samples/sensor/accel_polling/src/main.c

/*
 * 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;
}

void 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;
		}
	}

	while (1) {
		for (size_t i = 0; i < ARRAY_SIZE(sensors); i++) {
			ret = print_accels(sensors[i]);
			if (ret < 0) {
				return;
			}
		}
		k_msleep(1000);
	}
}