| /* |
| * Copyright (c) 2019 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/device.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <stdio.h> |
| #include <zephyr/sys/util.h> |
| |
| #ifdef CONFIG_LIS2DW12_TRIGGER |
| static int lis2dw12_trig_cnt; |
| |
| static void lis2dw12_trigger_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ); |
| lis2dw12_trig_cnt++; |
| } |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO_TRIGGER |
| static int lsm6dso_acc_trig_cnt; |
| |
| static void lsm6dso_acc_trig_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch(dev); |
| lsm6dso_acc_trig_cnt++; |
| } |
| #endif |
| |
| static void lis2dw12_config(const struct device *lis2dw12) |
| { |
| struct sensor_value odr_attr, fs_attr; |
| |
| /* set LIS2DW12 accel/gyro sampling frequency to 100 Hz */ |
| odr_attr.val1 = 100; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lis2dw12, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LIS2DW12 accel\n"); |
| return; |
| } |
| |
| sensor_g_to_ms2(16, &fs_attr); |
| |
| if (sensor_attr_set(lis2dw12, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set sampling frequency for LIS2DW12 gyro\n"); |
| return; |
| } |
| |
| #ifdef CONFIG_LIS2DW12_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| sensor_trigger_set(lis2dw12, &trig, lis2dw12_trigger_handler); |
| #endif |
| } |
| |
| static void lsm6dso_config(const struct device *lsm6dso) |
| { |
| struct sensor_value odr_attr, fs_attr; |
| |
| /* set LSM6DSO accel sampling frequency to 208 Hz */ |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lsm6dso, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSO accel\n"); |
| return; |
| } |
| |
| sensor_g_to_ms2(16, &fs_attr); |
| |
| if (sensor_attr_set(lsm6dso, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set fs for LSM6DSO accel\n"); |
| return; |
| } |
| |
| /* set LSM6DSO gyro sampling frequency to 208 Hz */ |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lsm6dso, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSO gyro\n"); |
| return; |
| } |
| |
| sensor_degrees_to_rad(250, &fs_attr); |
| |
| if (sensor_attr_set(lsm6dso, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set fs for LSM6DSO gyro\n"); |
| return; |
| } |
| |
| /* set LSM6DSO external magn sampling frequency to 100 Hz */ |
| odr_attr.val1 = 100; |
| odr_attr.val2 = 0; |
| |
| #ifdef CONFIG_LSM6DSO_EXT_LIS2MDL |
| if (sensor_attr_set(lsm6dso, SENSOR_CHAN_MAGN_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSO ext magn\n"); |
| return; |
| } |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO_EXT_LPS22HH |
| if (sensor_attr_set(lsm6dso, SENSOR_CHAN_PRESS, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSO ext pressure\n"); |
| return; |
| } |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO_EXT_HTS221 |
| odr_attr.val1 = 12; |
| if (sensor_attr_set(lsm6dso, SENSOR_CHAN_HUMIDITY, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSO ext humidity\n"); |
| return; |
| } |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| sensor_trigger_set(lsm6dso, &trig, lsm6dso_acc_trig_handler); |
| #endif |
| } |
| |
| int main(void) |
| { |
| #ifdef CONFIG_LSM6DSO_EXT_LPS22HH |
| struct sensor_value temp2, press; |
| #endif |
| #ifdef CONFIG_LSM6DSO_EXT_HTS221 |
| struct sensor_value hum; |
| #endif |
| #ifdef CONFIG_LSM6DSO_ENABLE_TEMP |
| struct sensor_value die_temp; |
| #endif |
| struct sensor_value accel1[3], accel2[3]; |
| struct sensor_value gyro[3]; |
| struct sensor_value magn[3]; |
| const struct device *const lis2dw12 = DEVICE_DT_GET_ONE(st_lis2dw12); |
| const struct device *const lsm6dso = DEVICE_DT_GET_ONE(st_lsm6dso); |
| int cnt = 1; |
| |
| if (!device_is_ready(lis2dw12)) { |
| printk("%s: device not ready.\n", lis2dw12->name); |
| return 0; |
| } |
| if (!device_is_ready(lsm6dso)) { |
| printk("%s: device not ready.\n", lsm6dso->name); |
| return 0; |
| } |
| |
| lis2dw12_config(lis2dw12); |
| lsm6dso_config(lsm6dso); |
| |
| while (1) { |
| /* Get sensor samples */ |
| |
| #ifndef CONFIG_LIS2DW12_TRIGGER |
| if (sensor_sample_fetch(lis2dw12) < 0) { |
| printf("LIS2DW12 Sensor sample update error\n"); |
| return 0; |
| } |
| #endif |
| #ifndef CONFIG_LSM6DSO_TRIGGER |
| if (sensor_sample_fetch(lsm6dso) < 0) { |
| printf("LSM6DSO Sensor sample update error\n"); |
| return 0; |
| } |
| #endif |
| |
| /* Get sensor data */ |
| sensor_channel_get(lis2dw12, SENSOR_CHAN_ACCEL_XYZ, accel2); |
| sensor_channel_get(lsm6dso, SENSOR_CHAN_ACCEL_XYZ, accel1); |
| sensor_channel_get(lsm6dso, SENSOR_CHAN_GYRO_XYZ, gyro); |
| #ifdef CONFIG_LSM6DSO_ENABLE_TEMP |
| sensor_channel_get(lsm6dso, SENSOR_CHAN_DIE_TEMP, &die_temp); |
| #endif |
| #ifdef CONFIG_LSM6DSO_EXT_LIS2MDL |
| sensor_channel_get(lsm6dso, SENSOR_CHAN_MAGN_XYZ, magn); |
| #endif |
| #ifdef CONFIG_LSM6DSO_EXT_LPS22HH |
| sensor_channel_get(lsm6dso, SENSOR_CHAN_AMBIENT_TEMP, &temp2); |
| sensor_channel_get(lsm6dso, SENSOR_CHAN_PRESS, &press); |
| #endif |
| #ifdef CONFIG_LSM6DSO_EXT_HTS221 |
| sensor_channel_get(lsm6dso, SENSOR_CHAN_HUMIDITY, &hum); |
| #endif |
| |
| /* Display sensor data */ |
| |
| /* Erase previous */ |
| printf("\0033\014"); |
| |
| printf("X-NUCLEO-IKS01A3 sensor dashboard\n\n"); |
| |
| printf("LIS2DW12: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&accel2[0]), |
| sensor_value_to_double(&accel2[1]), |
| sensor_value_to_double(&accel2[2])); |
| |
| printf("LSM6DSO: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&accel1[0]), |
| sensor_value_to_double(&accel1[1]), |
| sensor_value_to_double(&accel1[2])); |
| |
| printf("LSM6DSO: GYro (dps): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&gyro[0]), |
| sensor_value_to_double(&gyro[1]), |
| sensor_value_to_double(&gyro[2])); |
| |
| #ifdef CONFIG_LSM6DSO_ENABLE_TEMP |
| /* temperature */ |
| printf("LSM6DSO: Temperature: %.1f C\n", |
| sensor_value_to_double(&die_temp)); |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO_EXT_LIS2MDL |
| printf("LSM6DSO: Magn (gauss): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&magn[0]), |
| sensor_value_to_double(&magn[1]), |
| sensor_value_to_double(&magn[2])); |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO_EXT_LPS22HH |
| printf("LSM6DSO: Temperature: %.1f C\n", |
| sensor_value_to_double(&temp2)); |
| |
| printf("LSM6DSO: Pressure:%.3f kpa\n", |
| sensor_value_to_double(&press)); |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO_EXT_HTS221 |
| printf("LSM6DSO: Relative Humidity: %.1f%%\n", |
| sensor_value_to_double(&hum)); |
| |
| #endif |
| |
| #ifdef CONFIG_LIS2DW12_TRIGGER |
| printk("%d:: lis2dw12 trig %d\n", cnt, lis2dw12_trig_cnt); |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO_TRIGGER |
| printk("%d:: lsm6dso acc trig %d\n", cnt, lsm6dso_acc_trig_cnt); |
| #endif |
| |
| cnt++; |
| k_sleep(K_MSEC(2000)); |
| } |
| } |