1 /*
2 * Copyright (c) 2022 TOKITA Hiroshi <tokita.hiroshi@fujitsu.com
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <stdio.h>
8 #include <stdlib.h>
9
10 #include <zephyr/device.h>
11 #include <zephyr/drivers/sensor.h>
12 #include <zephyr/sys/util_macro.h>
13 #include <zephyr/kernel.h>
14
15 #define ACCEL_ALIAS(i) DT_ALIAS(_CONCAT(accel, i))
16 #define ACCELEROMETER_DEVICE(i, _) \
17 IF_ENABLED(DT_NODE_EXISTS(ACCEL_ALIAS(i)), (DEVICE_DT_GET(ACCEL_ALIAS(i)),))
18
19 /* support up to 10 accelerometer sensors */
20 static const struct device *const sensors[] = {LISTIFY(10, ACCELEROMETER_DEVICE, ())};
21
22 static const enum sensor_channel channels[] = {
23 SENSOR_CHAN_ACCEL_X,
24 SENSOR_CHAN_ACCEL_Y,
25 SENSOR_CHAN_ACCEL_Z,
26 };
27
print_accels(const struct device * dev)28 static int print_accels(const struct device *dev)
29 {
30 int ret;
31 struct sensor_value accel[3];
32
33 ret = sensor_sample_fetch(dev);
34 if (ret < 0) {
35 printk("%s: sensor_sample_fetch() failed: %d\n", dev->name, ret);
36 return ret;
37 }
38
39 for (size_t i = 0; i < ARRAY_SIZE(channels); i++) {
40 ret = sensor_channel_get(dev, channels[i], &accel[i]);
41 if (ret < 0) {
42 printk("%s: sensor_channel_get(%c) failed: %d\n", dev->name, 'X' + i, ret);
43 return ret;
44 }
45 }
46
47 printk("%16s [m/s^2]: (%12.6f, %12.6f, %12.6f)\n", dev->name,
48 sensor_value_to_double(&accel[0]), sensor_value_to_double(&accel[1]),
49 sensor_value_to_double(&accel[2]));
50
51 return 0;
52 }
53
set_sampling_freq(const struct device * dev)54 static int set_sampling_freq(const struct device *dev)
55 {
56 int ret;
57 struct sensor_value odr;
58
59 ret = sensor_attr_get(dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY, &odr);
60
61 /* If we don't get a frequency > 0, we set one */
62 if (ret != 0 || (odr.val1 == 0 && odr.val2 == 0)) {
63 odr.val1 = 100;
64 odr.val2 = 0;
65
66 ret = sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_SAMPLING_FREQUENCY,
67 &odr);
68
69 if (ret != 0) {
70 printk("%s : failed to set sampling frequency\n", dev->name);
71 }
72 }
73
74 return 0;
75 }
76
main(void)77 int main(void)
78 {
79 int ret;
80
81 for (size_t i = 0; i < ARRAY_SIZE(sensors); i++) {
82 if (!device_is_ready(sensors[i])) {
83 printk("sensor: device %s not ready.\n", sensors[i]->name);
84 return 0;
85 }
86 set_sampling_freq(sensors[i]);
87 }
88
89 #ifndef CONFIG_COVERAGE
90 while (1) {
91 #else
92 for (int i = 0; i < 5; i++) {
93 #endif
94 for (size_t i = 0; i < ARRAY_SIZE(sensors); i++) {
95 ret = print_accels(sensors[i]);
96 if (ret < 0) {
97 return 0;
98 }
99 }
100 k_msleep(1000);
101 }
102 return 0;
103 }
104
