s setting gyro full_scale failed, rc=%d\n", __func__, rc);
+		return rc;
+	}
+	rc = sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_OVERSAMPLING,
+			&oversampling);
+	if (rc != 0) {
+		printf("%s setting gyro oversampling failed, rc=%d\n", __func__, rc);
+		return rc;
+	}
+	rc = sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ,
+			SENSOR_ATTR_SAMPLING_FREQUENCY,
+			&sampling_freq);
+	if (rc != 0) {
+		printf("%s setting gyro sampling_freq failed, rc=%d\n", __func__, rc);
+		return rc;
+	}
+
+	/* Wait for intial samples */
+	k_sleep(K_MSEC(100));
+
+	sensor_sample_fetch(dev);
+
+	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ, acc);
+	sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ, gyr);
+
+	printf("BMI270 AX: %d.%06d; AY: %d.%06d; AZ: %d.%06d;\n"
+	       "       GX: %d.%06d; GY: %d.%06d; GZ: %d.%06d;\n",
+		acc[0].val1, acc[0].val2,
+		acc[1].val1, acc[1].val2,
+		acc[2].val1, acc[2].val2,
+		gyr[0].val1, gyr[0].val2,
+		gyr[1].val1, gyr[1].val2,
+		gyr[2].val1, gyr[2].val2);
+
+	return 0;
+}

app/src/app_sensor.h

@@ -4,4 +4,14 @@
 // Copyright (c) 2021 Blue Clover Devices
 //
 
-int app_sensor_setup(void);
+/*
+ * @brief Setup environmental sensor, if present.
+ * @return 0 on success, non-zero on failure.
+ */
+int app_sensor_evironmental_setup(void);
+
+/*
+ * @brief Setup motion sensor, if present.
+ * @return 0 on success, non-zero on failure.
+ */
+int app_sensor_motion_setup(void);

app/src/main.c

@@ -6,6 +6,7 @@
 
 /* main.c - Application main entry point */
 
+#include <stdio.h>
 #include <zephyr.h>
 
 #include "app_ble.h"
@@ -31,9 +32,14 @@ void main(void)
 		return;
 	}
 
-	err = app_sensor_setup();
+	err = app_sensor_evironmental_setup();
 	if (err) {
-		return;
+		printf("app_sensor_evironmental_setup() failed, err=%d\n", err);
+	}
+
+	err = app_sensor_motion_setup();
+	if (err) {
+		printf("app_sensor_motion_setup() failed, err=%d\n", err);
 	}
 
 	err = app_buzzer_setup();

boards/arm/blueclover_plt_demo_v2_nrf52832/Kconfig

@@ -0,0 +1,10 @@
+# Blue Clover PLT Demo V2 Configuration
+
+# Copyright (c) 2021 Blue Clover
+# SPDX-License-Identifier: Apache-2.0
+
+config BOARD_ENABLE_DCDC
+	bool "Enable DCDC mode"
+	select SOC_DCDC_NRF52X
+	default y
+	depends on BOARD_BLUECLOVER_PLT_DEMO_V2_NRF52832

boards/arm/blueclover_plt_demo_v2_nrf52832/Kconfig.board

@@ -0,0 +1,8 @@
+# Blue Clover PLT Demo V2 Configuration
+
+# Copyright (c) 2021 Blue Clover
+# SPDX-License-Identifier: Apache-2.0
+
+config  BOARD_BLUECLOVER_PLT_DEMO_V2_NRF52832
+	bool "Blue Clover PLT Demo Board V2"
+	depends on SOC_NRF52832_QFAA

boards/arm/blueclover_plt_demo_v2_nrf52832/Kconfig.defconfig

@@ -0,0 +1,14 @@
+# Blue Clover PLT Demo V2 Configuration
+
+# Copyright (c) 2021 Blue Clover
+# SPDX-License-Identifier: Apache-2.0
+
+if BOARD_BLUECLOVER_PLT_DEMO_V2_NRF52832
+
+config BOARD
+	default "blueclover_plt_demo_v2_nrf52832"
+
+config BT_CTLR
+	default BT
+
+endif # BOARD_BLUECLOVER_PLT_DEMO_V2_NRF52832

boards/arm/blueclover_plt_demo_v2_nrf52832/README.rst

@@ -0,0 +1,8 @@
+.. SPDX-License-Identifier: Apache-2.0
+
+blueclover_plt_demo_v2_nrf52832
+===============================
+
+nRF52-based demo board for Blue Clover Production Line Tool (PLT).
+
+- SoC: Nordic nRF52 (arm)

boards/arm/blueclover_plt_demo_v2_nrf52832/blueclover_plt_demo_v2_nrf52832.dts

@@ -0,0 +1,163 @@
+// SPDX-License-Identifier: Apache-2.0
+
+/*
+ * Copyright (c) 2021 Blue Clover
+ */
+
+/dts-v1/;
+#include <nordic/nrf52832_qfaa.dtsi>
+
+/ {
+	model = "Blue Clover PLT Demo Board V2";
+	compatible = "nordic,blueclover-plt-demo-v2-nrf52832";
+
+	chosen {
+		zephyr,console = &uart0;
+		zephyr,shell-uart = &uart0;
+		zephyr,uart-mcumgr = &uart0;
+		zephyr,bt-mon-uart = &uart0;
+		zephyr,bt-c2h-uart = &uart0;
+		zephyr,sram = &sram0;
+		zephyr,flash = &flash0;
+		zephyr,code-partition = &slot0_partition;
+	};
+
+	buttons {
+		compatible = "gpio-keys";
+		button0: button_0 {
+			gpios = <&gpio0 26 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "Push button switch 0";
+		};
+		button1: button_1 {
+			gpios = <&gpio0 21 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
+			label = "Push button switch 1";
+		};
+	};
+
+	/* These aliases are provided for compatibility with samples */
+	aliases {
+		sw0 = &button0;
+		sw1 = &button1;
+		pwm-buzzer = &pwm0;
+	};
+};
+
+&adc {
+	status ="okay";
+};
+
+&gpiote {
+	status ="okay";
+};
+
+&gpio0 {
+	status ="okay";
+};
+
+arduino_serial: &uart0 {
+	status = "okay";
+	compatible = "nordic,nrf-uart";
+	current-speed = <115200>;
+	tx-pin = <6>;
+	rx-pin = <8>;
+	rts-pin = <5>;
+	cts-pin = <7>;
+};
+
+&i2c0 {
+	compatible = "nordic,nrf-twi";
+	status = "okay";
+	sda-pin = <12>;
+	scl-pin = <14>;
+
+	sht3xd@44 {
+		compatible = "sensirion,sht3xd";
+		reg = <0x44>;
+		label = "SHT3XD";
+	};
+
+	bmi270@68 {
+		compatible = "bosch,bmi270";
+		reg = <0x68>;
+		label = "BMI270";
+	};
+};
+
+&i2c1 {
+	compatible = "nordic,nrf-twi";
+	/* Cannot be used together with spi1. */
+	/* status = "okay"; */
+	sda-pin = <30>;
+	scl-pin = <31>;
+};
+
+&pwm0 {
+	/* buzzer */
+	status = "okay";
+	ch0-pin = <22>;
+	ch0-inverted;
+};
+
+&spi0 {
+	compatible = "nordic,nrf-spi";
+	/* status = "okay"; */
+	sck-pin = <27>;
+	mosi-pin = <26>;
+	miso-pin = <25>;
+};
+
+&spi1 {
+	compatible = "nordic,nrf-spi";
+	status = "okay";
+	sck-pin = <2>;
+	mosi-pin = <3>;
+	miso-pin = <27>; /* unused */
+
+	apa102@0 {
+		compatible = "apa,apa102";
+		reg = <0>;
+		spi-max-frequency = <5250000>;
+		label = "APA102";
+	};
+};
+
+&spi2 {
+	compatible = "nordic,nrf-spi";
+	/* status = "okay"; */
+	sck-pin = <22>;
+	mosi-pin = <23>;
+	miso-pin = <24>;
+};
+
+&flash0 {
+	/*
+	 * For more information, see:
+	 * http://docs.zephyrproject.org/latest/guides/dts/index.html#flash-partitions
+	 */
+	partitions {
+		compatible = "fixed-partitions";
+		#address-cells = <1>;
+		#size-cells = <1>;
+
+		boot_partition: partition@0 {
+			label = "mcuboot";
+			reg = <0x00000000 0xc000>;
+		};
+		slot0_partition: partition@c000 {
+			label = "image-0";
+			reg = <0x0000C000 0x32000>;
+		};
+		slot1_partition: partition@3e000 {
+			label = "image-1";
+			reg = <0x0003E000 0x32000>;
+		};
+		scratch_partition: partition@70000 {
+			label = "image-scratch";
+			reg = <0x00070000 0xa000>;
+		};
+		storage_partition: partition@7a000 {
+			label = "storage";
+			reg = <0x0007a000 0x00006000>;
+		};
+	};
+};