diff --git a/drivers/sensors/Kconfig b/drivers/sensors/Kconfig
index 94a43a53c2428fb5bc0ac74bc8fe095c7902cf81..7b986320ca908140e035d7d7262f96612787a755 100644
--- a/drivers/sensors/Kconfig
+++ b/drivers/sensors/Kconfig
@@ -75,6 +75,13 @@ config MB7040_I2C_FREQUENCY
range 1 400000
depends on MB7040
+config MLX90393
+ bool "MLX90393 3-Axis Magnetometer"
+ default n
+ select SPI
+ ---help---
+ Enable driver support for the Melex MLX90393 3-Axis magnetometer.
+
config MCP9844
bool "MCP9844 Temperature Sensor"
default n
diff --git a/drivers/sensors/Make.defs b/drivers/sensors/Make.defs
index 4af5755c2cb983aab3f12540519c12d59641ec72..b3908ce392171c75113bf36fced6ecb9ea30fad1 100644
--- a/drivers/sensors/Make.defs
+++ b/drivers/sensors/Make.defs
@@ -89,6 +89,10 @@ ifeq ($(CONFIG_MCP9844),y)
CSRCS += mcp9844.c
endif
+ifeq ($(CONFIG_MLX90393),y)
+ CSRCS += mlx90393.c
+endif
+
ifeq ($(CONFIG_MS58XX),y)
CSRCS += ms58xx.c
endif
diff --git a/drivers/sensors/lis3mdl.c b/drivers/sensors/lis3mdl.c
index eeccf352f3f9af847e977e83c3d59192123b44fc..767e7c4b28d24ef16d224703959c3fb70e9fe413 100644
--- a/drivers/sensors/lis3mdl.c
+++ b/drivers/sensors/lis3mdl.c
@@ -352,10 +352,10 @@ static int lis3mdl_interrupt_handler(int irq, FAR void *context)
DEBUGASSERT(priv->work.worker == NULL);
ret = work_queue(HPWORK, &priv->work, lis3mdl_worker, priv, 0);
- if (ret != 0)
+ if (ret < 0)
{
snerr("Failed to queue work: %d\n", ret);
- return ERROR;
+ return ret;
}
else
{
@@ -435,8 +435,9 @@ static int lis3mdl_open(FAR struct file *filep)
/* Read back the content of all control registers for debug purposes */
reg_content = 0;
- eg_addr = LIS3MDL_CTRL_REG_1;
- for (; reg_addr <= LIS3MDL_CTRL_REG_5; reg_addr++)
+ for (reg_addr = LIS3MDL_CTRL_REG_1;
+ reg_addr <= LIS3MDL_CTRL_REG_5;
+ reg_addr++)
{
lis3mdl_read_register(priv, reg_addr, ®_content);
snerr("R#%04x = %04x\n", reg_addr, reg_content);
@@ -469,6 +470,7 @@ static int lis3mdl_close(FAR struct file *filep)
/****************************************************************************
* Name: lis3mdl_read
****************************************************************************/
+
static ssize_t lis3mdl_read(FAR struct file *filep, FAR char *buffer,
size_t buflen)
{
@@ -490,10 +492,10 @@ static ssize_t lis3mdl_read(FAR struct file *filep, FAR char *buffer,
/* Aquire the semaphore before the data is copied */
ret = sem_wait(&priv->datasem);
- if (ret != OK)
+ if (ret < 0)
{
snerr("Could not aquire priv->datasem: %d\n", ret);
- return ERROR;
+ return ret;
}
/* Copy the sensor data into the buffer */
@@ -556,8 +558,10 @@ static int lis3mdl_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
- * spi - An instance of the SPI interface to use to communicate with LIS3MDL
- * config - configuration for the LIS3MDL driver. For details see description above.
+ * spi - An instance of the SPI interface to use to communicate with
+ * LIS3MDL
+ * config - configuration for the LIS3MDL driver. For details see
+ * description above.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
diff --git a/drivers/sensors/mlx90393.c b/drivers/sensors/mlx90393.c
new file mode 100644
index 0000000000000000000000000000000000000000..6b776615f24cba88b964477adc29ccd09f087a2a
--- /dev/null
+++ b/drivers/sensors/mlx90393.c
@@ -0,0 +1,621 @@
+/****************************************************************************
+ * drivers/sensors/mlx90393.c
+ * Character driver for the MLX90393 3-Axis magnetometer.
+ *
+ * Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
+ * Author: Alexander Entinger <a.entinger@ds-automotion.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <errno.h>
+#include <debug.h>
+#include <string.h>
+#include <semaphore.h>
+
+#include <nuttx/kmalloc.h>
+#include <nuttx/wqueue.h>
+
+#include <nuttx/fs/fs.h>
+#include <nuttx/sensors/mlx90393.h>
+
+#if defined(CONFIG_SPI) && defined(CONFIG_MLX90393)
+
+/****************************************************************************
+ * Private
+ ****************************************************************************/
+
+struct mlx90393_sensor_data_s
+{
+ int16_t x_mag; /* Measurement result for x axis */
+ int16_t y_mag; /* Measurement result for y axis */
+ int16_t z_mag; /* Measurement result for z axis */
+ uint16_t temperature; /* Measurement result for temperature sensor */
+};
+
+struct mlx90393_dev_s
+{
+ FAR struct mlx90393_dev_s *flink; /* Supports a singly linked list
+ * of drivers */
+ FAR struct spi_dev_s *spi; /* Pointer to the SPI instance */
+ FAR struct mlx90393_config_s *config; /* Pointer to the configuration of
+ * the MLX90393 sensor */
+
+ sem_t datasem; /* Manages exclusive access to
+ * this structure */
+ struct mlx90393_sensor_data_s data; /* The data as measured by the
+ * sensor */
+ struct work_s work; /* The work queue is responsible
+ * for retrieving the data from
+ * the sensor after the arrival of
+ * new data was signalled in an
+ * interrupt */
+};
+
+/****************************************************************************
+ * Private Function Prototypes
+ ****************************************************************************/
+
+static void mlx90393_start_burst_mode(FAR struct mlx90393_dev_s *dev);
+static void mlx90393_read_measurement_data(FAR struct mlx90393_dev_s *dev);
+static void mlx90393_read_register(FAR struct mlx90393_dev_s *dev,
+ uint8_t const reg_addr, uint16_t *reg_data);
+static void mlx90393_write_register(FAR struct mlx90393_dev_s *dev,
+ uint8_t const reg_addr,
+ uint16_t const reg_data);
+static void mlx90393_reset(FAR struct mlx90393_dev_s *dev);
+static int mlx90393_interrupt_handler(int irq, FAR void *context);
+static void mlx90393_worker(FAR void *arg);
+
+static int mlx90393_open(FAR struct file *filep);
+static int mlx90393_close(FAR struct file *filep);
+static ssize_t mlx90393_read(FAR struct file *, FAR char *, size_t);
+static ssize_t mlx90393_write(FAR struct file *filep, FAR const char *buffer,
+ size_t buflen);
+static int mlx90393_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static const struct file_operations g_mlx90393_fops =
+{
+ mlx90393_open,
+ mlx90393_close,
+ mlx90393_read,
+ mlx90393_write,
+ NULL,
+ mlx90393_ioctl
+#ifndef CONFIG_DISABLE_POLL
+ , NULL
+#endif
+#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
+ , NULL
+#endif
+};
+
+/* Single linked list to store instances of drivers */
+
+static struct mlx90393_dev_s *g_mlx90393_list = NULL;
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: mlx90393_start_burst_mode
+ ****************************************************************************/
+
+static void mlx90393_start_burst_mode(FAR struct mlx90393_dev_s *dev)
+{
+ /* Lock the SPI bus so that only one device can access it at the same time */
+
+ SPI_LOCK(dev->spi, true);
+
+ /* Set CS to low which selects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, true);
+
+ /* Start Burst Mode (Continous Measurement on all channels) */
+
+ SPI_SEND(dev->spi, MLX90393_SB | MLX90393_ZYXT_bm);
+
+ /* Write an idle byte to retrieve the status byte */
+
+ SPI_SEND(dev->spi, 0);
+
+ /* Set CS to high which deselects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, false);
+
+ /* Unlock the SPI bus */
+
+ SPI_LOCK(dev->spi, false);
+}
+
+/****************************************************************************
+ * Name: mlx90393_read_measurement_data
+ ****************************************************************************/
+
+static void mlx90393_read_measurement_data(FAR struct mlx90393_dev_s *dev)
+{
+ int ret;
+
+ /* Lock the SPI bus so that only one device can access it at the same time */
+
+ SPI_LOCK(dev->spi, true);
+
+ /* Set CS to low which selects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, true);
+
+ /* Issue command to read measurement data on all channels */
+
+ SPI_SEND(dev->spi, MLX90393_RM | MLX90393_ZYXT_bm);
+
+ /* Write an idle byte to retrieve the status byte */
+
+ SPI_SEND(dev->spi, 0);
+
+ /* The data is output in the following order: T (MSB), T (LSB), X (MSB), X
+ * (LSB), Y (MSB), Y (LSB), Z (MSB), Z (LSB)
+ */
+
+ uint16_t temperature = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
+ temperature |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
+
+ uint16_t x_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
+ x_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
+
+ uint16_t y_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
+ y_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
+
+ uint16_t z_mag = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
+ z_mag |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
+
+ /* Set CS to high which deselects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, false);
+
+ /* Unlock the SPI bus */
+
+ SPI_LOCK(dev->spi, false);
+
+ /* Aquire the semaphore before the data is copied */
+
+ ret = sem_wait(&dev->datasem);
+ if (ret != OK)
+ {
+ sndbg("Could not aquire dev->datasem: %d\n", ret);
+ return;
+ }
+
+ /* Copy retrieve data to internal data structure */
+
+ dev->data.temperature = temperature;
+ dev->data.x_mag = (int16_t) (x_mag);
+ dev->data.y_mag = (int16_t) (y_mag);
+ dev->data.z_mag = (int16_t) (z_mag);
+
+ /* Give back the semaphore */
+
+ sem_post(&dev->datasem);
+}
+
+/****************************************************************************
+ * Name: mlx90393_start_burst_mode
+ ****************************************************************************/
+
+static void mlx90393_reset(FAR struct mlx90393_dev_s *dev)
+{
+ /* Lock the SPI bus so that only one device can access it at the same time */
+
+ SPI_LOCK(dev->spi, true);
+
+ /* Set CS to low which selects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, true);
+
+ /* Issue reset command */
+
+ SPI_SEND(dev->spi, MLX90393_RT);
+
+ /* Write an idle byte to retrieve the status byte */
+
+ SPI_SEND(dev->spi, 0);
+
+ /* Set CS to high which deselects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, false);
+
+ /* Unlock the SPI bus */
+
+ SPI_LOCK(dev->spi, false);
+
+ /* Wait a little so the device has time to perform a proper reset */
+
+ up_mdelay(100);
+}
+
+/****************************************************************************
+ * Name: mlx90393_read_register
+ ****************************************************************************/
+
+static void mlx90393_read_register(FAR struct mlx90393_dev_s *dev,
+ uint8_t const reg_addr, uint16_t *reg_data)
+{
+ /* Lock the SPI bus so that only one device can access it at the same time */
+
+ SPI_LOCK(dev->spi, true);
+
+ /* Set CS to low which selects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, true);
+
+ /* Issue a read register command */
+
+ SPI_SEND(dev->spi, MLX90393_RR);
+
+ /* Send the register address which needs to be left shifted by 2 */
+
+ SPI_SEND(dev->spi, (reg_addr << 2));
+
+ /* Write an idle byte to retrieve the status byte */
+
+ SPI_SEND(dev->spi, 0);
+
+ *reg_data = ((uint16_t) (SPI_SEND(dev->spi, 0)) << 8); /* MSB */
+ *reg_data |= ((uint16_t) (SPI_SEND(dev->spi, 0)) << 0); /* LSB */
+
+ /* Set CS to high which deselects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, false);
+
+ /* Unlock the SPI bus */
+
+ SPI_LOCK(dev->spi, false);
+}
+
+/****************************************************************************
+ * Name: mlx90393_write_register
+ ****************************************************************************/
+
+static void mlx90393_write_register(FAR struct mlx90393_dev_s *dev,
+ uint8_t const reg_addr,
+ uint16_t const reg_data)
+{
+ /* Lock the SPI bus so that only one device can access it at the same time */
+
+ SPI_LOCK(dev->spi, true);
+
+ /* Set CS to low which selects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, true);
+
+ /* Issue a write register command */
+
+ SPI_SEND(dev->spi, MLX90393_WR);
+
+ /* Send the data high byte of the register */
+
+ SPI_SEND(dev->spi, (uint8_t) ((reg_data & 0xFF00) >> 8));
+
+ /* Send the data low byte of the register */
+
+ SPI_SEND(dev->spi, (uint8_t) (reg_data & 0x00FF));
+
+ /* Send the register address which needs to be left shifted by 2 */
+
+ SPI_SEND(dev->spi, (uint8_t) (reg_addr << 2));
+
+ /* Write an idle byte to retrieve the status byte */
+
+ SPI_SEND(dev->spi, 0);
+
+ /* Set CS to high which deselects the MLX90393 */
+
+ SPI_SELECT(dev->spi, dev->config->spi_devid, false);
+
+ /* Unlock the SPI bus */
+
+ SPI_LOCK(dev->spi, false);
+}
+
+/****************************************************************************
+ * Name: mlx90393_interrupt_handler
+ ****************************************************************************/
+
+static int mlx90393_interrupt_handler(int irq, FAR void *context)
+{
+ /* This function should be called upon a rising edge on the MLX90393 INT pin
+ * since it signals that new data has been measured. (INT = DRDY).
+ */
+
+ FAR struct mlx90393_dev_s *priv = 0;
+ int ret;
+
+ /* Find out which MLX90396 device caused the interrupt */
+
+ for (priv = g_mlx90393_list; priv && priv->config->irq != irq;
+ priv = priv->flink);
+ DEBUGASSERT(priv != NULL);
+
+ /* Task the worker with retrieving the latest sensor data. We should not do
+ * this in a interrupt since it might take too long. Also we cannot lock the
+ * SPI bus from within an interrupt.
+ */
+
+ DEBUGASSERT(priv->work.worker == NULL);
+ ret = work_queue(HPWORK, &priv->work, mlx90393_worker, priv, 0);
+ if (ret < 0)
+ {
+ sndbg("Failed to queue work: %d\n", ret);
+ return ret;
+ }
+ else
+ {
+ return OK;
+ }
+}
+
+/****************************************************************************
+ * Name: mlx90393_worker
+ ****************************************************************************/
+
+static void mlx90393_worker(FAR void *arg)
+{
+ FAR struct mlx90393_dev_s *priv = (FAR struct mlx90393_dev_s *)(arg);
+ DEBUGASSERT(priv != NULL);
+
+ /* Read out the latest sensor data */
+
+ mlx90393_read_measurement_data(priv);
+}
+
+/****************************************************************************
+ * Name: mlx90393_open
+ ****************************************************************************/
+
+static int mlx90393_open(FAR struct file *filep)
+{
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct mlx90393_dev_s *priv = inode->i_private;
+ static int const NUM_REGS = 10;
+ int reg_addr;
+
+ DEBUGASSERT(priv != NULL);
+
+ /* Reset the device */
+
+ mlx90393_reset(priv);
+
+ /* Read the content of ALL registers for debug purposes */
+
+ for (reg_addr = 0; reg_addr < NUM_REGS; reg_addr++)
+ {
+ uint16_t reg_content = 0;
+ mlx90393_read_register(priv, reg_addr, ®_content);
+ sndbg("R%d = %x\n", reg_addr, reg_content);
+ }
+
+ /* Start the burst mode */
+
+ mlx90393_start_burst_mode(priv);
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: mlx90393_close
+ ****************************************************************************/
+
+static int mlx90393_close(FAR struct file *filep)
+{
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct mlx90393_dev_s *priv = inode->i_private;
+
+ DEBUGASSERT(priv != NULL);
+
+ /* Reset the device */
+
+ mlx90393_reset(priv);
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: mlx90393_read
+ ****************************************************************************/
+
+static ssize_t mlx90393_read(FAR struct file *filep, FAR char *buffer,
+ size_t buflen)
+{
+ FAR struct inode *inode = filep->f_inode;
+ FAR struct mlx90393_dev_s *priv = inode->i_private;
+ FAR struct mlx90393_sensor_data_s *data;
+ int ret;
+
+ DEBUGASSERT(priv != NULL);
+
+ /* Check if enough memory was provided for the read call */
+
+ if (buflen < sizeof(FAR struct mlx90393_sensor_data_s))
+ {
+ sndbg("Not enough memory for reading out a sensor data sample\n");
+ return -ENOSYS;
+ }
+
+ /* Copy the sensor data into the buffer */
+
+ /* Aquire the semaphore before the data is copied */
+
+ ret = sem_wait(&priv->datasem);
+ if (ret < 0)
+ {
+ sndbg("Could not aquire priv->datasem: %d\n", ret);
+ return ret;
+ }
+
+ data = (FAR struct mlx90393_sensor_data_s *)buffer;
+ memset(data, 0, sizeof(FAR struct mlx90393_sensor_data_s));
+
+ data->x_mag = priv->data.x_mag;
+ data->y_mag = priv->data.y_mag;
+ data->z_mag = priv->data.z_mag;
+ data->temperature = priv->data.temperature;
+
+ /* Give back the semaphore */
+
+ sem_post(&priv->datasem);
+
+ return sizeof(FAR struct mlx90393_sensor_data_s);
+}
+
+/****************************************************************************
+ * Name: mlx90393_write
+ ****************************************************************************/
+
+static ssize_t mlx90393_write(FAR struct file *filep, FAR const char *buffer,
+ size_t buflen)
+{
+ return -ENOSYS;
+}
+
+/****************************************************************************
+ * Name: mlx90393_ioctl
+ ****************************************************************************/
+
+static int mlx90393_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
+{
+ int ret = OK;
+
+ switch (cmd)
+ {
+ /* Command was not recognized */
+
+ default:
+ sndbg("Unrecognized cmd: %d\n", cmd);
+ ret = -ENOTTY;
+ break;
+ }
+
+ return ret;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: mlx90393_register
+ *
+ * Description:
+ * Register the MLX90393 character device as 'devpath'
+ *
+ * Input Parameters:
+ * devpath - The full path to the driver to register. E.g., "/dev/mag0"
+ * spi - An instance of the SPI interface to use to communicate with
+ * MLX90393
+ * config - Describes the configuration of the MLX90393 part.
+ *
+ * Returned Value:
+ * Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int mlx90393_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
+ FAR struct mlx90393_config_s *config)
+{
+ FAR struct mlx90393_dev_s *priv;
+ int ret;
+
+ /* Sanity check */
+
+ DEBUGASSERT(spi != NULL);
+ DEBUGASSERT(config != NULL);
+
+ /* Initialize the MLX90393 device structure */
+
+ priv = (FAR struct mlx90393_dev_s *)kmm_malloc(sizeof(struct mlx90393_dev_s));
+ if (priv == NULL)
+ {
+ dbg("Failed to allocate instance\n");
+ return -ENOMEM;
+ }
+
+ priv->spi = spi;
+ priv->config = config;
+
+ priv->work.worker = NULL;
+
+ sem_init(&priv->datasem, 0, 1); /* Initialize sensor data access
+ * semaphore */
+
+ /* Setup SPI frequency and mode */
+
+ SPI_SETFREQUENCY(spi, MLX90393_SPI_FREQUENCY);
+ SPI_SETMODE(spi, MLX90393_SPI_MODE);
+
+ /* Attach the interrupt handler */
+
+ ret = priv->config->attach(priv->config, &mlx90393_interrupt_handler);
+ if (ret < 0)
+ {
+ dbg("Failed to attach interrupt\n");
+ return -ENODEV;
+ }
+
+ /* Register the character driver */
+
+ ret = register_driver(devpath, &g_mlx90393_fops, 0666, priv);
+ if (ret < 0)
+ {
+ dbg("Failed to register driver: %d\n", ret);
+ kmm_free(priv);
+ sem_destroy(&priv->datasem);
+ return -ENODEV;
+ }
+
+ /* Since we support multiple MLX90393 devices are supported, we will need to
+ * add this new instance to a list of device instances so that it can be
+ * found by the interrupt handler based on the received IRQ number. */
+
+ priv->flink = g_mlx90393_list;
+ g_mlx90393_list = priv;
+
+ return OK;
+}
+
+#endif /* CONFIG_SPI && CONFIG_MLX90393 */
diff --git a/include/nuttx/sensors/lis3mdl.h b/include/nuttx/sensors/lis3mdl.h
index c702905807248cf0c53c77b47255068d9acf64d3..b6a5c3ff0464a718c5d49e611d8250cbd5f94b07 100644
--- a/include/nuttx/sensors/lis3mdl.h
+++ b/include/nuttx/sensors/lis3mdl.h
@@ -158,8 +158,10 @@ extern "C"
*
* Input Parameters:
* devpath - The full path to the driver to register. E.g., "/dev/mag0"
- * spi - An instance of the SPI interface to use to communicate with LIS3MDL
- * config - configuration for the LIS3MDL driver. For details see description above.
+ * spi - An instance of the SPI interface to use to communicate with
+ * LIS3MDL
+ * config - configuration for the LIS3MDL driver. For details see
+ * description above.
*
* Returned Value:
* Zero (OK) on success; a negated errno value on failure.
diff --git a/include/nuttx/sensors/mlx90393.h b/include/nuttx/sensors/mlx90393.h
new file mode 100644
index 0000000000000000000000000000000000000000..39028580f4e0d9ad54eae8062f00dce2d756cf14
--- /dev/null
+++ b/include/nuttx/sensors/mlx90393.h
@@ -0,0 +1,153 @@
+/****************************************************************************
+ * include/nuttx/sensors/mlx90393.h
+ *
+ * Copyright (C) 2016 DS-Automotion GmbH. All rights reserved.
+ * Author: Alexander Entinger <a.entinger@ds-automotion.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#ifndef NUTTX_INCLUDE_NUTTX_SENSORS_MLX90393_H_
+#define NUTTX_INCLUDE_NUTTX_SENSORS_MLX90393_H_
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/irq.h>
+#include <nuttx/config.h>
+#include <nuttx/fs/ioctl.h>
+#include <nuttx/spi/spi.h>
+
+#if defined(CONFIG_SPI) && defined(CONFIG_MLX90393)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* MLX90393 Command Definitions *********************************************/
+
+#define MLX90393_SB (0x10) /* SB = Start Burst Mode */
+#define MLX90393_SW (0x20) /* SW = Start Wake-up on Change Mode */
+#define MLX90393_SM (0x30) /* SB = Start Single Measurement Mode */
+#define MLX90393_RM (0x40) /* RM = Read Measurement */
+#define MLX90393_RR (0x50) /* RR = Read Register */
+#define MLX90393_WR (0x60) /* WR = Write Register */
+#define MLX90393_EX (0x80) /* EX = Exit Mode */
+#define MLX90393_HR (0xD0) /* HR = Memory Recall */
+#define MLX90393_HS (0xE0) /* HS = Memory Store */
+#define MLX90393_RT (0xF0) /* RT = Reset */
+
+/* MLX90393 Sensor Selection Bit Definitions ********************************/
+
+#define MLX90393_T_bm (1<<0) /* Temperature Sensor Bitmask */
+#define MLX90393_X_bm (1<<1) /* Magnetometer X-Axis Bitmask */
+#define MLX90393_Y_bm (1<<2) /* Magnetometer Y-Axis Bitmask */
+#define MLX90393_Z_bm (1<<3) /* Magnetometer Z-Axis Bitmask */
+#define MLX90393_ZYXT_bm (MLX90393_Z_bm | MLX90393_Y_bm | MLX90393_X_bm | MLX90393_T_bm)
+
+/* SPI BUS PARAMETERS *******************************************************/
+
+#define MLX90393_SPI_FREQUENCY (1000000) /* 1 MHz */
+#define MLX90393_SPI_MODE (SPIDEV_MODE3) /* Device uses SPI Mode 3: CPOL=1, CPHA=1 */
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* A reference to a structure of this type must be passed to the MLX90393
+ * driver. This structure provides information about the configuration
+ * of the sensor and provides some board-specific hooks.
+ *
+ * Memory for this structure is provided by the caller. It is not copied
+ * by the driver and is presumed to persist while the driver is active.
+ */
+
+struct mlx90393_config_s
+{
+ /* Since multiple MLX90393 can be connected to the same SPI bus we need
+ * to use multiple spi device ids which are employed by NuttX to select/
+ * deselect the desired MLX90393 chip via their chip select inputs.
+ */
+
+ int spi_devid;
+
+ /* The IRQ number must be provided for each so MLX90393 device so that
+ * their interrupts can be distinguished.
+ */
+
+ int irq;
+
+ /* Attach the MLX90393 interrupt handler to the GPIO interrupt of the
+ * concrete MLX90393 instance.
+ */
+
+ int (*attach)(FAR struct mlx90393_config_s *, xcpt_t);
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: mlx90393_register
+ *
+ * Description:
+ * Register the MLX90393 character device as 'devpath'
+ *
+ * Input Parameters:
+ * devpath - The full path to the driver to register. E.g., "/dev/mag0"
+ * spi - An instance of the SPI interface to use to communicate with
+ * MLX90393
+ * config - Describes the configuration of the MLX90393 part.
+ *
+ * Returned Value:
+ * Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int mlx90393_register(FAR const char *devpath, FAR struct spi_dev_s *spi,
+ FAR struct mlx90393_config_s *config);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_SPI && CONFIG_MLX90393 */
+
+#endif /* NUTTX_INCLUDE_NUTTX_SENSORS_MLX90393_H_ */