Hi there,
i have built a custom board in devicetree. I have based it off the nrf52840DK dts but added in a magnetometer:
s3_mini_v1.dts
`/*
* Copyright (c) 2017 Linaro Limited
*
* SPDX-License-Identifier: Apache-2.0
*/
/dts-v1/;
#include <nordic/nrf52840_qiaa.dtsi>
#include "s3_mini_v1-pinctrl.dtsi"
/ {
model = "Nordic nRF52840 DK NRF52840";
compatible = "nordic,nrf52840-dk-nrf52840";
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;
zephyr,ieee802154 = &ieee802154;
};
leds {
compatible = "gpio-leds";
led0: led_0 {
gpios = <&gpio0 13 GPIO_ACTIVE_LOW>;
label = "Green LED 0";
};
led1: led_1 {
gpios = <&gpio0 14 GPIO_ACTIVE_LOW>;
label = "Green LED 1";
};
led2: led_2 {
gpios = <&gpio0 15 GPIO_ACTIVE_LOW>;
label = "Green LED 2";
};
led3: led_3 {
gpios = <&gpio0 16 GPIO_ACTIVE_LOW>;
label = "Green LED 3";
};
};
pwmleds {
compatible = "pwm-leds";
pwm_led0: pwm_led_0 {
pwms = <&pwm0 0 PWM_MSEC(20) PWM_POLARITY_INVERTED>;
};
};
buttons {
compatible = "gpio-keys";
button0: button_0 {
gpios = <&gpio0 11 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
label = "Push button switch 0";
};
button1: button_1 {
gpios = <&gpio0 12 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
label = "Push button switch 1";
};
button2: button_2 {
gpios = <&gpio0 24 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
label = "Push button switch 2";
};
button3: button_3 {
gpios = <&gpio0 25 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
label = "Push button switch 3";
};
};
// arduino_header: connector {
// compatible = "arduino-header-r3";
// #gpio-cells = <2>;
// gpio-map-mask = <0xffffffff 0xffffffc0>;
// gpio-map-pass-thru = <0 0x3f>;
// gpio-map = <0 0 &gpio0 3 0>, /* A0 */
// <1 0 &gpio0 4 0>, /* A1 */
// <2 0 &gpio0 28 0>, /* A2 */
// <3 0 &gpio0 29 0>, /* A3 */
// <4 0 &gpio0 30 0>, /* A4 */
// <5 0 &gpio0 31 0>, /* A5 */
// <6 0 &gpio1 1 0>, /* D0 */
// <7 0 &gpio1 2 0>, /* D1 */
// <8 0 &gpio1 3 0>, /* D2 */
// <9 0 &gpio1 4 0>, /* D3 */
// <10 0 &gpio1 5 0>, /* D4 */
// <11 0 &gpio1 6 0>, /* D5 */
// <12 0 &gpio1 7 0>, /* D6 */
// <13 0 &gpio1 8 0>, /* D7 */
// <14 0 &gpio1 10 0>, /* D8 */
// <15 0 &gpio1 11 0>, /* D9 */
// <16 0 &gpio1 12 0>, /* D10 */
// <17 0 &gpio1 13 0>, /* D11 */
// <18 0 &gpio1 14 0>, /* D12 */
// <19 0 &gpio1 15 0>, /* D13 */
// <20 0 &gpio0 26 0>, /* D14 */
// <21 0 &gpio0 27 0>; /* D15 */
// };
arduino_adc: analog-connector {
compatible = "arduino,uno-adc";
#io-channel-cells = <1>;
io-channel-map = <0 &adc 1>, /* A0 = P0.3 = AIN1 */
<1 &adc 2>, /* A1 = P0.4 = AIN2 */
<2 &adc 4>, /* A2 = P0.28 = AIN4 */
<3 &adc 5>, /* A3 = P0.29 = AIN5 */
<4 &adc 6>, /* A4 = P0.30 = AIN6 */
<5 &adc 7>; /* A5 = P0.31 = AIN7 */
};
/* These aliases are provided for compatibility with samples */
aliases {
led0 = &led0;
led1 = &led1;
led2 = &led2;
led3 = &led3;
pwm-led0 = &pwm_led0;
sw0 = &button0;
sw1 = &button1;
sw2 = &button2;
sw3 = &button3;
bootloader-led0 = &led0;
mcuboot-button0 = &button0;
mcuboot-led0 = &led0;
watchdog0 = &wdt0;
//spi-flash0 = &mx25r64;
magnetometer = &lsm303agr;
};
};
&adc {
status = "okay";
};
&gpiote {
status = "okay";
};
&gpio0 {
status = "okay";
};
&gpio1 {
status = "okay";
};
&uart0 {
compatible = "nordic,nrf-uarte";
status = "okay";
current-speed = <115200>;
pinctrl-0 = <&uart0_default>;
pinctrl-1 = <&uart0_sleep>;
pinctrl-names = "default", "sleep";
};
arduino_serial: &uart1 {
current-speed = <115200>;
pinctrl-0 = <&uart1_default>;
pinctrl-1 = <&uart1_sleep>;
pinctrl-names = "default", "sleep";
};
&i2c0 {
compatible = "nordic,nrf-twi";
status = "okay";
pinctrl-0 = <&i2c0_default>;
pinctrl-1 = <&i2c0_sleep>;
pinctrl-names = "default", "sleep";
label = "I2C0";
lsm303agr: gpio@19 {
compatible = "rohm,bh1749";
int-gpios = <&gpio0 1 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
reg = <0x19>;
status = "okay";
label = "lsm303";
//interrupts = <1 (GPIO_PULL_UP | GPIO_ACTIVE_LOW)>;
};
};
&i2c1 {
compatible = "nordic,nrf-twi";
/* Cannot be used together with spi1. */
/* status = "okay"; */
pinctrl-0 = <&i2c1_default>;
pinctrl-1 = <&i2c1_sleep>;
pinctrl-names = "default", "sleep";
};
&pwm0 {
status = "okay";
pinctrl-0 = <&pwm0_default>;
pinctrl-1 = <&pwm0_sleep>;
pinctrl-names = "default", "sleep";
};
// &spi0 {
// compatible = "nordic,nrf-spi";
// /* Cannot be used together with i2c0. */
// /* status = "okay"; */
// pinctrl-0 = <&spi0_default>;
// pinctrl-1 = <&spi0_sleep>;
// pinctrl-names = "default", "sleep";
// };
// &spi1 {
// compatible = "nordic,nrf-spi";
// status = "okay";
// pinctrl-0 = <&spi1_default>;
// pinctrl-1 = <&spi1_sleep>;
// pinctrl-names = "default", "sleep";
// };
// &spi2 {
// compatible = "nordic,nrf-spi";
// status = "disabled";
// pinctrl-0 = <&spi2_default>;
// pinctrl-1 = <&spi2_sleep>;
// pinctrl-names = "default", "sleep";
// };
// &qspi {
// status = "okay";
// pinctrl-0 = <&qspi_default>;
// pinctrl-1 = <&qspi_sleep>;
// pinctrl-names = "default", "sleep";
// mx25r64: mx25r6435f@0 {
// compatible = "nordic,qspi-nor";
// reg = <0>;
// /* MX25R64 supports only pp and pp4io */
// writeoc = "pp4io";
// /* MX25R64 supports all readoc options */
// readoc = "read4io";
// sck-frequency = <8000000>;
// jedec-id = [c2 28 17];
// sfdp-bfp = [
// e5 20 f1 ff ff ff ff 03 44 eb 08 6b 08 3b 04 bb
// ee ff ff ff ff ff 00 ff ff ff 00 ff 0c 20 0f 52
// 10 d8 00 ff 23 72 f5 00 82 ed 04 cc 44 83 68 44
// 30 b0 30 b0 f7 c4 d5 5c 00 be 29 ff f0 d0 ff ff
// ];
// size = <67108864>;
// has-dpd;
// t-enter-dpd = <10000>;
// t-exit-dpd = <35000>;
// };
// };
// arduino_spi: &spi3 {
// status = "okay";
// // cs-gpios = <&arduino_header 16 GPIO_ACTIVE_LOW>; /* D10 */
// pinctrl-0 = <&spi3_default>;
// pinctrl-1 = <&spi3_sleep>;
// pinctrl-names = "default", "sleep";
// };
&ieee802154 {
status = "okay";
};
&flash0 {
partitions {
compatible = "fixed-partitions";
#address-cells = <1>;
#size-cells = <1>;
boot_partition: partition@0 {
label = "mcuboot";
reg = <0x00000000 0x0000C000>;
};
slot0_partition: partition@c000 {
label = "image-0";
reg = <0x0000C000 0x00076000>;
};
slot1_partition: partition@82000 {
label = "image-1";
reg = <0x00082000 0x00076000>;
};
/*
* The flash starting at 0x000f8000 and ending at
* 0x000fffff is reserved for use by the application.
*/
/*
* Storage partition will be used by FCB/LittleFS/NVS
* if enabled.
*/
storage_partition: partition@f8000 {
label = "storage";
reg = <0x000f8000 0x00008000>;
};
};
};
zephyr_udc0: &usbd {
compatible = "nordic,nrf-usbd";
status = "okay";
};`
i am attempting to configure the magnetometer, however when ever i try to get the device instance for the magnetometer, i receive the following error at compilation.
\lsm303agr_m\src\main.c:120: undefined reference to__device_dts_ord_127′`
This only happens when i call any functions that require me to pass a device instance. I have tried referencing the magnetometer with different macros, but this has not fixed the issue. i can also return parameters such as ‘label’ or ‘status’ from the magnetometer but i cannot get the device instance. if i comment out the line:
if (!device_is_ready(m_lsm_dev))
and also:
i2c_reg_read_byte(m_lsm_dev, LSM_TWI_ADDR, 0X1E, &data);then it will compile.
main.c:
`/*
* Copyright (c) 2012-2014 Wind River Systems, Inc.
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/devicetree.h>
#include <zephyr/kernel.h>
#include "lsm303agr_reg.h"
#include <zephyr/logging/log.h>
#include <zephyr/device.h>
#include <zephyr/drivers/i2c.h>
#include <zephyr/drivers/gpio.h>
#include <zephyr/sys/util.h>
#include <inttypes.h>
#include <stdlib.h>
LOG_MODULE_REGISTER(foo, CONFIG_LOG_DEFAULT_LEVEL);
#define DT_DRV_COMPAT nordic_nrf_twi
#define DT_I2C0_N DT_PATH(soc, i2c_40003000)
//#define gpio DT_PROP(DT_CHILD(LABEL, lsm303agr), label)
#define LSM_TWI_ADDR 0x19
////////////////////////////////////////////////////////
#define MAGNT DT_ALIAS(magnetometer)
#if !DT_NODE_HAS_STATUS(MAGNT, okay)
#error "Unsupported board: mag devicetree alias is not defined"
#endif
stmdev_ctx_t lsm_twi_rw;
char* labl = DT_PROP(MAGNT, label);
static const struct device* m_lsm_dev = DEVICE_DT_GET(MAGNT);
static struct gpio_callback lsm_cb;
static struct gpio_dt_spec lsmint = GPIO_DT_SPEC_GET_OR(MAGNT, int_gpios, {0});
lsm303agr_reg_t m_lsm_reg;
//#define lsmint DT_PHANDLE(LSM, interrupts)
void init_lsm()
{
uint8_t err, data;
memset(&m_lsm_reg.cfg_reg_a_m , 0, sizeof(m_lsm_reg.cfg_reg_a_m ));
m_lsm_reg.cfg_reg_a_m.comp_temp_en = true;
m_lsm_reg.cfg_reg_a_m.lp = true;
m_lsm_reg.cfg_reg_b_m.lpf = true;
m_lsm_reg.cfg_reg_b_m.int_on_dataoff = true;
m_lsm_reg.cfg_reg_c_m.drdy_on_pin = true;
m_lsm_reg.cfg_reg_c_m.bdu = true;
m_lsm_reg.cfg_reg_a_m.md = 0x03;
m_lsm_reg.cfg_reg_a_m.odr = LSM303AGR_MG_ODR_10Hz;
i2c_reg_read_byte(m_lsm_dev, LSM_TWI_ADDR, 0X1E, &data);
if (data != 0x40)
{
LOG_INF("WHOAMINOTFOUND");
}
}
void lsm_set_rw()
{
lsm_twi_rw.read_reg = i2c_write_read;
lsm_twi_rw.write_reg = i2c_write;
//lsm_twi_rw.handle = &m_lsm_dev;
}
void lsm_handler()
{
LOG_INF("MAGREAD");
}
static void mag_handler()
{
LOG_INF("MAG INT");
}
void main(void)
{
uint8_t ret;
LOG_INF("PIN = %u dt flags =%u Port = %u labl=%s", lsmint.pin, lsmint.dt_flags, lsmint.port, labl);
const struct device *i2c_dev = DEVICE_DT_GET(DT_I2C0_N);
if (!device_is_ready(m_lsm_dev))
{
LOG_INF("Can't bind I2C device %s\n", m_lsm_dev);
return;
}
if (lsmint.port && !device_is_ready(lsmint.port)) {
LOG_INF("Error %d: LED device %s is not ready; ignoring it\n",
ret, lsmint.port->name);
lsmint.port = NULL;
}
if (lsmint.port) {
ret = gpio_pin_configure_dt(&lsmint, GPIO_OUTPUT);
if (ret != 0) {
LOG_INF("Error %d: failed to configure LED device %s pin %d\n",
ret, lsmint.port->name, lsmint.pin);
lsmint.port = NULL;
} else {
LOG_INF("Set up LED at %s pin %d\n", lsmint.port->name, lsmint.pin);
}
}
ret = gpio_pin_interrupt_configure_dt(&lsmint,
GPIO_INT_EDGE_TO_ACTIVE);
if (ret != 0) {
LOG_INF("Error %d: failed to configure interrupt on %s pin %d\n",
ret, lsmint.port->name, lsmint.pin);
return;
}
gpio_init_callback(&lsm_cb, mag_handler, BIT(lsmint.pin));
gpio_add_callback(lsmint.port, &lsm_cb);
//lsm_set_rw();
init_lsm();
//err_code = lsm303agr_twi_read(p_lsm303agr_m->p_i2c_instance, 0x1E, 0x4F, &data, sizeof(uint8_t));
//lsm303agr_read_reg(&foo, 0, x, y);
}`
I have just used the ‘rohm,bh1749’ binding for the lsm303agr for now as a template binding as it a has ‘int-gpios’ property which as far as im aware is required to call GPIO_DT_SPEC_GET_OR. there is a LSM magnetometer binding, but it is for a slightly different model and has a property for ‘interrupts’ instead which seems to be an invalid syntax when calling GPIO_DT_SPEC_GET_OR.
Any help would me much appreciated.
