| /* |
| * Copyright (c) 2020 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_LSM6DSL_TRIGGER |
| static int lsm6dsl_trig_cnt; |
| |
| static void lsm6dsl_trigger_handler(const struct device *dev, |
| const struct sensor_trigger *trig) |
| { |
| sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL); |
| lsm6dsl_trig_cnt++; |
| } |
| #endif |
| |
| int main(void) |
| { |
| #ifdef CONFIG_LSM6DSL_TRIGGER |
| int cnt = 1; |
| #endif |
| #ifdef CONFIG_LSM6DSL_EXT0_LPS22HB |
| struct sensor_value temp, press; |
| #endif |
| #ifdef CONFIG_LSM6DSL_EXT0_LIS2MDL |
| struct sensor_value magn[3]; |
| #endif |
| struct sensor_value accel[3]; |
| struct sensor_value gyro[3]; |
| const struct device *const lsm6dsl = DEVICE_DT_GET_ONE(st_lsm6dsl); |
| |
| if (!device_is_ready(lsm6dsl)) { |
| printk("%s: device not ready.\n", lsm6dsl->name); |
| return 0; |
| } |
| |
| /* set LSM6DSL accel/gyro sampling frequency to 104 Hz */ |
| struct sensor_value odr_attr; |
| |
| odr_attr.val1 = 104; |
| odr_attr.val2 = 0; |
| |
| if (sensor_attr_set(lsm6dsl, SENSOR_CHAN_ACCEL_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for accelerometer.\n"); |
| return 0; |
| } |
| |
| if (sensor_attr_set(lsm6dsl, SENSOR_CHAN_GYRO_XYZ, |
| SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) { |
| printk("Cannot set sampling frequency for gyro.\n"); |
| return 0; |
| } |
| |
| #ifdef CONFIG_LSM6DSL_TRIGGER |
| struct sensor_trigger trig; |
| |
| trig.type = SENSOR_TRIG_DATA_READY; |
| trig.chan = SENSOR_CHAN_ACCEL_XYZ; |
| sensor_trigger_set(lsm6dsl, &trig, lsm6dsl_trigger_handler); |
| #endif |
| |
| while (1) { |
| /* Get sensor samples */ |
| |
| #ifndef CONFIG_LSM6DSL_TRIGGER |
| if (sensor_sample_fetch(lsm6dsl) < 0) { |
| printf("LSM6DSL Sensor sample update error\n"); |
| return 0; |
| } |
| #endif |
| |
| /* Get sensor data */ |
| |
| sensor_channel_get(lsm6dsl, SENSOR_CHAN_ACCEL_XYZ, accel); |
| sensor_channel_get(lsm6dsl, SENSOR_CHAN_GYRO_XYZ, gyro); |
| #ifdef CONFIG_LSM6DSL_EXT0_LPS22HB |
| sensor_channel_get(lsm6dsl, SENSOR_CHAN_AMBIENT_TEMP, &temp); |
| sensor_channel_get(lsm6dsl, SENSOR_CHAN_PRESS, &press); |
| #endif |
| #ifdef CONFIG_LSM6DSL_EXT0_LIS2MDL |
| sensor_channel_get(lsm6dsl, SENSOR_CHAN_MAGN_XYZ, magn); |
| #endif |
| |
| /* Display sensor data */ |
| |
| /* Erase previous */ |
| printf("\0033\014"); |
| |
| printf("X-NUCLEO-IKS01A2 sensor dashboard\n\n"); |
| |
| /* lsm6dsl accel */ |
| printf("LSM6DSL: Accel (m.s-2): x: %.1f, y: %.1f, z: %.1f\n", |
| sensor_value_to_double(&accel[0]), |
| sensor_value_to_double(&accel[1]), |
| sensor_value_to_double(&accel[2])); |
| |
| /* lsm6dsl gyro */ |
| printf("LSM6DSL: 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_LSM6DSL_EXT0_LPS22HB |
| printf("LSM6DSL: Temperature: %.1f C\n", |
| sensor_value_to_double(&temp)); |
| |
| printf("LSM6DSL: Pressure:%.3f kpa\n", |
| sensor_value_to_double(&press)); |
| #endif |
| |
| #ifdef CONFIG_LSM6DSL_EXT0_LIS2MDL |
| printf("LSM6DSL: 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_LSM6DSL_TRIGGER |
| printk("%d:: lsm6dsl acc trig %d\n", cnt++, lsm6dsl_trig_cnt); |
| #endif |
| |
| k_sleep(K_MSEC(2000)); |
| } |
| } |