1 /*
2 * Copyright (c) 2024 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 #ifdef CONFIG_STTS22H_TRIGGER
19 static int stts22h_trig_cnt;
20
stts22h_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)21 static void stts22h_trigger_handler(const struct device *dev,
22 const struct sensor_trigger *trig)
23 {
24 stts22h_trig_cnt++;
25 }
26 #endif
27
28 #ifdef CONFIG_IIS2DLPC_TRIGGER
29 static int iis2dlpc_trig_cnt;
30
iis2dlpc_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)31 static void iis2dlpc_trigger_handler(const struct device *dev,
32 const struct sensor_trigger *trig)
33 {
34 sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
35 iis2dlpc_trig_cnt++;
36 }
37 #endif
38
39 #ifdef CONFIG_IIS2MDC_TRIGGER
40 static int iis2mdc_trig_cnt;
41
iis2mdc_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)42 static void iis2mdc_trigger_handler(const struct device *dev,
43 const struct sensor_trigger *trig)
44 {
45 sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL);
46 iis2mdc_trig_cnt++;
47 }
48 #endif
49
50 #ifdef CONFIG_ISM330DHCX_TRIGGER
51 static int ism330dhcx_acc_trig_cnt;
52 static int ism330dhcx_gyr_trig_cnt;
53
ism330dhcx_acc_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)54 static void ism330dhcx_acc_trigger_handler(const struct device *dev,
55 const struct sensor_trigger *trig)
56 {
57 sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
58 ism330dhcx_acc_trig_cnt++;
59 }
60
ism330dhcx_gyr_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)61 static void ism330dhcx_gyr_trigger_handler(const struct device *dev,
62 const struct sensor_trigger *trig)
63 {
64 sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
65 ism330dhcx_gyr_trig_cnt++;
66 }
67 #endif
68
69 #ifdef CONFIG_IIS2ICLX_TRIGGER
70 static int iis2iclx_trig_cnt;
71
iis2iclx_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)72 static void iis2iclx_trigger_handler(const struct device *dev,
73 const struct sensor_trigger *trig)
74 {
75 sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
76 iis2iclx_trig_cnt++;
77 }
78 #endif
79
stts22h_config(const struct device * stts22h)80 static void stts22h_config(const struct device *stts22h)
81 {
82 struct sensor_value odr_attr;
83
84 /* set STTS22H sampling frequency to 100 Hz */
85 odr_attr.val1 = 100;
86 odr_attr.val2 = 0;
87
88 if (sensor_attr_set(stts22h, SENSOR_CHAN_AMBIENT_TEMP,
89 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
90 printk("Cannot set sampling frequency for STTS22H\n");
91 return;
92 }
93
94 #ifdef CONFIG_STTS22H_TRIGGER
95 struct sensor_trigger trig;
96
97 trig.type = SENSOR_TRIG_DATA_READY;
98 trig.chan = SENSOR_CHAN_AMBIENT_TEMP;
99 sensor_trigger_set(stts22h, &trig, stts22h_trigger_handler);
100 #endif
101 }
102
iis2dlpc_config(const struct device * iis2dlpc)103 static void iis2dlpc_config(const struct device *iis2dlpc)
104 {
105 struct sensor_value odr_attr, fs_attr;
106
107 /* set IIS2DLPC accel/gyro sampling frequency to 100 Hz */
108 odr_attr.val1 = 200;
109 odr_attr.val2 = 0;
110
111 if (sensor_attr_set(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ,
112 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
113 printk("Cannot set sampling frequency for IIS2DLPC accel\n");
114 return;
115 }
116
117 sensor_g_to_ms2(16, &fs_attr);
118
119 if (sensor_attr_set(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ,
120 SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
121 printk("Cannot set full scale for IIS2DLPC accel\n");
122 return;
123 }
124
125 #ifdef CONFIG_IIS2DLPC_TRIGGER
126 struct sensor_trigger trig;
127
128 trig.type = SENSOR_TRIG_DATA_READY;
129 trig.chan = SENSOR_CHAN_ACCEL_XYZ;
130 sensor_trigger_set(iis2dlpc, &trig, iis2dlpc_trigger_handler);
131 #endif
132 }
133
iis2iclx_config(const struct device * iis2iclx)134 static void iis2iclx_config(const struct device *iis2iclx)
135 {
136 struct sensor_value odr_attr, fs_attr;
137
138 /* set IIS2ICLX accel/gyro sampling frequency to 200 Hz */
139 odr_attr.val1 = 200;
140 odr_attr.val2 = 0;
141
142 if (sensor_attr_set(iis2iclx, SENSOR_CHAN_ACCEL_XYZ,
143 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
144 printk("Cannot set sampling frequency for IIS2ICLX accel\n");
145 return;
146 }
147
148 sensor_g_to_ms2(2, &fs_attr);
149
150 if (sensor_attr_set(iis2iclx, SENSOR_CHAN_ACCEL_XYZ,
151 SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
152 printk("Cannot set full scale for IIS2ICLX accel\n");
153 return;
154 }
155
156 #ifdef CONFIG_IIS2ICLX_TRIGGER
157 struct sensor_trigger trig;
158
159 trig.type = SENSOR_TRIG_DATA_READY;
160 trig.chan = SENSOR_CHAN_ACCEL_XYZ;
161 sensor_trigger_set(iis2iclx, &trig, iis2iclx_trigger_handler);
162 #endif
163 }
164
iis2mdc_config(const struct device * iis2mdc)165 static void iis2mdc_config(const struct device *iis2mdc)
166 {
167 struct sensor_value odr_attr;
168
169 /* set IIS2MDC sampling frequency to 100 Hz */
170 odr_attr.val1 = 100;
171 odr_attr.val2 = 0;
172
173 if (sensor_attr_set(iis2mdc, SENSOR_CHAN_ALL,
174 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
175 printk("Cannot set sampling frequency for IIS2MDC\n");
176 return;
177 }
178
179 #ifdef CONFIG_IIS2MDC_TRIGGER
180 struct sensor_trigger trig;
181
182 trig.type = SENSOR_TRIG_DATA_READY;
183 trig.chan = SENSOR_CHAN_MAGN_XYZ;
184 sensor_trigger_set(iis2mdc, &trig, iis2mdc_trigger_handler);
185 #endif
186 }
187
ism330dhcx_config(const struct device * ism330dhcx)188 static void ism330dhcx_config(const struct device *ism330dhcx)
189 {
190 struct sensor_value odr_attr, fs_attr;
191
192 /* set ISM330DHCX sampling frequency to 416 Hz */
193 odr_attr.val1 = 416;
194 odr_attr.val2 = 0;
195
196 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ,
197 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
198 printk("Cannot set sampling frequency for ISM330DHCX accel\n");
199 return;
200 }
201
202 sensor_g_to_ms2(16, &fs_attr);
203
204 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ,
205 SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
206 printk("Cannot set sampling frequency for ISM330DHCX accel\n");
207 return;
208 }
209
210 /* set ISM330DHCX gyro sampling frequency to 208 Hz */
211 odr_attr.val1 = 208;
212 odr_attr.val2 = 0;
213
214 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_GYRO_XYZ,
215 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
216 printk("Cannot set sampling frequency for ISM330DHCX gyro\n");
217 return;
218 }
219
220 sensor_degrees_to_rad(250, &fs_attr);
221
222 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_GYRO_XYZ,
223 SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
224 printk("Cannot set fs for ISM330DHCX gyro\n");
225 return;
226 }
227
228 #ifdef CONFIG_ISM330DHCX_TRIGGER
229 struct sensor_trigger trig;
230
231 trig.type = SENSOR_TRIG_DATA_READY;
232 trig.chan = SENSOR_CHAN_ACCEL_XYZ;
233 sensor_trigger_set(ism330dhcx, &trig, ism330dhcx_acc_trigger_handler);
234
235 trig.type = SENSOR_TRIG_DATA_READY;
236 trig.chan = SENSOR_CHAN_GYRO_XYZ;
237 sensor_trigger_set(ism330dhcx, &trig, ism330dhcx_gyr_trigger_handler);
238 #endif
239 }
240
ilps22qs_config(const struct device * ilps22qs)241 static void ilps22qs_config(const struct device *ilps22qs)
242 {
243 struct sensor_value odr_attr;
244
245 /* set ILPS22QS sampling frequency to 50 Hz */
246 odr_attr.val1 = 50;
247 odr_attr.val2 = 0;
248
249 if (sensor_attr_set(ilps22qs, SENSOR_CHAN_ALL,
250 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
251 printk("Cannot set sampling frequency for ILPS22QS\n");
252 return;
253 }
254 }
255
led_pattern_out(void)256 static int led_pattern_out(void)
257 {
258 const struct gpio_dt_spec led0_gpio = GPIO_DT_SPEC_GET(DT_ALIAS(led0), gpios);
259 const struct gpio_dt_spec led1_gpio = GPIO_DT_SPEC_GET(DT_ALIAS(led1), gpios);
260 int i;
261
262 /* led 0 */
263 if (!gpio_is_ready_dt(&led0_gpio)) {
264 printk("%s: device not ready.\n", led0_gpio.port->name);
265 return -1;
266 }
267 gpio_pin_configure_dt(&led0_gpio, GPIO_OUTPUT_INACTIVE);
268
269 /* led 1 */
270 if (!gpio_is_ready_dt(&led1_gpio)) {
271 printk("%s: device not ready.\n", led1_gpio.port->name);
272 return -1;
273 }
274 gpio_pin_configure_dt(&led1_gpio, GPIO_OUTPUT_INACTIVE);
275
276 /* output led alternate pattern */
277 for (i = 0; i < 8; i++) {
278 gpio_pin_set_dt(&led0_gpio, ((i % 2) == 0) ? 1 : 0);
279 gpio_pin_set_dt(&led1_gpio, ((i % 2) == 1) ? 1 : 0);
280 k_msleep(100);
281 }
282
283 /* output led in sync pattern */
284 for (i = 0; i < 6; i++) {
285 gpio_pin_set_dt(&led0_gpio, ((i % 2) == 0) ? 1 : 0);
286 gpio_pin_set_dt(&led1_gpio, ((i % 2) == 0) ? 1 : 0);
287 k_msleep(250);
288 }
289
290 /* turn all leds off */
291 gpio_pin_set_dt(&led0_gpio, 0);
292 gpio_pin_set_dt(&led1_gpio, 0);
293
294 return 0;
295 }
296
main(void)297 int main(void)
298 {
299 int cnt = 1;
300
301 /* signal that sample is started */
302 if (led_pattern_out() < 0) {
303 return -1;
304 }
305
306 printk("STWIN.box board sensor test\n");
307
308 const struct device *const stts22h = DEVICE_DT_GET_ONE(st_stts22h);
309 const struct device *const iis2mdc = DEVICE_DT_GET_ONE(st_iis2mdc);
310 const struct device *const ism330dhcx = DEVICE_DT_GET_ONE(st_ism330dhcx);
311 const struct device *const iis2dlpc = DEVICE_DT_GET_ONE(st_iis2dlpc);
312 const struct device *const iis2iclx = DEVICE_DT_GET_ONE(st_iis2iclx);
313 const struct device *const ilps22qs = DEVICE_DT_GET_ONE(st_ilps22qs);
314
315 if (!device_is_ready(stts22h)) {
316 printk("%s: device not ready.\n", stts22h->name);
317 return 0;
318 }
319 if (!device_is_ready(iis2mdc)) {
320 printk("%s: device not ready.\n", iis2mdc->name);
321 return 0;
322 }
323 if (!device_is_ready(ism330dhcx)) {
324 printk("%s: device not ready.\n", ism330dhcx->name);
325 return 0;
326 }
327 if (!device_is_ready(iis2dlpc)) {
328 printk("%s: device not ready.\n", iis2dlpc->name);
329 return 0;
330 }
331 if (!device_is_ready(iis2iclx)) {
332 printk("%s: device not ready.\n", iis2iclx->name);
333 return 0;
334 }
335 if (!device_is_ready(ilps22qs)) {
336 printk("%s: device not ready.\n", ilps22qs->name);
337 return 0;
338 }
339
340 stts22h_config(stts22h);
341 iis2mdc_config(iis2mdc);
342 ism330dhcx_config(ism330dhcx);
343 iis2dlpc_config(iis2dlpc);
344 iis2iclx_config(iis2iclx);
345 ilps22qs_config(ilps22qs);
346
347 while (1) {
348 struct sensor_value stts22h_temp;
349 struct sensor_value iis2dlpc_accel[3];
350 struct sensor_value iis2mdc_magn[3];
351 struct sensor_value iis2mdc_temp;
352 struct sensor_value ism330dhcx_accel[3];
353 struct sensor_value ism330dhcx_gyro[3];
354 struct sensor_value iis2iclx_accel[2];
355 struct sensor_value ilps22qs_press, ilps22qs_temp;
356
357 #ifndef CONFIG_STTS22H_TRIGGER
358 if (sensor_sample_fetch(stts22h) < 0) {
359 printf("STTS22H Sensor sample update error\n");
360 return 0;
361 }
362 #endif
363 #ifndef CONFIG_IIS2MDC_TRIGGER
364 if (sensor_sample_fetch(iis2mdc) < 0) {
365 printf("IIS2MDC Magn Sensor sample update error\n");
366 return 0;
367 }
368 #endif
369 #ifndef CONFIG_ISM330DHCX_TRIGGER
370 if (sensor_sample_fetch(ism330dhcx) < 0) {
371 printf("ISM330DHCX IMU Sensor sample update error\n");
372 return 0;
373 }
374 #endif
375 #ifndef CONFIG_IIS2DLPC_TRIGGER
376 if (sensor_sample_fetch(iis2dlpc) < 0) {
377 printf("IIS2DLPC Sensor sample update error\n");
378 return 0;
379 }
380 #endif
381 #ifndef CONFIG_IIS2ICLX_TRIGGER
382 if (sensor_sample_fetch(iis2iclx) < 0) {
383 printf("IIS2ICLX Sensor sample update error\n");
384 return 0;
385 }
386 #endif
387
388 if (sensor_sample_fetch(ilps22qs) < 0) {
389 printf("ILPS22QS Sensor sample update error\n");
390 return 0;
391 }
392
393 sensor_channel_get(stts22h, SENSOR_CHAN_AMBIENT_TEMP, &stts22h_temp);
394 sensor_channel_get(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ, iis2dlpc_accel);
395 sensor_channel_get(iis2mdc, SENSOR_CHAN_MAGN_XYZ, iis2mdc_magn);
396 sensor_channel_get(iis2mdc, SENSOR_CHAN_DIE_TEMP, &iis2mdc_temp);
397 sensor_channel_get(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ, ism330dhcx_accel);
398 sensor_channel_get(ism330dhcx, SENSOR_CHAN_GYRO_XYZ, ism330dhcx_gyro);
399 sensor_channel_get(iis2iclx, SENSOR_CHAN_ACCEL_XYZ, iis2iclx_accel);
400 sensor_channel_get(ilps22qs, SENSOR_CHAN_AMBIENT_TEMP, &ilps22qs_temp);
401 sensor_channel_get(ilps22qs, SENSOR_CHAN_PRESS, &ilps22qs_press);
402
403 /* Display sensor data */
404
405 /* Clear terminal (ANSI ESC-C) */
406 printf("\0033\014");
407
408 printf("STWIN.box dashboard\n\n");
409
410 /* STTS22H temperature */
411 printf("STTS22H: Temperature: %.1f C\n",
412 sensor_value_to_double(&stts22h_temp));
413
414 /* iis2dlpc */
415 printf("IIS2DLPC: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n",
416 sensor_value_to_double(&iis2dlpc_accel[0]),
417 sensor_value_to_double(&iis2dlpc_accel[1]),
418 sensor_value_to_double(&iis2dlpc_accel[2]));
419
420 /* iis2mdc */
421 printf("IIS2MDC: Magn (gauss): x: %.3f, y: %.3f, z: %.3f\n",
422 sensor_value_to_double(&iis2mdc_magn[0]),
423 sensor_value_to_double(&iis2mdc_magn[1]),
424 sensor_value_to_double(&iis2mdc_magn[2]));
425
426 printf("IIS2MDC: Temperature: %.1f C\n",
427 sensor_value_to_double(&iis2mdc_temp));
428
429 /* ism330dhcx */
430 printf("ISM330DHCX: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n",
431 sensor_value_to_double(&ism330dhcx_accel[0]),
432 sensor_value_to_double(&ism330dhcx_accel[1]),
433 sensor_value_to_double(&ism330dhcx_accel[2]));
434
435 printf("ISM330DHCX: Gyro (dps): x: %.3f, y: %.3f, z: %.3f\n",
436 sensor_value_to_double(&ism330dhcx_gyro[0]),
437 sensor_value_to_double(&ism330dhcx_gyro[1]),
438 sensor_value_to_double(&ism330dhcx_gyro[2]));
439
440 /* iis2iclx */
441 printf("IIS2ICLX: Accel (m.s-2): x: %.3f, y: %.3f\n",
442 sensor_value_to_double(&iis2iclx_accel[0]),
443 sensor_value_to_double(&iis2iclx_accel[1]));
444
445 /* temperature */
446 printf("ILPS22QS: Temperature: %.1f C\n",
447 sensor_value_to_double(&ilps22qs_temp));
448
449 /* pressure */
450 printf("ILPS22QS: Pressure: %.3f kpa\n",
451 sensor_value_to_double(&ilps22qs_press));
452
453 #ifdef CONFIG_STTS22H_TRIGGER
454 printk("%d:: stts22h trig %d\n", cnt, stts22h_trig_cnt);
455 #endif
456
457 #ifdef CONFIG_IIS2DLPC_TRIGGER
458 printk("%d:: iis2dlpc trig %d\n", cnt, iis2dlpc_trig_cnt);
459 #endif
460
461 #if defined(CONFIG_IIS2MDC_TRIGGER)
462 printk("%d:: iis2mdc trig %d\n", cnt, iis2mdc_trig_cnt);
463 #endif
464
465 #ifdef CONFIG_ISM330DHCX_TRIGGER
466 printk("%d:: ism330dhcx acc trig %d\n", cnt, ism330dhcx_acc_trig_cnt);
467 printk("%d:: ism330dhcx gyr trig %d\n", cnt, ism330dhcx_gyr_trig_cnt);
468 #endif
469
470 #ifdef CONFIG_IIS2ICLX_TRIGGER
471 printk("%d:: iis2iclx trig %d\n", cnt, iis2iclx_trig_cnt);
472 #endif
473
474 k_msleep(2000);
475 }
476 }
477
