| /* |
| * Copyright (c) 2022 TOKITA Hiroshi <tokita.hiroshi@fujitsu.com |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <stdio.h> |
| #include <stdlib.h> |
| |
| #include <zephyr/device.h> |
| #include <zephyr/drivers/sensor.h> |
| #include <zephyr/sys/util_macro.h> |
| #include <zephyr/kernel.h> |
| |
| #define ACCEL_ALIAS(i) DT_ALIAS(_CONCAT(accel, i)) |
| #define ACCELEROMETER_DEVICE(i, _) \ |
| IF_ENABLED(DT_NODE_EXISTS(ACCEL_ALIAS(i)), (DEVICE_DT_GET(ACCEL_ALIAS(i)),)) |
| |
| /* support up to 10 accelerometer sensors */ |
| static const struct device *const sensors[] = {LISTIFY(10, ACCELEROMETER_DEVICE, ())}; |
| |
| static const enum sensor_channel channels[] = { |
| SENSOR_CHAN_ACCEL_X, |
| SENSOR_CHAN_ACCEL_Y, |
| SENSOR_CHAN_ACCEL_Z, |
| }; |
| |
| static int print_accels(const struct device *dev) |
| { |
| int ret; |
| struct sensor_value accel[3]; |
| |
| ret = sensor_sample_fetch(dev); |
| if (ret < 0) { |
| printk("%s: sensor_sample_fetch() failed: %d\n", dev->name, ret); |
| return ret; |
| } |
| |
| for (size_t i = 0; i < ARRAY_SIZE(channels); i++) { |
| ret = sensor_channel_get(dev, channels[i], &accel[i]); |
| if (ret < 0) { |
| printk("%s: sensor_channel_get(%c) failed: %d\n", dev->name, 'X' + i, ret); |
| return ret; |
| } |
| } |
| |
| printk("%16s [m/s^2]: (%12.6f, %12.6f, %12.6f)\n", dev->name, |
| sensor_value_to_double(&accel[0]), sensor_value_to_double(&accel[1]), |
| sensor_value_to_double(&accel[2])); |
| |
| return 0; |
| } |
| |
| int main(void) |
| { |
| int ret; |
| |
| for (size_t i = 0; i < ARRAY_SIZE(sensors); i++) { |
| if (!device_is_ready(sensors[i])) { |
| printk("sensor: device %s not ready.\n", sensors[i]->name); |
| return 0; |
| } |
| } |
| |
| while (1) { |
| for (size_t i = 0; i < ARRAY_SIZE(sensors); i++) { |
| ret = print_accels(sensors[i]); |
| if (ret < 0) { |
| return 0; |
| } |
| } |
| k_msleep(1000); |
| } |
| return 0; |
| } |