| /* |
| * Copyright (c) 2018 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_LSM6DSL_TRIGGER |
| static int lsm6dsl_trig_cnt; |
| |
| static void lsm6dsl_trigger_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL); |
| lsm6dsl_trig_cnt++; |
| } |
| #endif |
| |
| void main(void) |
| { |
| struct sensor_value temp1, temp2, hum, press; |
| struct sensor_value accel1[3], accel2[3]; |
| struct sensor_value gyro[3]; |
| struct sensor_value magn[3]; |
| const struct device *const hts221 = DEVICE_DT_GET_ONE(st_hts221); |
| const struct device *const lps22hb = DEVICE_DT_GET_ONE(st_lps22hb_press); |
| const struct device *const lsm6dsl = DEVICE_DT_GET_ONE(st_lsm6dsl); |
| const struct device *const lsm303agr_a = DEVICE_DT_GET_ONE(st_lis2dh); |
| const struct device *const lsm303agr_m = DEVICE_DT_GET_ONE(st_lis2mdl); |
| #ifdef CONFIG_LSM6DSL_TRIGGER |
| int cnt = 1; |
| #endif |
| |
| if (!device_is_ready(hts221)) { |
| printk("%s: device not ready.\n", hts221->name); |
| return; |
| } |
| if (!device_is_ready(lps22hb)) { |
| printk("%s: device not ready.\n", lps22hb->name); |
| return; |
| } |
| if (!device_is_ready(lsm6dsl)) { |
| printk("%s: device not ready.\n", lsm6dsl->name); |
| return; |
| } |
| if (!device_is_ready(lsm303agr_a)) { |
| printk("%s: device not ready.\n", lsm303agr_a->name); |
| return; |
| } |
| if (!device_is_ready(lsm303agr_m)) { |
| printk("%s: device not ready.\n", lsm303agr_m->name); |
| return; |
| } |
| |
| /* set LSM6DSL accel/gyro sampling frequency to 104 Hz */ |
| struct sensor_value odr_attr; |
| |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lsm6dsl, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for accelerometer.\n"); |
| return; |
| } |
| |
| if (sensor_attr_set(lsm6dsl, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for gyro.\n"); |
| return; |
| } |
| |
| #ifdef CONFIG_LSM6DSL_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| sensor_trigger_set(lsm6dsl, &trig, lsm6dsl_trigger_handler); |
| #endif |
| |
| while (1) { |
| int ret; |
| |
| /* Get sensor samples */ |
| |
| if (sensor_sample_fetch(hts221) < 0) { |
| printf("HTS221 Sensor sample update error\n"); |
| return; |
| } |
| if (sensor_sample_fetch(lps22hb) < 0) { |
| printf("LPS22HB Sensor sample update error\n"); |
| return; |
| } |
| #ifndef CONFIG_LSM6DSL_TRIGGER |
| if (sensor_sample_fetch(lsm6dsl) < 0) { |
| printf("LSM6DSL Sensor sample update error\n"); |
| return; |
| } |
| #endif |
| ret = sensor_sample_fetch(lsm303agr_a); |
| if (ret < 0 && ret != -EBADMSG) { |
| printf("LSM303AGR Accel Sensor sample update error\n"); |
| return; |
| } |
| if (sensor_sample_fetch(lsm303agr_m) < 0) { |
| printf("LSM303AGR Magn Sensor sample update error\n"); |
| return; |
| } |
| |
| /* Get sensor data */ |
| |
| sensor_channel_get(hts221, SENSOR_CHAN_AMBIENT_TEMP, &temp1); |
| sensor_channel_get(hts221, SENSOR_CHAN_HUMIDITY, &hum); |
| sensor_channel_get(lps22hb, SENSOR_CHAN_PRESS, &press); |
| sensor_channel_get(lps22hb, SENSOR_CHAN_AMBIENT_TEMP, &temp2); |
| sensor_channel_get(lsm6dsl, SENSOR_CHAN_ACCEL_XYZ, accel1); |
| sensor_channel_get(lsm6dsl, SENSOR_CHAN_GYRO_XYZ, gyro); |
| sensor_channel_get(lsm303agr_a, SENSOR_CHAN_ACCEL_XYZ, accel2); |
| sensor_channel_get(lsm303agr_m, SENSOR_CHAN_MAGN_XYZ, magn); |
| |
| /* Display sensor data */ |
| |
| /* Erase previous */ |
| printf("\0033\014"); |
| |
| printf("X-NUCLEO-IKS01A2 sensor dashboard\n\n"); |
| |
| /* temperature */ |
| printf("HTS221: Temperature: %.1f C\n", |
| sensor_value_to_double(&temp1)); |
| |
| /* humidity */ |
| printf("HTS221: Relative Humidity: %.1f%%\n", |
| sensor_value_to_double(&hum)); |
| |
| /* pressure */ |
| printf("LPS22HB: Pressure:%.3f kpa\n", |
| sensor_value_to_double(&press)); |
| |
| /* lps22hb temperature */ |
| printf("LPS22HB: Temperature: %.1f C\n", |
| sensor_value_to_double(&temp2)); |
| |
| /* lsm6dsl accel */ |
| printf("LSM6DSL: Accel (m.s-2): x: %.1f, y: %.1f, z: %.1f\n", |
| sensor_value_to_double(&accel1[0]), |
| sensor_value_to_double(&accel1[1]), |
| sensor_value_to_double(&accel1[2])); |
| |
| /* lsm6dsl gyro */ |
| printf("LSM6DSL: 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])); |
| |
| #if defined(CONFIG_LSM6DSL_TRIGGER) |
| printf("%d:: lsm6dsl trig %d\n", cnt++, lsm6dsl_trig_cnt); |
| #endif |
| |
| /* lsm303agr accel */ |
| printf("LSM303AGR: Accel (m.s-2): x: %.1f, y: %.1f, z: %.1f\n", |
| sensor_value_to_double(&accel2[0]), |
| sensor_value_to_double(&accel2[1]), |
| sensor_value_to_double(&accel2[2])); |
| |
| /* lsm303agr magn */ |
| printf("LSM303AGR: 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])); |
| |
| k_sleep(K_MSEC(2000)); |
| } |
| } |