1 /*
2 * Copyright (c) 2021 Bosch Sensortec GmbH
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <zephyr/kernel.h>
8 #include <zephyr/device.h>
9 #include <zephyr/drivers/sensor.h>
10 #include <stdio.h>
11
main(void)12 int main(void)
13 {
14 const struct device *const dev = DEVICE_DT_GET_ONE(bosch_bmi270);
15 struct sensor_value acc[3], gyr[3];
16 struct sensor_value full_scale, sampling_freq, oversampling;
17
18 if (!device_is_ready(dev)) {
19 printf("Device %s is not ready\n", dev->name);
20 return 0;
21 }
22
23 printf("Device %p name is %s\n", dev, dev->name);
24
25 /* Setting scale in G, due to loss of precision if the SI unit m/s^2
26 * is used
27 */
28 full_scale.val1 = 2; /* G */
29 full_scale.val2 = 0;
30 sampling_freq.val1 = 100; /* Hz. Performance mode */
31 sampling_freq.val2 = 0;
32 oversampling.val1 = 1; /* Normal mode */
33 oversampling.val2 = 0;
34
35 sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_FULL_SCALE,
36 &full_scale);
37 sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_OVERSAMPLING,
38 &oversampling);
39 /* Set sampling frequency last as this also sets the appropriate
40 * power mode. If already sampling, change to 0.0Hz before changing
41 * other attributes
42 */
43 sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
44 SENSOR_ATTR_SAMPLING_FREQUENCY,
45 &sampling_freq);
46
47
48 /* Setting scale in degrees/s to match the sensor scale */
49 full_scale.val1 = 500; /* dps */
50 full_scale.val2 = 0;
51 sampling_freq.val1 = 100; /* Hz. Performance mode */
52 sampling_freq.val2 = 0;
53 oversampling.val1 = 1; /* Normal mode */
54 oversampling.val2 = 0;
55
56 sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_FULL_SCALE,
57 &full_scale);
58 sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_OVERSAMPLING,
59 &oversampling);
60 /* Set sampling frequency last as this also sets the appropriate
61 * power mode. If already sampling, change sampling frequency to
62 * 0.0Hz before changing other attributes
63 */
64 sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ,
65 SENSOR_ATTR_SAMPLING_FREQUENCY,
66 &sampling_freq);
67
68 while (1) {
69 /* 10ms period, 100Hz Sampling frequency */
70 k_sleep(K_MSEC(10));
71
72 sensor_sample_fetch(dev);
73
74 sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ, acc);
75 sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ, gyr);
76
77 printf("AX: %d.%06d; AY: %d.%06d; AZ: %d.%06d; "
78 "GX: %d.%06d; GY: %d.%06d; GZ: %d.%06d;\n",
79 acc[0].val1, acc[0].val2,
80 acc[1].val1, acc[1].val2,
81 acc[2].val1, acc[2].val2,
82 gyr[0].val1, gyr[0].val2,
83 gyr[1].val1, gyr[1].val2,
84 gyr[2].val1, gyr[2].val2);
85 }
86 return 0;
87 }
88
