| /* |
| * 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_IIS2DLPC_TRIGGER |
| static int iis2dlpc_trig_cnt; |
| |
| static void iis2dlpc_trigger_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ); |
| iis2dlpc_trig_cnt++; |
| } |
| #endif |
| |
| #ifdef CONFIG_ISM330DHCX_TRIGGER |
| static int ism330dhcx_acc_trig_cnt; |
| static int ism330dhcx_gyr_trig_cnt; |
| static int ism330dhcx_temp_trig_cnt; |
| |
| static void ism330dhcx_acc_trig_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ); |
| ism330dhcx_acc_trig_cnt++; |
| } |
| |
| static void ism330dhcx_gyr_trig_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ); |
| ism330dhcx_gyr_trig_cnt++; |
| } |
| |
| static void ism330dhcx_temp_trig_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_DIE_TEMP); |
| ism330dhcx_temp_trig_cnt++; |
| } |
| #endif |
| |
| static void iis2dlpc_config(const struct device *iis2dlpc) |
| { |
| struct sensor_value odr_attr, fs_attr; |
| |
| /* set IIS2DLPC accel/gyro sampling frequency to 100 Hz */ |
| odr_attr.val1 = 100; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for IIS2DLPC accel\n"); |
| return; |
| } |
| |
| sensor_g_to_ms2(16, &fs_attr); |
| |
| if (sensor_attr_set(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set sampling frequency for IIS2DLPC gyro\n"); |
| return; |
| } |
| |
| #ifdef CONFIG_IIS2DLPC_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| sensor_trigger_set(iis2dlpc, &trig, iis2dlpc_trigger_handler); |
| #endif |
| } |
| |
| static void ism330dhcx_config(const struct device *ism330dhcx) |
| { |
| struct sensor_value odr_attr, fs_attr; |
| |
| /* set ISM330DHCX accel sampling frequency to 208 Hz */ |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for ISM330DHCX accel\n"); |
| return; |
| } |
| |
| sensor_g_to_ms2(16, &fs_attr); |
| |
| if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set fs for ISM330DHCX accel\n"); |
| return; |
| } |
| |
| /* set ISM330DHCX gyro sampling frequency to 208 Hz */ |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for ISM330DHCX gyro\n"); |
| return; |
| } |
| |
| sensor_degrees_to_rad(250, &fs_attr); |
| |
| if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set fs for ISM330DHCX gyro\n"); |
| return; |
| } |
| |
| /* set ISM330DHCX external magn sampling frequency to 100 Hz */ |
| odr_attr.val1 = 100; |
| odr_attr.val2 = 0; |
| |
| #ifdef CONFIG_ISM330DHCX_EXT_IIS2MDC |
| if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_MAGN_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for ISM330DHCX ext magn\n"); |
| return; |
| } |
| #endif |
| |
| #ifdef CONFIG_ISM330DHCX_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| sensor_trigger_set(ism330dhcx, &trig, ism330dhcx_acc_trig_handler); |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_GYRO_XYZ; |
| sensor_trigger_set(ism330dhcx, &trig, ism330dhcx_gyr_trig_handler); |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_DIE_TEMP; |
| sensor_trigger_set(ism330dhcx, &trig, ism330dhcx_temp_trig_handler); |
| #endif |
| } |
| |
| int main(void) |
| { |
| #ifdef CONFIG_ISM330DHCX_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 iis2dlpc = DEVICE_DT_GET_ONE(st_iis2dlpc); |
| const struct device *const ism330dhcx = DEVICE_DT_GET_ONE(st_ism330dhcx); |
| int cnt = 1; |
| |
| if (!device_is_ready(iis2dlpc)) { |
| printk("%s: device not ready.\n", iis2dlpc->name); |
| return 0; |
| } |
| if (!device_is_ready(ism330dhcx)) { |
| printk("%s: device not ready.\n", ism330dhcx->name); |
| return 0; |
| } |
| |
| iis2dlpc_config(iis2dlpc); |
| ism330dhcx_config(ism330dhcx); |
| |
| while (1) { |
| /* Get sensor samples */ |
| |
| #ifndef CONFIG_IIS2DLPC_TRIGGER |
| if (sensor_sample_fetch(iis2dlpc) < 0) { |
| printf("IIS2DLPC Sensor sample update error\n"); |
| return 0; |
| } |
| #endif |
| #ifndef CONFIG_ISM330DHCX_TRIGGER |
| if (sensor_sample_fetch(ism330dhcx) < 0) { |
| printf("ISM330DHCX Sensor sample update error\n"); |
| return 0; |
| } |
| #endif |
| |
| /* Get sensor data */ |
| sensor_channel_get(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ, accel2); |
| sensor_channel_get(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ, accel1); |
| sensor_channel_get(ism330dhcx, SENSOR_CHAN_GYRO_XYZ, gyro); |
| #ifdef CONFIG_ISM330DHCX_ENABLE_TEMP |
| sensor_channel_get(ism330dhcx, SENSOR_CHAN_DIE_TEMP, &die_temp); |
| #endif |
| #ifdef CONFIG_ISM330DHCX_EXT_IIS2MDC |
| sensor_channel_get(ism330dhcx, SENSOR_CHAN_MAGN_XYZ, magn); |
| #endif |
| |
| /* Display sensor data */ |
| |
| /* Erase previous */ |
| printf("\0033\014"); |
| |
| printf("X-NUCLEO-IKS02A1 sensor Mode 2 dashboard\n\n"); |
| |
| printf("IIS2DLPC: 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("ISM330DHCX: 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("ISM330DHCX: 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_ISM330DHCX_ENABLE_TEMP |
| /* temperature */ |
| printf("ISM330DHCX: Temperature: %.1f C\n", |
| sensor_value_to_double(&die_temp)); |
| #endif |
| |
| #ifdef CONFIG_ISM330DHCX_EXT_IIS2MDC |
| printf("ISM330DHCX: 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_IIS2DLPC_TRIGGER |
| printk("%d:: iis2dlpc trig %d\n", cnt, iis2dlpc_trig_cnt); |
| #endif |
| |
| #ifdef CONFIG_ISM330DHCX_TRIGGER |
| printk("%d:: ism330dhcx acc trig %d\n", cnt, ism330dhcx_acc_trig_cnt); |
| printk("%d:: ism330dhcx gyr trig %d\n", cnt, ism330dhcx_gyr_trig_cnt); |
| #ifdef CONFIG_ISM330DHCX_ENABLE_TEMP |
| printk("%d:: ism330dhcx temp trig %d\n", cnt, ism330dhcx_temp_trig_cnt); |
| #endif |
| #endif |
| |
| cnt++; |
| k_sleep(K_MSEC(2000)); |
| } |
| } |