Imu bmi088 device tree error

Robotics & Edge Computing Jetson & Embedded Systems Jetson AGX Xavier
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1

Dear nvidia,hello,I refer to the official documentation as follows:https://docs.nvidia.com/jetson/archives/r35.3.1/DeveloperGuide/text/SD/Kernel/Bmi088ImuIioDriver.html?highlight=imu#optional-properties

bmi088@69 {
  compatible = "bmi,bmi088";
  accel_i2c_addr = <0x19>;
  status = "okay";
  reg = <0x69>;
  accel_irq_gpio = <&tegra_aon_gpio TEGRA_AON_GPIO(PT, 5) GPIO_ACTIVE_HIGH>;
  gyro_irq_gpio = <&tegra_aon_gpio TEGRA_AON_GPIO(PT, 6) GPIO_ACTIVE_HIGH>;
  accel_matrix = [01 00 00 00 01 00 00 00 01];
  gyro_matrix = [01 00 00 00 01 00 00 00 01];
  accel_reg_0x53 = <0x0A>;
  gyro_reg_0x16 = <0x01>;
  gyro_reg_0x18 = <0x01>;
};

But compile tells me: syntax error FATAL ERROR: Unable to parse input tree.
The problem appears on these two lines:

  accel_irq_gpio = <&tegra_aon_gpio TEGRA_AON_GPIO(PT, 5) GPIO_ACTIVE_HIGH>;
  gyro_irq_gpio = <&tegra_aon_gpio TEGRA_AON_GPIO(PT, 6) GPIO_ACTIVE_HIGH>;

Am I missing a header file to configure these two parameters? Corresponds to the interrupt pins of the accelerometer and gyroscope, respectively. I see that the interrupt configuration of the BMI160 is as follows, can I provide some suggestions to modify it? Thank you.

interrupt-parent = <&tegra_aon_gpio>;
interrupts = <TEGRA194_AON_GPIO(AA, 2) GPIO_ACTIVE_LOW>;
2

I found the problem, it turned out to be the number of the interrupt pin, I used the following two lines to test that it can compile successfully.

accel_irq_gpio = <&tegra_aon_gpio TEGRA194_AON_GPIO(AA, 5) GPIO_ACTIVE_HIGH>;
gyro_irq_gpio = <&tegra_aon_gpio TEGRA194_AON_GPIO(AA, 6) GPIO_ACTIVE_HIGH>;

But I’m using gpio15 and gpio16 as interrupt pins, so I get an error when I use (PT, 5) and (PT, 6) as pin inputs, what should be the number of these two pins in the description of the device tree?

4

I use the device tree interrupt pins below to represent GPIO15 and GPIO16, is this correct? If it is correct, the topic is solved.


			accel_irq_gpio = <&tegra_main_gpio TEGRA194_MAIN_GPIO(T, 5) GPIO_ACTIVE_HIGH>;
  			gyro_irq_gpio = <&tegra_main_gpio TEGRA194_MAIN_GPIO(T, 6) GPIO_ACTIVE_HIGH>;
5

hello DreamLan,

this is incorrect, alphabet T should be omitted for using this GPIO marco.
for example, accel_irq_gpio = <&tegra_aon_gpio TEGRA194_MAIN_GPIO(T, 5) GPIO_ACTIVE_HIGH>;
you may see-also /sys/kernel/debug/gpio for the GPIO numbers. for example, # cat /sys/kernel/debug/gpio | grep T.05

6 
accel_irq_gpio = <&tegra_aon_gpio TEGRA_AON_GPIO(T, 5) GPIO_ACTIVE_HIGH>;
gyro_irq_gpio = <&tegra_main_gpio TEGRA_AON_GPIO(T, 6) GPIO_ACTIVE_HIGH>;

I just tried and this compilation is unsuccessful.

7

hello DreamLan,

my bad… the marco should be TEGRA194_XXX_GPIO as you’re working with Xavier series.
see-also the header file for refernece, $public_sources/kernel_src/kernel/nvidia/include/dt-bindings/gpio/tegra194-gpio.h

note, I’ve revise my previous comments to avoid confusion.

8

With your modified parameters, you can compile successfully, thank you for your help.

10

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