1 /*
2 * Copyright (c) 2020 TDK Invensense
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
now_str(void)12 static const char *now_str(void)
13 {
14 static char buf[16]; /* ...HH:MM:SS.MMM */
15 uint32_t now = k_uptime_get_32();
16 unsigned int ms = now % MSEC_PER_SEC;
17 unsigned int s;
18 unsigned int min;
19 unsigned int h;
20
21 now /= MSEC_PER_SEC;
22 s = now % 60U;
23 now /= 60U;
24 min = now % 60U;
25 now /= 60U;
26 h = now;
27
28 snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u",
29 h, min, s, ms);
30 return buf;
31 }
32
process_icm42605(const struct device * dev)33 static int process_icm42605(const struct device *dev)
34 {
35 struct sensor_value temperature;
36 struct sensor_value accel[3];
37 struct sensor_value gyro[3];
38 int rc = sensor_sample_fetch(dev);
39
40 if (rc == 0) {
41 rc = sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ,
42 accel);
43 }
44 if (rc == 0) {
45 rc = sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ,
46 gyro);
47 }
48 if (rc == 0) {
49 rc = sensor_channel_get(dev, SENSOR_CHAN_DIE_TEMP,
50 &temperature);
51 }
52 if (rc == 0) {
53 printf("[%s]:% g Cel\n"
54 " accel % f % f % f m/s/s\n"
55 " gyro % f % f % f rad/s\n",
56 now_str(),
57 sensor_value_to_double(&temperature),
58 sensor_value_to_double(&accel[0]),
59 sensor_value_to_double(&accel[1]),
60 sensor_value_to_double(&accel[2]),
61 sensor_value_to_double(&gyro[0]),
62 sensor_value_to_double(&gyro[1]),
63 sensor_value_to_double(&gyro[2]));
64 } else {
65 printf("sample fetch/get failed: %d\n", rc);
66 }
67
68 return rc;
69 }
70
71 static struct sensor_trigger data_trigger;
72 static struct sensor_trigger tap_trigger;
73 static struct sensor_trigger double_tap_trigger;
74
handle_icm42605_drdy(const struct device * dev,const struct sensor_trigger * trig)75 static void handle_icm42605_drdy(const struct device *dev,
76 const struct sensor_trigger *trig)
77 {
78 int rc = process_icm42605(dev);
79
80 if (rc != 0) {
81 printf("cancelling trigger due to failure: %d\n", rc);
82 (void)sensor_trigger_set(dev, trig, NULL);
83 return;
84 }
85 }
86
handle_icm42605_tap(const struct device * dev,const struct sensor_trigger * trig)87 static void handle_icm42605_tap(const struct device *dev,
88 const struct sensor_trigger *trig)
89 {
90 printf("Tap Detected!\n");
91 }
92
handle_icm42605_double_tap(const struct device * dev,const struct sensor_trigger * trig)93 static void handle_icm42605_double_tap(const struct device *dev,
94 const struct sensor_trigger *trig)
95 {
96 printf("Double Tap detected!\n");
97 }
98
main(void)99 int main(void)
100 {
101 const struct device *const icm42605 = DEVICE_DT_GET_ONE(invensense_icm42605);
102
103 if (!device_is_ready(icm42605)) {
104 printk("sensor: device not ready.\n");
105 return 0;
106 }
107
108 tap_trigger = (struct sensor_trigger) {
109 .type = SENSOR_TRIG_TAP,
110 .chan = SENSOR_CHAN_ALL,
111 };
112
113 if (sensor_trigger_set(icm42605, &tap_trigger,
114 handle_icm42605_tap) < 0) {
115 printf("Cannot configure tap trigger!!!\n");
116 return 0;
117 }
118
119 double_tap_trigger = (struct sensor_trigger) {
120 .type = SENSOR_TRIG_DOUBLE_TAP,
121 .chan = SENSOR_CHAN_ALL,
122 };
123
124 if (sensor_trigger_set(icm42605, &double_tap_trigger,
125 handle_icm42605_double_tap) < 0) {
126 printf("Cannot configure double tap trigger!!!\n");
127 return 0;
128 }
129
130 data_trigger = (struct sensor_trigger) {
131 .type = SENSOR_TRIG_DATA_READY,
132 .chan = SENSOR_CHAN_ALL,
133 };
134
135 if (sensor_trigger_set(icm42605, &data_trigger,
136 handle_icm42605_drdy) < 0) {
137 printf("Cannot configure data trigger!!!\n");
138 return 0;
139 }
140
141 printf("Configured for triggered sampling.\n");
142 return 0;
143 }
144
