Initial commit.

.codespellrc

@@ -0,0 +1,9 @@
+# Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/assets/spell-check/.codespellrc
+# See: https://github.com/codespell-project/codespell#using-a-config-file
+[codespell]
+# In the event of a false positive, add the problematic word, in all lowercase, to a comma-separated list here:
+ignore-words-list = te,
+skip = ./.git,./.licenses,__pycache__,node_modules,./go.mod,./go.sum,./package-lock.json,./poetry.lock,./yarn.lock,./external
+builtin = clear,informal,en-GB_to_en-US
+check-filenames =
+check-hidden =

.github/dependabot.yml

@@ -0,0 +1,13 @@
+# See: https://docs.github.com/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#about-the-dependabotyml-file
+version: 2
+
+updates:
+  # Configure check for outdated GitHub Actions actions in workflows.
+  # Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/assets/dependabot/README.md
+  # See: https://docs.github.com/code-security/dependabot/working-with-dependabot/keeping-your-actions-up-to-date-with-dependabot
+  - package-ecosystem: github-actions
+    directory: / # Check the repository's workflows under /.github/workflows/
+    schedule:
+      interval: daily
+    labels:
+      - "topic: ci"

.github/workflows/smoke-test.yml

@@ -0,0 +1,28 @@
+name: Build
+
+# See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Tuesday at 8 AM UTC
+    - cron: "0 8 * * TUE"
+  workflow_dispatch:
+  repository_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  smoke-test:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Install CMake
+        run: sudo apt-get install cmake
+
+      - name: Create build directory, run CMake and Make
+        run: mkdir build && cd build && cmake .. && make

.github/workflows/spell-check.yml

@@ -0,0 +1,26 @@
+# Source: https://github.com/per1234/.github/blob/main/workflow-templates/spell-check.md
+name: Spell Check
+
+# See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Tuesday at 8 AM UTC to catch new misspelling detections resulting from dictionary updates.
+    - cron: "0 8 * * TUE"
+  workflow_dispatch:
+  repository_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  spellcheck:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Spell check
+        uses: codespell-project/actions-codespell@master

.github/workflows/sync-labels.yml

@@ -0,0 +1,133 @@
+# Source: https://github.com/arduino/tooling-project-assets/blob/main/workflow-templates/sync-labels.md
+name: Sync Labels
+
+# See: https://docs.github.com/en/actions/reference/events-that-trigger-workflows
+on:
+  push:
+    paths:
+      - ".github/workflows/sync-labels.ya?ml"
+      - ".github/label-configuration-files/*.ya?ml"
+  pull_request:
+    paths:
+      - ".github/workflows/sync-labels.ya?ml"
+      - ".github/label-configuration-files/*.ya?ml"
+  schedule:
+    # run every Tuesday at 3 AM UTC
+    - cron: "0 3 * * 2"
+  workflow_dispatch:
+  repository_dispatch:
+
+env:
+  CONFIGURATIONS_FOLDER: .github/label-configuration-files
+  CONFIGURATIONS_ARTIFACT: label-configuration-files
+
+jobs:
+  check:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Download JSON schema for labels configuration file
+        id: download-schema
+        uses: carlosperate/download-file-action@v2.0.0
+        with:
+          file-url: https://raw.githubusercontent.com/arduino/tooling-project-assets/main/workflow-templates/assets/sync-labels/arduino-tooling-gh-label-configuration-schema.json
+          location: ${{ runner.temp }}/label-configuration-schema
+
+      - name: Install JSON schema validator
+        run: |
+          sudo npm install \
+            --global \
+            ajv-cli \
+            ajv-formats
+
+      - name: Validate local labels configuration
+        run: |
+          # See: https://github.com/ajv-validator/ajv-cli#readme
+          ajv validate \
+            --all-errors \
+            -c ajv-formats \
+            -s "${{ steps.download-schema.outputs.file-path }}" \
+            -d "${{ env.CONFIGURATIONS_FOLDER }}/*.{yml,yaml}"
+
+  download:
+    needs: check
+    runs-on: ubuntu-latest
+
+    strategy:
+      matrix:
+        filename:
+          # Filenames of the shared configurations to apply to the repository in addition to the local configuration.
+          # https://github.com/107-systems/.github/blob/main/workflow-templates/assets/sync-labels
+          - universal.yml
+
+    steps:
+      - name: Download
+        uses: carlosperate/download-file-action@v2.0.0
+        with:
+          file-url: https://raw.githubusercontent.com/107-systems/.github/main/workflow-templates/assets/sync-labels/${{ matrix.filename }}
+
+      - name: Pass configuration files to next job via workflow artifact
+        uses: actions/upload-artifact@v3
+        with:
+          path: |
+            *.yaml
+            *.yml
+          if-no-files-found: error
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+
+  sync:
+    needs: download
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Set environment variables
+        run: |
+          # See: https://docs.github.com/en/actions/reference/workflow-commands-for-github-actions#setting-an-environment-variable
+          echo "MERGED_CONFIGURATION_PATH=${{ runner.temp }}/labels.yml" >> "$GITHUB_ENV"
+
+      - name: Determine whether to dry run
+        id: dry-run
+        if: >
+          github.event == 'pull_request' ||
+          github.ref != format('refs/heads/{0}', github.event.repository.default_branch)
+        run: |
+          # Use of this flag in the github-label-sync command will cause it to only check the validity of the
+          # configuration.
+          echo "::set-output name=flag::--dry-run"
+
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Download configuration files artifact
+        uses: actions/download-artifact@v3
+        with:
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+          path: ${{ env.CONFIGURATIONS_FOLDER }}
+
+      - name: Remove unneeded artifact
+        uses: geekyeggo/delete-artifact@v2
+        with:
+          name: ${{ env.CONFIGURATIONS_ARTIFACT }}
+
+      - name: Merge label configuration files
+        run: |
+          # Merge all configuration files
+          shopt -s extglob
+          cat "${{ env.CONFIGURATIONS_FOLDER }}"/*.@(yml|yaml) > "${{ env.MERGED_CONFIGURATION_PATH }}"
+
+      - name: Install github-label-sync
+        run: sudo npm install --global github-label-sync
+
+      - name: Sync labels
+        env:
+          GITHUB_ACCESS_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          permissions: write-all
+        run: |
+          # See: https://github.com/Financial-Times/github-label-sync
+          github-label-sync \
+            --labels "${{ env.MERGED_CONFIGURATION_PATH }}" \
+            ${{ steps.dry-run.outputs.flag }} \
+            ${{ github.repository }}

.gitignore

@@ -0,0 +1,3 @@
+build/
+cmake-build-debug/
+.idea/

CMakeLists.txt

@@ -0,0 +1,16 @@
+##########################################################################
+cmake_minimum_required(VERSION 3.15)
+##########################################################################
+project("pika-spark-bno085-driver")
+##########################################################################
+add_executable(${PROJECT_NAME} 
+  main.cpp
+  spi.cpp
+)
+##########################################################################
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Werror -Wextra -Wpedantic)
+endif()
+##########################################################################
+target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
+##########################################################################

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Alexander Entinger, LXRobotics GmbH
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -0,0 +1,29 @@
+<a href="https://pika-spark.io/"><img align="right" src="https://raw.githubusercontent.com/pika-spark/.github/main/logo/logo-pika-spark-bg-white.png" width="15%"></a>
+:sparkles: `pika-spark-bno085-driver`
+=====================================
+[![Smoke test status](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/smoke-test.yml/badge.svg)](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/smoke-test.yml)
+[![Spell Check status](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/spell-check.yml/badge.svg)](https://github.com/pika-spark/pika-spark-bno085-driver/actions/workflows/spell-check.yml)
+
+Linux user space driver for the [BNO085](https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf) 9-DoF IMU driver.
+
+<p align="center">
+  <a href="https://pika-spark.io/"><img src="https://raw.githubusercontent.com/pika-spark/.github/main/logo/logo-pika-spark-bg-white-github.png" width="40%"></a>
+</p>
+
+### How-to-build
+* Enable [spidev](https://www.kernel.org/doc/Documentation/spi/spidev) to access SPI from userspace
+```bash
+modprobe spidev
+sudo chmod ugo+rw /dev/spidev1.0
+```
+* Build user space driver within Docker container with access to SPI
+```bash
+docker pull alpine:latest
+docker run -it -u 0 --device /dev/spidev1.0 alpine:latest sh
+apk add git g++ make cmake linux-headers
+cd /tmp
+git clone https://github.com/107-systems/pika-spark-bno085-driver && cd pika-spark-bno085-driver
+mkdir build && cd build
+cmake ..
+make
+```

main.cpp

@@ -0,0 +1,32 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2023 LXRobotics.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/pika-spark-bno085-driver/graphs/contributors.
+ */
+
+#include <cstdlib>
+
+#include <memory>
+#include <iostream>
+#include <stdexcept>
+
+#include "spi.h"
+
+int main(int /* argc */, char ** /* argv */) try
+{
+  auto spi = std::make_shared<SPI>("/dev/spidev1.0", SPI_MODE_0, 8, 1000000);
+  return EXIT_SUCCESS;
+}
+catch (std::runtime_error const & err)
+{
+  std::cerr << "Exception (std::runtime_error) caught: " << err.what() << std::endl;
+  std::cerr << "Terminating ..." << std::endl;
+  return EXIT_FAILURE;
+}
+catch (...)
+{
+  std::cerr << "Unhandled exception caught." << std::endl;
+  std::cerr << "Terminating ..." << std::endl;
+  return EXIT_FAILURE;
+}

spi.cpp

@@ -0,0 +1,72 @@
+/**
+ * This software is distributed under the terms of the MIT License.
+ * Copyright (c) 2023 LXRobotics.
+ * Author: Alexander Entinger <alexander.entinger@lxrobotics.com>
+ * Contributors: https://github.com/107-systems/pika-spark-bno085-driver/graphs/contributors.
+ */
+
+/**************************************************************************************
+ * INCLUDE
+ **************************************************************************************/
+
+#include "spi.h"
+
+#include <fcntl.h>
+#include <errno.h>
+#include <string.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+
+#include <stdexcept>
+
+/**************************************************************************************
+ * CTOR/DTOR
+ **************************************************************************************/
+
+SPI::SPI(std::string const & dev_name, uint8_t const mode, uint8_t const bits, uint32_t const speed_Hz)
+: _bits{bits}
+, _speed_Hz{speed_Hz}
+{
+  _fd = open(dev_name.c_str(), O_RDWR);
+  if (_fd < 0)
+    throw std::runtime_error("could not open device \"" + dev_name + "\"");
+
+  if (ioctl(_fd, SPI_IOC_WR_MODE, &mode) < 0)
+    throw std::runtime_error("could not set SPI mode" + std::string(strerror(errno)));
+
+  if (ioctl(_fd, SPI_IOC_WR_BITS_PER_WORD, &bits) < 0)
+    throw std::runtime_error("could not set SPI bits" + std::string(strerror(errno)));
+
+  if (ioctl(_fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed_Hz) < 0)
+    throw std::runtime_error("could not set SPI bit rate" + std::string(strerror(errno)));
+}
+
+SPI::~SPI()
+{
+  close(_fd);
+}
+
+/**************************************************************************************
+ * PUBLIC MEMBER FUNCTIONS
+ **************************************************************************************/
+
+bool SPI::transfer(uint8_t const * tx_buf, uint8_t * rx_buf, size_t const num_bytes)
+{
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
+  struct spi_ioc_transfer tf =
+  {
+    /* .tx_buf = */(unsigned long)tx_buf,
+    /* .rx_buf = */(unsigned long)rx_buf,
+    /* .len = */static_cast<uint32_t >(num_bytes),
+    /* .speed_hz = */_speed_Hz,
+    /* .delay_usecs = */0,
+    /* .bits_per_word = */_bits,
+  };
+#pragma GCC diagnostic pop
+
+  if (ioctl(_fd, SPI_IOC_MESSAGE(1), &tf) < 0)
+    return false;
+
+  return true;
+}