| /* |
| * Copyright (c) 2024 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_LPS2XDF_TRIGGER |
| static int lps22df_trig_cnt; |
| |
| static void lps22df_trigger_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL); |
| lps22df_trig_cnt++; |
| } |
| #endif |
| |
| #ifdef CONFIG_LIS2MDL_TRIGGER |
| static int lis2mdl_trig_cnt; |
| |
| static void lis2mdl_trigger_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL); |
| lis2mdl_trig_cnt++; |
| } |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO16IS_TRIGGER |
| static int lsm6dso16is_acc_trig_cnt; |
| |
| static void lsm6dso16is_acc_trig_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL); |
| lsm6dso16is_acc_trig_cnt++; |
| } |
| #endif |
| |
| #ifdef CONFIG_LSM6DSV16X_TRIGGER |
| static int lsm6dsv16x_acc_trig_cnt; |
| |
| static void lsm6dsv16x_acc_trig_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL); |
| lsm6dsv16x_acc_trig_cnt++; |
| } |
| #endif |
| |
| static void lis2mdl_config(const struct device *lis2mdl) |
| { |
| struct sensor_value odr_attr; |
| |
| /* set LIS2MDL sampling frequency to 100 Hz */ |
| odr_attr.val1 = 100; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lis2mdl, SENSOR_CHAN_ALL, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LIS2MDL\n"); |
| return; |
| } |
| |
| #ifdef CONFIG_LIS2MDL_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_MAGN_XYZ; |
| sensor_trigger_set(lis2mdl, &trig, lis2mdl_trigger_handler); |
| #endif |
| } |
| |
| static void lsm6dso16is_config(const struct device *lsm6dso16is) |
| { |
| struct sensor_value odr_attr, fs_attr, mode_attr; |
| |
| mode_attr.val1 = 0; /* HP */ |
| |
| if (sensor_attr_set(lsm6dso16is, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_CONFIGURATION, &mode_attr) < 0) { |
| printk("Cannot set mode for LSM6DSO16IS accel\n"); |
| return; |
| } |
| |
| /* set LSM6DSO16IS accel sampling frequency to 208 Hz */ |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lsm6dso16is, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSO16IS accel\n"); |
| return; |
| } |
| |
| sensor_g_to_ms2(16, &fs_attr); |
| |
| if (sensor_attr_set(lsm6dso16is, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set full scale for LSM6DSO16IS accel\n"); |
| return; |
| } |
| |
| /* set LSM6DSO16IS gyro sampling frequency to 208 Hz */ |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lsm6dso16is, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSO16IS gyro\n"); |
| return; |
| } |
| |
| sensor_degrees_to_rad(250, &fs_attr); |
| |
| if (sensor_attr_set(lsm6dso16is, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set full scale for LSM6DSO16IS gyro\n"); |
| return; |
| } |
| |
| #ifdef CONFIG_LSM6DSO16IS_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| sensor_trigger_set(lsm6dso16is, &trig, lsm6dso16is_acc_trig_handler); |
| #endif |
| } |
| |
| static void lsm6dsv16x_config(const struct device *lsm6dsv16x) |
| { |
| struct sensor_value odr_attr, fs_attr, mode_attr; |
| |
| mode_attr.val1 = 0; /* HP */ |
| |
| if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_CONFIGURATION, &mode_attr) < 0) { |
| printk("Cannot set mode for LSM6DSV16X accel\n"); |
| return; |
| } |
| |
| /* set LSM6DSV16X accel sampling frequency to 208 Hz */ |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSV16X accel\n"); |
| return; |
| } |
| |
| sensor_g_to_ms2(16, &fs_attr); |
| |
| if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set full scale for LSM6DSV16X accel\n"); |
| return; |
| } |
| |
| /* set LSM6DSV16X gyro sampling frequency to 208 Hz */ |
| odr_attr.val1 = 208; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LSM6DSV16X gyro\n"); |
| return; |
| } |
| |
| sensor_degrees_to_rad(250, &fs_attr); |
| |
| if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) { |
| printk("Cannot set full scale for LSM6DSV16X gyro\n"); |
| return; |
| } |
| |
| #ifdef CONFIG_LSM6DSV16X_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| sensor_trigger_set(lsm6dsv16x, &trig, lsm6dsv16x_acc_trig_handler); |
| #endif |
| } |
| |
| static void lps22df_config(const struct device *lps22df) |
| { |
| struct sensor_value odr_attr; |
| |
| /* set LPS22DF accel sampling frequency to 10 Hz */ |
| odr_attr.val1 = 10; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lps22df, SENSOR_CHAN_ALL, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for LPS22DF accel\n"); |
| return; |
| } |
| |
| #ifdef CONFIG_LPS2XDF_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ALL; |
| sensor_trigger_set(lps22df, &trig, lps22df_trigger_handler); |
| #endif |
| } |
| |
| int main(void) |
| { |
| struct sensor_value lis2mdl_magn[3], lis2mdl_temp, lps22df_press, lps22df_temp; |
| struct sensor_value lsm6dso16is_xl[3], lsm6dso16is_gy[3]; |
| #ifdef CONFIG_LSM6DSO16IS_ENABLE_TEMP |
| struct sensor_value lsm6dso16is_temp; |
| #endif |
| struct sensor_value lsm6dsv16x_xl[3], lsm6dsv16x_gy[3]; |
| const struct device *const lis2mdl = DEVICE_DT_GET_ONE(st_lis2mdl); |
| const struct device *const lsm6dso16is = DEVICE_DT_GET_ONE(st_lsm6dso16is); |
| const struct device *const lsm6dsv16x = DEVICE_DT_GET_ONE(st_lsm6dsv16x); |
| const struct device *const lps22df = DEVICE_DT_GET_ONE(st_lps22df); |
| int cnt = 1; |
| |
| if (!device_is_ready(lsm6dso16is)) { |
| printk("%s: device not ready.\n", lsm6dso16is->name); |
| return 0; |
| } |
| if (!device_is_ready(lsm6dsv16x)) { |
| printk("%s: device not ready.\n", lsm6dsv16x->name); |
| return 0; |
| } |
| if (!device_is_ready(lis2mdl)) { |
| printk("%s: device not ready.\n", lis2mdl->name); |
| return 0; |
| } |
| if (!device_is_ready(lps22df)) { |
| printk("%s: device not ready.\n", lps22df->name); |
| return 0; |
| } |
| |
| lis2mdl_config(lis2mdl); |
| lsm6dso16is_config(lsm6dso16is); |
| lsm6dsv16x_config(lsm6dsv16x); |
| lps22df_config(lps22df); |
| |
| while (1) { |
| /* Get sensor samples */ |
| |
| #ifndef CONFIG_LIS2MDL_TRIGGER |
| if (sensor_sample_fetch(lis2mdl) < 0) { |
| printf("LIS2MDL Magn Sensor sample update error\n"); |
| return 0; |
| } |
| #endif |
| #ifndef CONFIG_LSM6DSO16IS_TRIGGER |
| if (sensor_sample_fetch(lsm6dso16is) < 0) { |
| printf("LSM6DSO16IS Sensor sample update error\n"); |
| return 0; |
| } |
| #endif |
| #ifndef CONFIG_LSM6DSV16X_TRIGGER |
| if (sensor_sample_fetch(lsm6dsv16x) < 0) { |
| printf("LSM6DSV16X Sensor sample update error\n"); |
| return 0; |
| } |
| #endif |
| #ifndef CONFIG_LPS2XDF_TRIGGER |
| if (sensor_sample_fetch(lps22df) < 0) { |
| printf("LPS22DF pressure sample update error\n"); |
| return 0; |
| } |
| #endif |
| |
| /* Get sensor data */ |
| sensor_channel_get(lis2mdl, SENSOR_CHAN_MAGN_XYZ, lis2mdl_magn); |
| sensor_channel_get(lis2mdl, SENSOR_CHAN_DIE_TEMP, &lis2mdl_temp); |
| sensor_channel_get(lsm6dso16is, SENSOR_CHAN_ACCEL_XYZ, lsm6dso16is_xl); |
| sensor_channel_get(lsm6dso16is, SENSOR_CHAN_GYRO_XYZ, lsm6dso16is_gy); |
| #ifdef CONFIG_LSM6DSO16IS_ENABLE_TEMP |
| sensor_channel_get(lsm6dso16is, SENSOR_CHAN_DIE_TEMP, &lsm6dso16is_temp); |
| #endif |
| sensor_channel_get(lsm6dsv16x, SENSOR_CHAN_ACCEL_XYZ, lsm6dsv16x_xl); |
| sensor_channel_get(lsm6dsv16x, SENSOR_CHAN_GYRO_XYZ, lsm6dsv16x_gy); |
| |
| sensor_channel_get(lps22df, SENSOR_CHAN_PRESS, &lps22df_press); |
| sensor_channel_get(lps22df, SENSOR_CHAN_AMBIENT_TEMP, &lps22df_temp); |
| |
| /* Display sensor data */ |
| |
| /* Erase previous */ |
| printf("\0033\014"); |
| |
| printf("X-NUCLEO-IKS4A1 sensor dashboard\n\n"); |
| |
| /* lis2mdl */ |
| printf("LIS2MDL: Magn (gauss): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&lis2mdl_magn[0]), |
| sensor_value_to_double(&lis2mdl_magn[1]), |
| sensor_value_to_double(&lis2mdl_magn[2])); |
| |
| printf("LIS2MDL: Temperature: %.1f C\n", |
| sensor_value_to_double(&lis2mdl_temp)); |
| |
| printf("LSM6DSO16IS: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&lsm6dso16is_xl[0]), |
| sensor_value_to_double(&lsm6dso16is_xl[1]), |
| sensor_value_to_double(&lsm6dso16is_xl[2])); |
| |
| printf("LSM6DSO16IS: Gyro (dps): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&lsm6dso16is_gy[0]), |
| sensor_value_to_double(&lsm6dso16is_gy[1]), |
| sensor_value_to_double(&lsm6dso16is_gy[2])); |
| |
| #ifdef CONFIG_LSM6DSO16IS_ENABLE_TEMP |
| /* temperature */ |
| printf("LSM6DSO16IS: Temperature: %.1f C\n", |
| sensor_value_to_double(&lsm6dso16is_temp)); |
| #endif |
| |
| printf("LSM6DSV16X: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&lsm6dsv16x_xl[0]), |
| sensor_value_to_double(&lsm6dsv16x_xl[1]), |
| sensor_value_to_double(&lsm6dsv16x_xl[2])); |
| |
| printf("LSM6DSV16X: GYro (dps): x: %.3f, y: %.3f, z: %.3f\n", |
| sensor_value_to_double(&lsm6dsv16x_gy[0]), |
| sensor_value_to_double(&lsm6dsv16x_gy[1]), |
| sensor_value_to_double(&lsm6dsv16x_gy[2])); |
| |
| printf("LPS22DF: Temperature: %.1f C\n", sensor_value_to_double(&lps22df_temp)); |
| printf("LPS22DF: Pressure:%.3f kpa\n", sensor_value_to_double(&lps22df_press)); |
| |
| #if defined(CONFIG_LIS2MDL_TRIGGER) |
| printk("%d: lis2mdl trig %d\n", cnt, lis2mdl_trig_cnt); |
| #endif |
| |
| #ifdef CONFIG_LSM6DSO16IS_TRIGGER |
| printk("%d: lsm6dso16is acc trig %d\n", cnt, lsm6dso16is_acc_trig_cnt); |
| #endif |
| |
| #ifdef CONFIG_LSM6DSV16X_TRIGGER |
| printk("%d: lsm6dsv16x acc trig %d\n", cnt, lsm6dsv16x_acc_trig_cnt); |
| #endif |
| #ifdef CONFIG_LPS2XDF_TRIGGER |
| printk("%d: lps22df trig %d\n", cnt, lps22df_trig_cnt); |
| #endif |
| |
| cnt++; |
| k_sleep(K_MSEC(2000)); |
| } |
| } |