1 /*
2 * Copyright (c) 2018 STMicroelectronics
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 #include <zephyr/kernel.h>
8 #include <zephyr/sys/printk.h>
9
10 #include <zephyr/drivers/gpio.h>
11 #include <zephyr/drivers/led.h>
12 #include <zephyr/drivers/i2c.h>
13 #include <zephyr/drivers/spi.h>
14 #include <zephyr/drivers/sensor.h>
15
16 #include <stdio.h>
17
18 /* #define ARGONKEY_TEST_LOG 1 */
19
20 #define WHOAMI_REG 0x0F
21 #define WHOAMI_ALT_REG 0x4F
22
23 #ifdef CONFIG_LP3943
24 static const struct device *const ledc = DEVICE_DT_GET_ONE(ti_lp3943);
25 #endif
26
out_ev(struct sensor_value * val)27 static inline float out_ev(struct sensor_value *val)
28 {
29 return (val->val1 + (float)val->val2 / 1000000);
30 }
31
32 static int lsm6dsl_trig_cnt;
33 #ifdef CONFIG_LSM6DSL_TRIGGER
lsm6dsl_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)34 static void lsm6dsl_trigger_handler(const struct device *dev,
35 const struct sensor_trigger *trig)
36 {
37 #ifdef ARGONKEY_TEST_LOG
38 char out_str[64];
39 #endif
40 struct sensor_value accel_x, accel_y, accel_z;
41 struct sensor_value gyro_x, gyro_y, gyro_z;
42
43 #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
44 struct sensor_value magn_x, magn_y, magn_z;
45 #endif
46 #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
47 struct sensor_value press, temp;
48 #endif
49
50 lsm6dsl_trig_cnt++;
51
52 sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
53 sensor_channel_get(dev, SENSOR_CHAN_ACCEL_X, &accel_x);
54 sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
55 sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
56 #ifdef ARGONKEY_TEST_LOG
57 sprintf(out_str, "accel (%f %f %f) m/s2", (double)out_ev(&accel_x),
58 (double)out_ev(&accel_y),
59 (double)out_ev(&accel_z));
60 printk("TRIG %s\n", out_str);
61 #endif
62
63 /* lsm6dsl gyro */
64 sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
65 sensor_channel_get(dev, SENSOR_CHAN_GYRO_X, &gyro_x);
66 sensor_channel_get(dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
67 sensor_channel_get(dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
68 #ifdef ARGONKEY_TEST_LOG
69 sprintf(out_str, "gyro (%f %f %f) dps", (double)out_ev(&gyro_x),
70 (double)out_ev(&gyro_y),
71 (double)out_ev(&gyro_z));
72 printk("TRIG %s\n", out_str);
73 #endif
74
75 #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
76 /* lsm6dsl magn */
77 sensor_sample_fetch_chan(dev, SENSOR_CHAN_MAGN_XYZ);
78 sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &magn_x);
79 sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &magn_y);
80 sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &magn_z);
81 #ifdef ARGONKEY_TEST_LOG
82 sprintf(out_str, "magn (%f %f %f) gauss", (double)out_ev(&magn_x),
83 (double)out_ev(&magn_y),
84 (double)out_ev(&magn_z));
85 printk("TRIG %s\n", out_str);
86 #endif
87
88 #endif
89 #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
90 /* lsm6dsl press/temp */
91 sensor_sample_fetch_chan(dev, SENSOR_CHAN_PRESS);
92 sensor_channel_get(dev, SENSOR_CHAN_PRESS, &press);
93
94 sensor_sample_fetch_chan(dev, SENSOR_CHAN_AMBIENT_TEMP);
95 sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
96
97 #ifdef ARGONKEY_TEST_LOG
98 sprintf(out_str, "press (%f) kPa - temp (%f) deg", (double)out_ev(&press),
99 (double)out_ev(&temp));
100 printk("%s\n", out_str);
101 #endif
102
103 #endif
104 }
105 #endif
106
107 #define NUM_LEDS 12
108 #define DELAY_TIME K_MSEC(50)
109
main(void)110 int main(void)
111 {
112 int cnt = 0;
113 char out_str[64];
114 static const struct gpio_dt_spec led0_gpio = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios);
115 static const struct gpio_dt_spec led1_gpio = GPIO_DT_SPEC_GET(DT_ALIAS(led1), gpios);
116 int i, on = 1;
117
118 #ifdef CONFIG_LP3943
119 if (!device_is_ready(ledc)) {
120 printk("%s: device not ready.\n", ledc->name);
121 return 0;
122 }
123
124 /* turn all leds on */
125 for (i = 0; i < NUM_LEDS; i++) {
126 led_on(ledc, i);
127 k_sleep(DELAY_TIME);
128 }
129
130 /* turn all leds off */
131 for (i = 0; i < NUM_LEDS; i++) {
132 led_off(ledc, i);
133 k_sleep(DELAY_TIME);
134 }
135 #endif
136
137 if (!gpio_is_ready_dt(&led0_gpio)) {
138 printk("%s: device not ready.\n", led0_gpio.port->name);
139 return 0;
140 }
141 gpio_pin_configure_dt(&led0_gpio, GPIO_OUTPUT_ACTIVE);
142
143 if (!gpio_is_ready_dt(&led1_gpio)) {
144 printk("%s: device not ready.\n", led1_gpio.port->name);
145 return 0;
146 }
147 gpio_pin_configure_dt(&led1_gpio, GPIO_OUTPUT_INACTIVE);
148
149 for (i = 0; i < 5; i++) {
150 gpio_pin_set_dt(&led1_gpio, on);
151 k_sleep(K_MSEC(200));
152 on = (on == 1) ? 0 : 1;
153 }
154
155 printk("ArgonKey test!!\n");
156
157 #ifdef CONFIG_LPS22HB
158 const struct device *const baro_dev = DEVICE_DT_GET_ONE(st_lps22hb_press);
159
160 if (!device_is_ready(baro_dev)) {
161 printk("%s: device not ready.\n", baro_dev->name);
162 return 0;
163 }
164 #endif
165
166 #ifdef CONFIG_HTS221
167 const struct device *const hum_dev = DEVICE_DT_GET_ONE(st_hts221);
168
169 if (!device_is_ready(hum_dev)) {
170 printk("%s: device not ready.\n", hum_dev->name);
171 return 0;
172 }
173 #endif
174
175 #ifdef CONFIG_LSM6DSL
176 const struct device *const accel_dev = DEVICE_DT_GET_ONE(st_lsm6dsl);
177
178 if (!device_is_ready(accel_dev)) {
179 printk("%s: device not ready.\n", accel_dev->name);
180 return 0;
181 }
182
183 #if defined(CONFIG_LSM6DSL_ACCEL_ODR) && (CONFIG_LSM6DSL_ACCEL_ODR == 0)
184 struct sensor_value a_odr_attr;
185
186 /* set sampling frequency to 104Hz for accel */
187 a_odr_attr.val1 = 104;
188 a_odr_attr.val2 = 0;
189
190 if (sensor_attr_set(accel_dev, SENSOR_CHAN_ACCEL_XYZ,
191 SENSOR_ATTR_SAMPLING_FREQUENCY, &a_odr_attr) < 0) {
192 printk("Cannot set sampling frequency for accelerometer.\n");
193 return 0;
194 }
195 #endif
196
197 #if defined(CONFIG_LSM6DSL_ACCEL_FS) && (CONFIG_LSM6DSL_ACCEL_FS == 0)
198 struct sensor_value a_fs_attr;
199
200 /* set full scale to 16g for accel */
201 sensor_g_to_ms2(16, &a_fs_attr);
202
203 if (sensor_attr_set(accel_dev, SENSOR_CHAN_ACCEL_XYZ,
204 SENSOR_ATTR_FULL_SCALE, &a_fs_attr) < 0) {
205 printk("Cannot set fs for accelerometer.\n");
206 return 0;
207 }
208 #endif
209
210 #if defined(CONFIG_LSM6DSL_GYRO_ODR) && (CONFIG_LSM6DSL_GYRO_ODR == 0)
211 struct sensor_value g_odr_attr;
212
213 /* set sampling frequency to 104Hz for accel */
214 g_odr_attr.val1 = 104;
215 g_odr_attr.val2 = 0;
216
217 if (sensor_attr_set(accel_dev, SENSOR_CHAN_GYRO_XYZ,
218 SENSOR_ATTR_SAMPLING_FREQUENCY, &g_odr_attr) < 0) {
219 printk("Cannot set sampling frequency for gyro.\n");
220 return 0;
221 }
222 #endif
223
224 #if defined(CONFIG_LSM6DSL_GYRO_FS) && (CONFIG_LSM6DSL_GYRO_FS == 0)
225 struct sensor_value g_fs_attr;
226
227 /* set full scale to 245dps for accel */
228 sensor_degrees_to_rad(245, &g_fs_attr);
229
230 if (sensor_attr_set(accel_dev, SENSOR_CHAN_GYRO_XYZ,
231 SENSOR_ATTR_FULL_SCALE, &g_fs_attr) < 0) {
232 printk("Cannot set fs for gyroscope.\n");
233 return 0;
234 }
235 #endif
236
237 #endif
238
239 #ifdef CONFIG_VL53L0X
240 const struct device *const tof_dev = DEVICE_DT_GET_ONE(st_vl53l0x);
241
242 if (!device_is_ready(tof_dev)) {
243 printk("%s: device not ready.\n", tof_dev->name);
244 return 0;
245 }
246 #endif
247
248 #ifdef CONFIG_LSM6DSL_TRIGGER
249 struct sensor_trigger trig;
250
251 trig.type = SENSOR_TRIG_DATA_READY;
252 trig.chan = SENSOR_CHAN_ACCEL_XYZ;
253 if (sensor_trigger_set(accel_dev, &trig,
254 lsm6dsl_trigger_handler) != 0) {
255 printk("Could not set sensor type and channel\n");
256 return 0;
257 }
258 #endif
259
260 while (1) {
261 #ifdef CONFIG_LPS22HB
262 struct sensor_value temp, press;
263 #endif
264 #ifdef CONFIG_HTS221
265 struct sensor_value humidity;
266 #endif
267 #ifdef CONFIG_LSM6DSL
268 struct sensor_value accel_x, accel_y, accel_z;
269 struct sensor_value gyro_x, gyro_y, gyro_z;
270 #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
271 struct sensor_value magn_x, magn_y, magn_z;
272 #endif
273 #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
274 struct sensor_value press, temp;
275 #endif
276 #endif
277 #ifdef CONFIG_VL53L0X
278 struct sensor_value prox;
279 #endif
280
281 #ifdef CONFIG_VL53L0X
282 sensor_sample_fetch(tof_dev);
283 sensor_channel_get(tof_dev, SENSOR_CHAN_PROX, &prox);
284 printk("proxy: %d ;\n", prox.val1);
285 sensor_channel_get(tof_dev, SENSOR_CHAN_DISTANCE, &prox);
286 printk("distance: %d m -- %02d cm;\n", prox.val1,
287 prox.val2/10000);
288 #endif
289
290 #ifdef CONFIG_LPS22HB
291 sensor_sample_fetch(baro_dev);
292 sensor_channel_get(baro_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
293 sensor_channel_get(baro_dev, SENSOR_CHAN_PRESS, &press);
294
295 printk("temp: %d.%02d C; press: %d.%06d\n",
296 temp.val1, temp.val2, press.val1, press.val2);
297 #endif
298
299 #ifdef CONFIG_HTS221
300 sensor_sample_fetch(hum_dev);
301 sensor_channel_get(hum_dev, SENSOR_CHAN_HUMIDITY, &humidity);
302
303 printk("humidity: %d.%06d\n",
304 humidity.val1, humidity.val2);
305 #endif
306
307 #ifdef CONFIG_LSM6DSL
308 /* lsm6dsl accel */
309 sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_ACCEL_XYZ);
310 sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_X, &accel_x);
311 sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
312 sensor_channel_get(accel_dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
313 sprintf(out_str, "accel (%f %f %f) m/s2", (double)out_ev(&accel_x),
314 (double)out_ev(&accel_y),
315 (double)out_ev(&accel_z));
316 printk("%s\n", out_str);
317
318 /* lsm6dsl gyro */
319 sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_GYRO_XYZ);
320 sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_X, &gyro_x);
321 sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
322 sensor_channel_get(accel_dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
323 sprintf(out_str, "gyro (%f %f %f) dps", (double)out_ev(&gyro_x),
324 (double)out_ev(&gyro_y),
325 (double)out_ev(&gyro_z));
326 printk("%s\n", out_str);
327 #if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
328 /* lsm6dsl magn */
329 sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_MAGN_XYZ);
330 sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_X, &magn_x);
331 sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_Y, &magn_y);
332 sensor_channel_get(accel_dev, SENSOR_CHAN_MAGN_Z, &magn_z);
333 sprintf(out_str, "magn (%f %f %f) gauss", (double)out_ev(&magn_x),
334 (double)out_ev(&magn_y),
335 (double)out_ev(&magn_z));
336 printk("%s\n", out_str);
337 #endif
338 #if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
339 /* lsm6dsl press/temp */
340 sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_PRESS);
341 sensor_channel_get(accel_dev, SENSOR_CHAN_PRESS, &press);
342
343 sensor_sample_fetch_chan(accel_dev, SENSOR_CHAN_AMBIENT_TEMP);
344 sensor_channel_get(accel_dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
345
346 sprintf(out_str, "press (%f) kPa - temp (%f) deg",
347 (double)out_ev(&press), (double)out_ev(&temp));
348 printk("%s\n", out_str);
349 #endif
350
351 #endif /* CONFIG_LSM6DSL */
352
353 printk("- (%d) (trig_cnt: %d)\n\n", ++cnt, lsm6dsl_trig_cnt);
354 k_sleep(K_MSEC(2000));
355 }
356 }
357