samples/boards/96b_argonkey/sensors/src/main.c - third_party/github/zephyrproject-rtos/zephyr - Git at Google

 /*
  * Copyright (c) 2018 STMicroelectronics
  *
  * SPDX-License-Identifier: Apache-2.0
  */

 #include <zephyr.h>
 #include <sys/printk.h>

 #include <drivers/gpio.h>
 #include <drivers/led.h>
 #include <drivers/i2c.h>
 #include <drivers/spi.h>
 #include <drivers/sensor.h>

 #include <stdio.h>

 /* #define ARGONKEY_TEST_LOG 1 */

 #define WHOAMI_REG      0x0F
 #define WHOAMI_ALT_REG  0x4F

 static inline float out_ev(struct sensor_value *val)
 {
 	return (val->val1 + (float)val->val2 / 1000000);
 }

 static int lsm6dsl_trig_cnt;
 #ifdef CONFIG_LSM6DSL_TRIGGER
 static void lsm6dsl_trigger_handler(const struct device *dev,
 				    const struct sensor_trigger *trig)
 {
 #ifdef ARGONKEY_TEST_LOG
 	char out_str[64];
 #endif
 	struct sensor_value accel_x, accel_y, accel_z;
 	struct sensor_value gyro_x, gyro_y, gyro_z;

 #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
 	struct sensor_value magn_x, magn_y, magn_z;
 #endif
 #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
 	struct sensor_value press, temp;
 #endif

 	lsm6dsl_trig_cnt++;

 	sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
 	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_X, &accel_x);
 	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
 	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
 #ifdef ARGONKEY_TEST_LOG
 	sprintf(out_str, "accel (%f %f %f) m/s2", (double)out_ev(&accel_x),
 						(double)out_ev(&accel_y),
 						(double)out_ev(&accel_z));
 	printk("TRIG %s\n", out_str);
 #endif

 	/* lsm6dsl gyro */
 	sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
 	sensor_channel_get(dev, SENSOR_CHAN_GYRO_X, &gyro_x);
 	sensor_channel_get(dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
 	sensor_channel_get(dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
 #ifdef ARGONKEY_TEST_LOG
 	sprintf(out_str, "gyro (%f %f %f) dps", (double)out_ev(&gyro_x),
 						(double)out_ev(&gyro_y),
 						(double)out_ev(&gyro_z));
 	printk("TRIG %s\n", out_str);
 #endif

 #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
 	/* lsm6dsl magn */
 	sensor_sample_fetch_chan(dev, SENSOR_CHAN_MAGN_XYZ);
 	sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &magn_x);
 	sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &magn_y);
 	sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &magn_z);
 #ifdef ARGONKEY_TEST_LOG
 	sprintf(out_str, "magn (%f %f %f) gauss", (double)out_ev(&magn_x),
 						 (double)out_ev(&magn_y),
 						 (double)out_ev(&magn_z));
 	printk("TRIG %s\n", out_str);
 #endif

 #endif
 #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
 	/* lsm6dsl press/temp */
 	sensor_sample_fetch_chan(dev, SENSOR_CHAN_PRESS);
 	sensor_channel_get(dev, SENSOR_CHAN_PRESS, &press);

 	sensor_sample_fetch_chan(dev, SENSOR_CHAN_AMBIENT_TEMP);
 	sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);

 #ifdef ARGONKEY_TEST_LOG
 	sprintf(out_str, "press (%f) kPa - temp (%f) deg", (double)out_ev(&press),
 							   (double)out_ev(&temp));
 	printk("%s\n", out_str);
 #endif

 #endif
 }
 #endif

 #define NUM_LEDS 12
 #define DELAY_TIME K_MSEC(50)

 void main(void)
 {
 	int cnt = 0;
 	char out_str[64];
 	static const struct device *led0, *led1;
 	int i, on = 1;

 #ifdef CONFIG_LP3943
 	static const struct device *ledc;

 	ledc = device_get_binding(DT_LABEL(DT_INST(0, ti_lp3943)));
 	if (!ledc) {
 		printk("Could not get pointer to %s sensor\n",
 			DT_LABEL(DT_INST(0, ti_lp3943)));
 		return;
 	}

 	/* turn all leds on */
 	for (i = 0; i < NUM_LEDS; i++) {
 		led_on(ledc, i);
 		k_sleep(DELAY_TIME);
 	}

 	/* turn all leds off */
 	for (i = 0; i < NUM_LEDS; i++) {
 		led_off(ledc, i);
 		k_sleep(DELAY_TIME);
 	}
 #endif

 	led0 = device_get_binding(DT_GPIO_LABEL(DT_ALIAS(led0), gpios));
 	gpio_pin_configure(led0, DT_GPIO_PIN(DT_ALIAS(led0), gpios),
 			   GPIO_OUTPUT_ACTIVE |
 			   DT_GPIO_FLAGS(DT_ALIAS(led0), gpios));

 	led1 = device_get_binding(DT_GPIO_LABEL(DT_ALIAS(led1), gpios));
 	gpio_pin_configure(led1, DT_GPIO_PIN(DT_ALIAS(led1), gpios),
 			   GPIO_OUTPUT_INACTIVE |
 			   DT_GPIO_FLAGS(DT_ALIAS(led1), gpios));

 	for (i = 0; i < 5; i++) {
 		gpio_pin_set(led1, DT_GPIO_PIN(DT_ALIAS(led1), gpios), on);
 		k_sleep(K_MSEC(200));
 		on = (on == 1) ? 0 : 1;
 	}

 	printk("ArgonKey test!!\n");

 #ifdef CONFIG_LPS22HB
 	const struct device *baro_dev =
 			device_get_binding(DT_LABEL(DT_INST(0, st_lps22hb_press)));

 	if (!baro_dev) {
 		printk("Could not get pointer to %s sensor\n",
 			DT_LABEL(DT_INST(0, st_lps22hb_press)));
 		return;
 	}
 #endif

 #ifdef CONFIG_HTS221
 	const struct device *hum_dev = device_get_binding(DT_LABEL(DT_INST(0, st_hts221)));

 	if (!hum_dev) {
 		printk("Could not get pointer to %s sensor\n",
 			DT_LABEL(DT_INST(0, st_hts221)));
 		return;
 	}
 #endif

 #ifdef CONFIG_LSM6DSL
 	const struct device *accel_dev = device_get_binding(DT_LABEL(DT_INST(0, st_lsm6dsl)));

 	if (!accel_dev) {
 		printk("Could not get pointer to %s sensor\n",
 			DT_LABEL(DT_INST(0, st_lsm6dsl)));
 		return;
 	}

 #if defined(CONFIG_LSM6DSL_ACCEL_ODR) && (CONFIG_LSM6DSL_ACCEL_ODR == 0)
 	struct sensor_value a_odr_attr;

 	/* set sampling frequency to 104Hz for accel */
 	a_odr_attr.val1 = 104;
 	a_odr_attr.val2 = 0;

 	if (sensor_attr_set(accel_dev, SENSOR_CHAN_ACCEL_XYZ,
 			    SENSOR_ATTR_SAMPLING_FREQUENCY, &a_odr_attr) < 0) {
 		printk("Cannot set sampling frequency for accelerometer.\n");
 		return;
 	}
 #endif

 #if defined(CONFIG_LSM6DSL_ACCEL_FS) && (CONFIG_LSM6DSL_ACCEL_FS == 0)
 	struct sensor_value a_fs_attr;

 	/* set full scale to 16g for accel */
 	sensor_g_to_ms2(16, &a_fs_attr);

 	if (sensor_attr_set(accel_dev, SENSOR_CHAN_ACCEL_XYZ,
 			    SENSOR_ATTR_FULL_SCALE, &a_fs_attr) < 0) {
 		printk("Cannot set fs for accelerometer.\n");
 		return;
 	}
 #endif

 #if defined(CONFIG_LSM6DSL_GYRO_ODR) && (CONFIG_LSM6DSL_GYRO_ODR == 0)
 	struct sensor_value g_odr_attr;

 	/* set sampling frequency to 104Hz for accel */
 	g_odr_attr.val1 = 104;
 	g_odr_attr.val2 = 0;

 	if (sensor_attr_set(accel_dev, SENSOR_CHAN_GYRO_XYZ,
 			    SENSOR_ATTR_SAMPLING_FREQUENCY, &g_odr_attr) < 0) {
 		printk("Cannot set sampling frequency for gyro.\n");
 		return;
 	}
 #endif

 #if defined(CONFIG_LSM6DSL_GYRO_FS) && (CONFIG_LSM6DSL_GYRO_FS == 0)
 	struct sensor_value g_fs_attr;

 	/* set full scale to 245dps for accel */
 	sensor_degrees_to_rad(245, &g_fs_attr);

 	if (sensor_attr_set(accel_dev, SENSOR_CHAN_GYRO_XYZ,
 			    SENSOR_ATTR_FULL_SCALE, &g_fs_attr) < 0) {
 		printk("Cannot set fs for gyroscope.\n");
 		return;
 	}
 #endif

 #endif

 #ifdef CONFIG_VL53L0X
 	const struct device *tof_dev = device_get_binding(DT_LABEL(DT_INST(0, st_vl53l0x)));

 	if (!tof_dev) {
 		printk("Could not get pointer to %s sensor\n",
 			DT_LABEL(DT_INST(0, st_vl53l0x)));
 		return;
 	}
 #endif

 #ifdef CONFIG_LSM6DSL_TRIGGER
 	struct sensor_trigger trig;

 	trig.type = SENSOR_TRIG_DATA_READY;
 	trig.chan = SENSOR_CHAN_ACCEL_XYZ;
 	if (sensor_trigger_set(accel_dev, &trig,
 			       lsm6dsl_trigger_handler) != 0) {
 		printk("Could not set sensor type and channel\n");
 		return;
 	}
 #endif

 	while (1) {
 #ifdef CONFIG_LPS22HB
 		struct sensor_value temp, press;
 #endif
 #ifdef CONFIG_HTS221
 		struct sensor_value humidity;
 #endif
 #ifdef CONFIG_LSM6DSL
 		struct sensor_value accel_x, accel_y, accel_z;
 		struct sensor_value gyro_x, gyro_y, gyro_z;
 #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
 		struct sensor_value magn_x, magn_y, magn_z;
 #endif
 #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
 		struct sensor_value press, temp;
 #endif
 #endif
 #ifdef CONFIG_VL53L0X
 		struct sensor_value prox;
 #endif

 #ifdef CONFIG_VL53L0X
 		sensor_sample_fetch(tof_dev);
 		sensor_channel_get(tof_dev, SENSOR_CHAN_PROX, &prox);
 		printk("proxy: %d  ;\n", prox.val1);
 		sensor_channel_get(tof_dev, SENSOR_CHAN_DISTANCE, &prox);
 		printk("distance: %d m -- %02d cm;\n", prox.val1,
 						       prox.val2/10000);
 #endif

 #ifdef CONFIG_LPS22HB
 		sensor_sample_fetch(baro_dev);
 		sensor_channel_get(baro_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
 		sensor_channel_get(baro_dev, SENSOR_CHAN_PRESS, &press);

 		printk("temp: %d.%02d C; press: %d.%06d\n",
 		       temp.val1, temp.val2, press.val1, press.val2);
 #endif

 #ifdef CONFIG_HTS221
 		sensor_sample_fetch(hum_dev);
 		sensor_channel_get(hum_dev, SENSOR_CHAN_HUMIDITY, &humidity);

 		printk("humidity: %d.%06d\n",
 		       humidity.val1, humidity.val2);
 #endif

 #ifdef CONFIG_LSM6DSL
 		/* lsm6dsl accel */
 		sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_ACCEL_XYZ);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_X, &accel_x);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
 		sprintf(out_str, "accel (%f %f %f) m/s2", (double)out_ev(&accel_x),
 							(double)out_ev(&accel_y),
 							(double)out_ev(&accel_z));
 		printk("%s\n", out_str);

 		/* lsm6dsl gyro */
 		sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_GYRO_XYZ);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_X, &gyro_x);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
 		sprintf(out_str, "gyro (%f %f %f) dps", (double)out_ev(&gyro_x),
 							(double)out_ev(&gyro_y),
 							(double)out_ev(&gyro_z));
 		printk("%s\n", out_str);
 #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
 		/* lsm6dsl magn */
 		sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_MAGN_XYZ);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_X, &magn_x);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_Y, &magn_y);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_Z, &magn_z);
 		sprintf(out_str, "magn (%f %f %f) gauss", (double)out_ev(&magn_x),
 							 (double)out_ev(&magn_y),
 							 (double)out_ev(&magn_z));
 		printk("%s\n", out_str);
 #endif
 #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
 		/* lsm6dsl press/temp */
 		sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_PRESS);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_PRESS, &press);

 		sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_AMBIENT_TEMP);
 		sensor_channel_get(accel_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);

 		sprintf(out_str, "press (%f) kPa - temp (%f) deg",
 			(double)out_ev(&press), (double)out_ev(&temp));
 		printk("%s\n", out_str);
 #endif

 #endif /* CONFIG_LSM6DSL */

 		printk("- (%d) (trig_cnt: %d)\n\n", ++cnt, lsm6dsl_trig_cnt);
 		k_sleep(K_MSEC(2000));
 	}
 }
	/*
	* Copyright (c) 2018 STMicroelectronics
	*
	* SPDX-License-Identifier: Apache-2.0
	*/

	#include <zephyr.h>
	#include <sys/printk.h>

	#include <drivers/gpio.h>
	#include <drivers/led.h>
	#include <drivers/i2c.h>
	#include <drivers/spi.h>
	#include <drivers/sensor.h>

	#include <stdio.h>

	/* #define ARGONKEY_TEST_LOG 1 */

	#define WHOAMI_REG 0x0F
	#define WHOAMI_ALT_REG 0x4F

	static inline float out_ev(struct sensor_value *val)
	{
	return (val->val1 + (float)val->val2 / 1000000);
	}

	static int lsm6dsl_trig_cnt;
	#ifdef CONFIG_LSM6DSL_TRIGGER
	static void lsm6dsl_trigger_handler(const struct device *dev,
	const struct sensor_trigger *trig)
	{
	#ifdef ARGONKEY_TEST_LOG
	char out_str[64];
	#endif
	struct sensor_value accel_x, accel_y, accel_z;
	struct sensor_value gyro_x, gyro_y, gyro_z;

	#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
	struct sensor_value magn_x, magn_y, magn_z;
	#endif
	#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
	struct sensor_value press, temp;
	#endif

	lsm6dsl_trig_cnt++;

	sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_X, &accel_x);
	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
	#ifdef ARGONKEY_TEST_LOG
	sprintf(out_str, "accel (%f %f %f) m/s2", (double)out_ev(&accel_x),
	(double)out_ev(&accel_y),
	(double)out_ev(&accel_z));
	printk("TRIG %s\n", out_str);
	#endif

	/* lsm6dsl gyro */
	sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
	sensor_channel_get(dev, SENSOR_CHAN_GYRO_X, &gyro_x);
	sensor_channel_get(dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
	sensor_channel_get(dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
	#ifdef ARGONKEY_TEST_LOG
	sprintf(out_str, "gyro (%f %f %f) dps", (double)out_ev(&gyro_x),
	(double)out_ev(&gyro_y),
	(double)out_ev(&gyro_z));
	printk("TRIG %s\n", out_str);
	#endif

	#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
	/* lsm6dsl magn */
	sensor_sample_fetch_chan(dev, SENSOR_CHAN_MAGN_XYZ);
	sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &magn_x);
	sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &magn_y);
	sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &magn_z);
	#ifdef ARGONKEY_TEST_LOG
	sprintf(out_str, "magn (%f %f %f) gauss", (double)out_ev(&magn_x),
	(double)out_ev(&magn_y),
	(double)out_ev(&magn_z));
	printk("TRIG %s\n", out_str);
	#endif

	#endif
	#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
	/* lsm6dsl press/temp */
	sensor_sample_fetch_chan(dev, SENSOR_CHAN_PRESS);
	sensor_channel_get(dev, SENSOR_CHAN_PRESS, &press);

	sensor_sample_fetch_chan(dev, SENSOR_CHAN_AMBIENT_TEMP);
	sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);

	#ifdef ARGONKEY_TEST_LOG
	sprintf(out_str, "press (%f) kPa - temp (%f) deg", (double)out_ev(&press),
	(double)out_ev(&temp));
	printk("%s\n", out_str);
	#endif

	#endif
	}
	#endif

	#define NUM_LEDS 12
	#define DELAY_TIME K_MSEC(50)

	void main(void)
	{
	int cnt = 0;
	char out_str[64];
	static const struct device led0, led1;
	int i, on = 1;

	#ifdef CONFIG_LP3943
	static const struct device *ledc;

	ledc = device_get_binding(DT_LABEL(DT_INST(0, ti_lp3943)));
	if (!ledc) {
	printk("Could not get pointer to %s sensor\n",
	DT_LABEL(DT_INST(0, ti_lp3943)));
	return;
	}

	/* turn all leds on */
	for (i = 0; i < NUM_LEDS; i++) {
	led_on(ledc, i);
	k_sleep(DELAY_TIME);
	}

	/* turn all leds off */
	for (i = 0; i < NUM_LEDS; i++) {
	led_off(ledc, i);
	k_sleep(DELAY_TIME);
	}
	#endif

	led0 = device_get_binding(DT_GPIO_LABEL(DT_ALIAS(led0), gpios));
	gpio_pin_configure(led0, DT_GPIO_PIN(DT_ALIAS(led0), gpios),
	GPIO_OUTPUT_ACTIVE \|
	DT_GPIO_FLAGS(DT_ALIAS(led0), gpios));

	led1 = device_get_binding(DT_GPIO_LABEL(DT_ALIAS(led1), gpios));
	gpio_pin_configure(led1, DT_GPIO_PIN(DT_ALIAS(led1), gpios),
	GPIO_OUTPUT_INACTIVE \|
	DT_GPIO_FLAGS(DT_ALIAS(led1), gpios));

	for (i = 0; i < 5; i++) {
	gpio_pin_set(led1, DT_GPIO_PIN(DT_ALIAS(led1), gpios), on);
	k_sleep(K_MSEC(200));
	on = (on == 1) ? 0 : 1;
	}

	printk("ArgonKey test!!\n");

	#ifdef CONFIG_LPS22HB
	const struct device *baro_dev =
	device_get_binding(DT_LABEL(DT_INST(0, st_lps22hb_press)));

	if (!baro_dev) {
	printk("Could not get pointer to %s sensor\n",
	DT_LABEL(DT_INST(0, st_lps22hb_press)));
	return;
	}
	#endif

	#ifdef CONFIG_HTS221
	const struct device *hum_dev = device_get_binding(DT_LABEL(DT_INST(0, st_hts221)));

	if (!hum_dev) {
	printk("Could not get pointer to %s sensor\n",
	DT_LABEL(DT_INST(0, st_hts221)));
	return;
	}
	#endif

	#ifdef CONFIG_LSM6DSL
	const struct device *accel_dev = device_get_binding(DT_LABEL(DT_INST(0, st_lsm6dsl)));

	if (!accel_dev) {
	printk("Could not get pointer to %s sensor\n",
	DT_LABEL(DT_INST(0, st_lsm6dsl)));
	return;
	}

	#if defined(CONFIG_LSM6DSL_ACCEL_ODR) && (CONFIG_LSM6DSL_ACCEL_ODR == 0)
	struct sensor_value a_odr_attr;

	/* set sampling frequency to 104Hz for accel */
	a_odr_attr.val1 = 104;
	a_odr_attr.val2 = 0;

	if (sensor_attr_set(accel_dev, SENSOR_CHAN_ACCEL_XYZ,
	SENSOR_ATTR_SAMPLING_FREQUENCY, &a_odr_attr) < 0) {
	printk("Cannot set sampling frequency for accelerometer.\n");
	return;
	}
	#endif

	#if defined(CONFIG_LSM6DSL_ACCEL_FS) && (CONFIG_LSM6DSL_ACCEL_FS == 0)
	struct sensor_value a_fs_attr;

	/* set full scale to 16g for accel */
	sensor_g_to_ms2(16, &a_fs_attr);

	if (sensor_attr_set(accel_dev, SENSOR_CHAN_ACCEL_XYZ,
	SENSOR_ATTR_FULL_SCALE, &a_fs_attr) < 0) {
	printk("Cannot set fs for accelerometer.\n");
	return;
	}
	#endif

	#if defined(CONFIG_LSM6DSL_GYRO_ODR) && (CONFIG_LSM6DSL_GYRO_ODR == 0)
	struct sensor_value g_odr_attr;

	/* set sampling frequency to 104Hz for accel */
	g_odr_attr.val1 = 104;
	g_odr_attr.val2 = 0;

	if (sensor_attr_set(accel_dev, SENSOR_CHAN_GYRO_XYZ,
	SENSOR_ATTR_SAMPLING_FREQUENCY, &g_odr_attr) < 0) {
	printk("Cannot set sampling frequency for gyro.\n");
	return;
	}
	#endif

	#if defined(CONFIG_LSM6DSL_GYRO_FS) && (CONFIG_LSM6DSL_GYRO_FS == 0)
	struct sensor_value g_fs_attr;

	/* set full scale to 245dps for accel */
	sensor_degrees_to_rad(245, &g_fs_attr);

	if (sensor_attr_set(accel_dev, SENSOR_CHAN_GYRO_XYZ,
	SENSOR_ATTR_FULL_SCALE, &g_fs_attr) < 0) {
	printk("Cannot set fs for gyroscope.\n");
	return;
	}
	#endif

	#endif

	#ifdef CONFIG_VL53L0X
	const struct device *tof_dev = device_get_binding(DT_LABEL(DT_INST(0, st_vl53l0x)));

	if (!tof_dev) {
	printk("Could not get pointer to %s sensor\n",
	DT_LABEL(DT_INST(0, st_vl53l0x)));
	return;
	}
	#endif

	#ifdef CONFIG_LSM6DSL_TRIGGER
	struct sensor_trigger trig;

	trig.type = SENSOR_TRIG_DATA_READY;
	trig.chan = SENSOR_CHAN_ACCEL_XYZ;
	if (sensor_trigger_set(accel_dev, &trig,
	lsm6dsl_trigger_handler) != 0) {
	printk("Could not set sensor type and channel\n");
	return;
	}
	#endif

	while (1) {
	#ifdef CONFIG_LPS22HB
	struct sensor_value temp, press;
	#endif
	#ifdef CONFIG_HTS221
	struct sensor_value humidity;
	#endif
	#ifdef CONFIG_LSM6DSL
	struct sensor_value accel_x, accel_y, accel_z;
	struct sensor_value gyro_x, gyro_y, gyro_z;
	#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
	struct sensor_value magn_x, magn_y, magn_z;
	#endif
	#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
	struct sensor_value press, temp;
	#endif
	#endif
	#ifdef CONFIG_VL53L0X
	struct sensor_value prox;
	#endif

	#ifdef CONFIG_VL53L0X
	sensor_sample_fetch(tof_dev);
	sensor_channel_get(tof_dev, SENSOR_CHAN_PROX, &prox);
	printk("proxy: %d ;\n", prox.val1);
	sensor_channel_get(tof_dev, SENSOR_CHAN_DISTANCE, &prox);
	printk("distance: %d m -- %02d cm;\n", prox.val1,
	prox.val2/10000);
	#endif

	#ifdef CONFIG_LPS22HB
	sensor_sample_fetch(baro_dev);
	sensor_channel_get(baro_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
	sensor_channel_get(baro_dev, SENSOR_CHAN_PRESS, &press);

	printk("temp: %d.%02d C; press: %d.%06d\n",
	temp.val1, temp.val2, press.val1, press.val2);
	#endif

	#ifdef CONFIG_HTS221
	sensor_sample_fetch(hum_dev);
	sensor_channel_get(hum_dev, SENSOR_CHAN_HUMIDITY, &humidity);

	printk("humidity: %d.%06d\n",
	humidity.val1, humidity.val2);
	#endif

	#ifdef CONFIG_LSM6DSL
	/* lsm6dsl accel */
	sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_ACCEL_XYZ);
	sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_X, &accel_x);
	sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
	sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
	sprintf(out_str, "accel (%f %f %f) m/s2", (double)out_ev(&accel_x),
	(double)out_ev(&accel_y),
	(double)out_ev(&accel_z));
	printk("%s\n", out_str);

	/* lsm6dsl gyro */
	sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_GYRO_XYZ);
	sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_X, &gyro_x);
	sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
	sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
	sprintf(out_str, "gyro (%f %f %f) dps", (double)out_ev(&gyro_x),
	(double)out_ev(&gyro_y),
	(double)out_ev(&gyro_z));
	printk("%s\n", out_str);
	#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
	/* lsm6dsl magn */
	sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_MAGN_XYZ);
	sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_X, &magn_x);
	sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_Y, &magn_y);
	sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_Z, &magn_z);
	sprintf(out_str, "magn (%f %f %f) gauss", (double)out_ev(&magn_x),
	(double)out_ev(&magn_y),
	(double)out_ev(&magn_z));
	printk("%s\n", out_str);
	#endif
	#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
	/* lsm6dsl press/temp */
	sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_PRESS);
	sensor_channel_get(accel_dev, SENSOR_CHAN_PRESS, &press);

	sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_AMBIENT_TEMP);
	sensor_channel_get(accel_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);

	sprintf(out_str, "press (%f) kPa - temp (%f) deg",
	(double)out_ev(&press), (double)out_ev(&temp));
	printk("%s\n", out_str);
	#endif

	#endif /* CONFIG_LSM6DSL */

	printk("- (%d) (trig_cnt: %d)\n\n", ++cnt, lsm6dsl_trig_cnt);
	k_sleep(K_MSEC(2000));
	}
	}