2024-10-23(6): Project: Linux I2C/PWM/SPI

I2C

Our project has two I2C devices that need to be programmed from userspace (we want to create prototypes that can be used in other contexts, and therefore cannot use Linux kernel drivers).

These devices are:

• (CLOSED) Proximity Sensor: VL53L1X

• (ACTIVE) Gyroscope (BNO055)

Go over Linux userspace I2C:

• Linux and I2C (using LM73 Temperature Sensor as Slave)

Explain difference between userspace I2C, and a kernel driver - coincidentally using a driver for a PWM device:

• PWM Userspace Interface (using PCA9685)

Userspace I2C	Reading device registers	Kernel OO/UML

PWM

• (DONE) Motor Control: BTN9960LV

  That device is controlled via two PWM channels. The Raspberry has only one (pin 18 has an alternative setting), so we use a PCA9685 which is connected over I2C.

  ⟶ PWM Userspace Interface (using PCA9685)

• (DONE) RC Servo Control