blob: f3dd277408816312214f89dea469bd9cfb6f5190 [file] [log] [blame]
/*
* Copyright (c) 2020 TDK Invensense
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/zephyr.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <stdio.h>
static const char *now_str(void)
{
static char buf[16]; /* ...HH:MM:SS.MMM */
uint32_t now = k_uptime_get_32();
unsigned int ms = now % MSEC_PER_SEC;
unsigned int s;
unsigned int min;
unsigned int h;
now /= MSEC_PER_SEC;
s = now % 60U;
now /= 60U;
min = now % 60U;
now /= 60U;
h = now;
snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u",
h, min, s, ms);
return buf;
}
static int process_icm42605(const struct device *dev)
{
struct sensor_value temperature;
struct sensor_value accel[3];
struct sensor_value gyro[3];
int rc = sensor_sample_fetch(dev);
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ,
accel);
}
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ,
gyro);
}
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_DIE_TEMP,
&temperature);
}
if (rc == 0) {
printf("[%s]:% g Cel\n"
" accel % f % f % f m/s/s\n"
" gyro % f % f % f rad/s\n",
now_str(),
sensor_value_to_double(&temperature),
sensor_value_to_double(&accel[0]),
sensor_value_to_double(&accel[1]),
sensor_value_to_double(&accel[2]),
sensor_value_to_double(&gyro[0]),
sensor_value_to_double(&gyro[1]),
sensor_value_to_double(&gyro[2]));
} else {
printf("sample fetch/get failed: %d\n", rc);
}
return rc;
}
static struct sensor_trigger data_trigger;
static struct sensor_trigger tap_trigger;
static struct sensor_trigger double_tap_trigger;
static void handle_icm42605_drdy(const struct device *dev,
const struct sensor_trigger *trig)
{
int rc = process_icm42605(dev);
if (rc != 0) {
printf("cancelling trigger due to failure: %d\n", rc);
(void)sensor_trigger_set(dev, trig, NULL);
return;
}
}
static void handle_icm42605_tap(const struct device *dev,
const struct sensor_trigger *trig)
{
printf("Tap Detected!\n");
}
static void handle_icm42605_double_tap(const struct device *dev,
const struct sensor_trigger *trig)
{
printf("Double Tap detected!\n");
}
void main(void)
{
const char *const label = DT_LABEL(DT_INST(0, invensense_icm42605));
const struct device *icm42605 = device_get_binding(label);
if (!icm42605) {
printf("Failed to find sensor %s\n", label);
return;
}
tap_trigger = (struct sensor_trigger) {
.type = SENSOR_TRIG_TAP,
.chan = SENSOR_CHAN_ALL,
};
if (sensor_trigger_set(icm42605, &tap_trigger,
handle_icm42605_tap) < 0) {
printf("Cannot configure tap trigger!!!\n");
return;
}
double_tap_trigger = (struct sensor_trigger) {
.type = SENSOR_TRIG_DOUBLE_TAP,
.chan = SENSOR_CHAN_ALL,
};
if (sensor_trigger_set(icm42605, &double_tap_trigger,
handle_icm42605_double_tap) < 0) {
printf("Cannot configure double tap trigger!!!\n");
return;
}
data_trigger = (struct sensor_trigger) {
.type = SENSOR_TRIG_DATA_READY,
.chan = SENSOR_CHAN_ALL,
};
if (sensor_trigger_set(icm42605, &data_trigger,
handle_icm42605_drdy) < 0) {
printf("Cannot configure data trigger!!!\n");
return;
}
printf("Configured for triggered sampling.\n");
}