| /* |
| * Copyright (c) 2018 STMicroelectronics |
| * |
| * SPDX-License-Identifier: Apache-2.0 |
| */ |
| |
| #include <zephyr/kernel.h> |
| #include <zephyr/sys/printk.h> |
| |
| #include <zephyr/drivers/gpio.h> |
| #include <zephyr/drivers/led.h> |
| #include <zephyr/drivers/i2c.h> |
| #include <zephyr/drivers/spi.h> |
| #include <zephyr/drivers/sensor.h> |
| |
| #include <stdio.h> |
| |
| /* #define ARGONKEY_TEST_LOG 1 */ |
| |
| #define WHOAMI_REG 0x0F |
| #define WHOAMI_ALT_REG 0x4F |
| |
| #ifdef CONFIG_LP3943 |
| static const struct device *const ledc = DEVICE_DT_GET_ONE(ti_lp3943); |
| #endif |
| |
| static inline float out_ev(struct sensor_value *val) |
| { |
| return (val->val1 + (float)val->val2 / 1000000); |
| } |
| |
| static int lsm6dsl_trig_cnt; |
| #ifdef CONFIG_LSM6DSL_TRIGGER |
| static void lsm6dsl_trigger_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| #ifdef ARGONKEY_TEST_LOG |
| char out_str[64]; |
| #endif |
| struct sensor_value accel_x, accel_y, accel_z; |
| struct sensor_value gyro_x, gyro_y, gyro_z; |
| |
| #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) |
| struct sensor_value magn_x, magn_y, magn_z; |
| #endif |
| #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB) |
| struct sensor_value press, temp; |
| #endif |
| |
| lsm6dsl_trig_cnt++; |
| |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ); |
| sensor_channel_get(dev, SENSOR_CHAN_ACCEL_X, &accel_x); |
| sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Y, &accel_y); |
| sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Z, &accel_z); |
| #ifdef ARGONKEY_TEST_LOG |
| sprintf(out_str, "accel (%f %f %f) m/s2", (double)out_ev(&accel_x), |
| (double)out_ev(&accel_y), |
| (double)out_ev(&accel_z)); |
| printk("TRIG %s\n", out_str); |
| #endif |
| |
| /* lsm6dsl gyro */ |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ); |
| sensor_channel_get(dev, SENSOR_CHAN_GYRO_X, &gyro_x); |
| sensor_channel_get(dev, SENSOR_CHAN_GYRO_Y, &gyro_y); |
| sensor_channel_get(dev, SENSOR_CHAN_GYRO_Z, &gyro_z); |
| #ifdef ARGONKEY_TEST_LOG |
| sprintf(out_str, "gyro (%f %f %f) dps", (double)out_ev(&gyro_x), |
| (double)out_ev(&gyro_y), |
| (double)out_ev(&gyro_z)); |
| printk("TRIG %s\n", out_str); |
| #endif |
| |
| #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) |
| /* lsm6dsl magn */ |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_MAGN_XYZ); |
| sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &magn_x); |
| sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &magn_y); |
| sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &magn_z); |
| #ifdef ARGONKEY_TEST_LOG |
| sprintf(out_str, "magn (%f %f %f) gauss", (double)out_ev(&magn_x), |
| (double)out_ev(&magn_y), |
| (double)out_ev(&magn_z)); |
| printk("TRIG %s\n", out_str); |
| #endif |
| |
| #endif |
| #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB) |
| /* lsm6dsl press/temp */ |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_PRESS); |
| sensor_channel_get(dev, SENSOR_CHAN_PRESS, &press); |
| |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_AMBIENT_TEMP); |
| sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP, &temp); |
| |
| #ifdef ARGONKEY_TEST_LOG |
| sprintf(out_str, "press (%f) kPa - temp (%f) deg", (double)out_ev(&press), |
| (double)out_ev(&temp)); |
| printk("%s\n", out_str); |
| #endif |
| |
| #endif |
| } |
| #endif |
| |
| #define NUM_LEDS 12 |
| #define DELAY_TIME K_MSEC(50) |
| |
| void main(void) |
| { |
| int cnt = 0; |
| char out_str[64]; |
| static const struct gpio_dt_spec led0_gpio = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios); |
| static const struct gpio_dt_spec led1_gpio = GPIO_DT_SPEC_GET(DT_ALIAS(led1), gpios); |
| int i, on = 1; |
| |
| #ifdef CONFIG_LP3943 |
| if (!device_is_ready(ledc)) { |
| printk("%s: device not ready.\n", ledc->name); |
| return; |
| } |
| |
| /* turn all leds on */ |
| for (i = 0; i < NUM_LEDS; i++) { |
| led_on(ledc, i); |
| k_sleep(DELAY_TIME); |
| } |
| |
| /* turn all leds off */ |
| for (i = 0; i < NUM_LEDS; i++) { |
| led_off(ledc, i); |
| k_sleep(DELAY_TIME); |
| } |
| #endif |
| |
| if (!device_is_ready(led0_gpio.port)) { |
| printk("%s: device not ready.\n", led0_gpio.port->name); |
| return; |
| } |
| gpio_pin_configure_dt(&led0_gpio, GPIO_OUTPUT_ACTIVE); |
| |
| if (!device_is_ready(led1_gpio.port)) { |
| printk("%s: device not ready.\n", led1_gpio.port->name); |
| return; |
| } |
| gpio_pin_configure_dt(&led1_gpio, GPIO_OUTPUT_INACTIVE); |
| |
| for (i = 0; i < 5; i++) { |
| gpio_pin_set_dt(&led1_gpio, on); |
| k_sleep(K_MSEC(200)); |
| on = (on == 1) ? 0 : 1; |
| } |
| |
| printk("ArgonKey test!!\n"); |
| |
| #ifdef CONFIG_LPS22HB |
| const struct device *const baro_dev = DEVICE_DT_GET_ONE(st_lps22hb_press); |
| |
| if (!device_is_ready(baro_dev)) { |
| printk("%s: device not ready.\n", baro_dev->name); |
| return; |
| } |
| #endif |
| |
| #ifdef CONFIG_HTS221 |
| const struct device *const hum_dev = DEVICE_DT_GET_ONE(st_hts221); |
| |
| if (!device_is_ready(hum_dev)) { |
| printk("%s: device not ready.\n", hum_dev->name); |
| return; |
| } |
| #endif |
| |
| #ifdef CONFIG_LSM6DSL |
| const struct device *const accel_dev = DEVICE_DT_GET_ONE(st_lsm6dsl); |
| |
| if (!device_is_ready(accel_dev)) { |
| printk("%s: device not ready.\n", accel_dev->name); |
| return; |
| } |
| |
| #if defined(CONFIG_LSM6DSL_ACCEL_ODR) && (CONFIG_LSM6DSL_ACCEL_ODR == 0) |
| struct sensor_value a_odr_attr; |
| |
| /* set sampling frequency to 104Hz for accel */ |
| a_odr_attr.val1 = 104; |
| a_odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(accel_dev, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &a_odr_attr) < 0) { |
| printk("Cannot set sampling frequency for accelerometer.\n"); |
| return; |
| } |
| #endif |
| |
| #if defined(CONFIG_LSM6DSL_ACCEL_FS) && (CONFIG_LSM6DSL_ACCEL_FS == 0) |
| struct sensor_value a_fs_attr; |
| |
| /* set full scale to 16g for accel */ |
| sensor_g_to_ms2(16, &a_fs_attr); |
| |
| if (sensor_attr_set(accel_dev, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &a_fs_attr) < 0) { |
| printk("Cannot set fs for accelerometer.\n"); |
| return; |
| } |
| #endif |
| |
| #if defined(CONFIG_LSM6DSL_GYRO_ODR) && (CONFIG_LSM6DSL_GYRO_ODR == 0) |
| struct sensor_value g_odr_attr; |
| |
| /* set sampling frequency to 104Hz for accel */ |
| g_odr_attr.val1 = 104; |
| g_odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(accel_dev, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &g_odr_attr) < 0) { |
| printk("Cannot set sampling frequency for gyro.\n"); |
| return; |
| } |
| #endif |
| |
| #if defined(CONFIG_LSM6DSL_GYRO_FS) && (CONFIG_LSM6DSL_GYRO_FS == 0) |
| struct sensor_value g_fs_attr; |
| |
| /* set full scale to 245dps for accel */ |
| sensor_degrees_to_rad(245, &g_fs_attr); |
| |
| if (sensor_attr_set(accel_dev, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_FULL_SCALE, &g_fs_attr) < 0) { |
| printk("Cannot set fs for gyroscope.\n"); |
| return; |
| } |
| #endif |
| |
| #endif |
| |
| #ifdef CONFIG_VL53L0X |
| const struct device *const tof_dev = DEVICE_DT_GET_ONE(st_vl53l0x); |
| |
| if (!device_is_ready(tof_dev)) { |
| printk("%s: device not ready.\n", tof_dev->name); |
| return; |
| } |
| #endif |
| |
| #ifdef CONFIG_LSM6DSL_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| if (sensor_trigger_set(accel_dev, &trig, |
| lsm6dsl_trigger_handler) != 0) { |
| printk("Could not set sensor type and channel\n"); |
| return; |
| } |
| #endif |
| |
| while (1) { |
| #ifdef CONFIG_LPS22HB |
| struct sensor_value temp, press; |
| #endif |
| #ifdef CONFIG_HTS221 |
| struct sensor_value humidity; |
| #endif |
| #ifdef CONFIG_LSM6DSL |
| struct sensor_value accel_x, accel_y, accel_z; |
| struct sensor_value gyro_x, gyro_y, gyro_z; |
| #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) |
| struct sensor_value magn_x, magn_y, magn_z; |
| #endif |
| #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB) |
| struct sensor_value press, temp; |
| #endif |
| #endif |
| #ifdef CONFIG_VL53L0X |
| struct sensor_value prox; |
| #endif |
| |
| #ifdef CONFIG_VL53L0X |
| sensor_sample_fetch(tof_dev); |
| sensor_channel_get(tof_dev, SENSOR_CHAN_PROX, &prox); |
| printk("proxy: %d ;\n", prox.val1); |
| sensor_channel_get(tof_dev, SENSOR_CHAN_DISTANCE, &prox); |
| printk("distance: %d m -- %02d cm;\n", prox.val1, |
| prox.val2/10000); |
| #endif |
| |
| #ifdef CONFIG_LPS22HB |
| sensor_sample_fetch(baro_dev); |
| sensor_channel_get(baro_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp); |
| sensor_channel_get(baro_dev, SENSOR_CHAN_PRESS, &press); |
| |
| printk("temp: %d.%02d C; press: %d.%06d\n", |
| temp.val1, temp.val2, press.val1, press.val2); |
| #endif |
| |
| #ifdef CONFIG_HTS221 |
| sensor_sample_fetch(hum_dev); |
| sensor_channel_get(hum_dev, SENSOR_CHAN_HUMIDITY, &humidity); |
| |
| printk("humidity: %d.%06d\n", |
| humidity.val1, humidity.val2); |
| #endif |
| |
| #ifdef CONFIG_LSM6DSL |
| /* lsm6dsl accel */ |
| sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_ACCEL_XYZ); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_X, &accel_x); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Y, &accel_y); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Z, &accel_z); |
| sprintf(out_str, "accel (%f %f %f) m/s2", (double)out_ev(&accel_x), |
| (double)out_ev(&accel_y), |
| (double)out_ev(&accel_z)); |
| printk("%s\n", out_str); |
| |
| /* lsm6dsl gyro */ |
| sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_GYRO_XYZ); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_X, &gyro_x); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_Y, &gyro_y); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_Z, &gyro_z); |
| sprintf(out_str, "gyro (%f %f %f) dps", (double)out_ev(&gyro_x), |
| (double)out_ev(&gyro_y), |
| (double)out_ev(&gyro_z)); |
| printk("%s\n", out_str); |
| #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL) |
| /* lsm6dsl magn */ |
| sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_MAGN_XYZ); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_X, &magn_x); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_Y, &magn_y); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_Z, &magn_z); |
| sprintf(out_str, "magn (%f %f %f) gauss", (double)out_ev(&magn_x), |
| (double)out_ev(&magn_y), |
| (double)out_ev(&magn_z)); |
| printk("%s\n", out_str); |
| #endif |
| #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB) |
| /* lsm6dsl press/temp */ |
| sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_PRESS); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_PRESS, &press); |
| |
| sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_AMBIENT_TEMP); |
| sensor_channel_get(accel_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp); |
| |
| sprintf(out_str, "press (%f) kPa - temp (%f) deg", |
| (double)out_ev(&press), (double)out_ev(&temp)); |
| printk("%s\n", out_str); |
| #endif |
| |
| #endif /* CONFIG_LSM6DSL */ |
| |
| printk("- (%d) (trig_cnt: %d)\n\n", ++cnt, lsm6dsl_trig_cnt); |
| k_sleep(K_MSEC(2000)); |
| } |
| } |