1 /*
2 * Copyright (c) 2018 STMicroelectronics
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 #include <zephyr/sys/util.h>
12
13 #ifdef CONFIG_LSM6DSL_TRIGGER
14 static int lsm6dsl_trig_cnt;
15
lsm6dsl_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)16 static void lsm6dsl_trigger_handler(const struct device *dev,
17 const struct sensor_trigger *trig)
18 {
19 sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL);
20 lsm6dsl_trig_cnt++;
21 }
22 #endif
23
main(void)24 int main(void)
25 {
26 struct sensor_value temp1, temp2, hum, press;
27 struct sensor_value accel1[3], accel2[3];
28 struct sensor_value gyro[3];
29 struct sensor_value magn[3];
30 const struct device *const hts221 = DEVICE_DT_GET_ONE(st_hts221);
31 const struct device *const lps22hb = DEVICE_DT_GET_ONE(st_lps22hb_press);
32 const struct device *const lsm6dsl = DEVICE_DT_GET_ONE(st_lsm6dsl);
33 const struct device *const lsm303agr_a = DEVICE_DT_GET_ONE(st_lis2dh);
34 const struct device *const lsm303agr_m = DEVICE_DT_GET_ONE(st_lis2mdl);
35 #ifdef CONFIG_LSM6DSL_TRIGGER
36 int cnt = 1;
37 #endif
38
39 if (!device_is_ready(hts221)) {
40 printk("%s: device not ready.\n", hts221->name);
41 return 0;
42 }
43 if (!device_is_ready(lps22hb)) {
44 printk("%s: device not ready.\n", lps22hb->name);
45 return 0;
46 }
47 if (!device_is_ready(lsm6dsl)) {
48 printk("%s: device not ready.\n", lsm6dsl->name);
49 return 0;
50 }
51 if (!device_is_ready(lsm303agr_a)) {
52 printk("%s: device not ready.\n", lsm303agr_a->name);
53 return 0;
54 }
55 if (!device_is_ready(lsm303agr_m)) {
56 printk("%s: device not ready.\n", lsm303agr_m->name);
57 return 0;
58 }
59
60 /* set LSM6DSL accel/gyro sampling frequency to 104 Hz */
61 struct sensor_value odr_attr;
62
63 odr_attr.val1 = 208;
64 odr_attr.val2 = 0;
65
66 if (sensor_attr_set(lsm6dsl, SENSOR_CHAN_ACCEL_XYZ,
67 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
68 printk("Cannot set sampling frequency for accelerometer.\n");
69 return 0;
70 }
71
72 if (sensor_attr_set(lsm6dsl, SENSOR_CHAN_GYRO_XYZ,
73 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
74 printk("Cannot set sampling frequency for gyro.\n");
75 return 0;
76 }
77
78 #ifdef CONFIG_LSM6DSL_TRIGGER
79 struct sensor_trigger trig;
80
81 trig.type = SENSOR_TRIG_DATA_READY;
82 trig.chan = SENSOR_CHAN_ACCEL_XYZ;
83 sensor_trigger_set(lsm6dsl, &trig, lsm6dsl_trigger_handler);
84 #endif
85
86 while (1) {
87 int ret;
88
89 /* Get sensor samples */
90
91 if (sensor_sample_fetch(hts221) < 0) {
92 printf("HTS221 Sensor sample update error\n");
93 return 0;
94 }
95 if (sensor_sample_fetch(lps22hb) < 0) {
96 printf("LPS22HB Sensor sample update error\n");
97 return 0;
98 }
99 #ifndef CONFIG_LSM6DSL_TRIGGER
100 if (sensor_sample_fetch(lsm6dsl) < 0) {
101 printf("LSM6DSL Sensor sample update error\n");
102 return 0;
103 }
104 #endif
105 ret = sensor_sample_fetch(lsm303agr_a);
106 if (ret < 0 && ret != -EBADMSG) {
107 printf("LSM303AGR Accel Sensor sample update error\n");
108 return 0;
109 }
110 if (sensor_sample_fetch(lsm303agr_m) < 0) {
111 printf("LSM303AGR Magn Sensor sample update error\n");
112 return 0;
113 }
114
115 /* Get sensor data */
116
117 sensor_channel_get(hts221, SENSOR_CHAN_AMBIENT_TEMP, &temp1);
118 sensor_channel_get(hts221, SENSOR_CHAN_HUMIDITY, &hum);
119 sensor_channel_get(lps22hb, SENSOR_CHAN_PRESS, &press);
120 sensor_channel_get(lps22hb, SENSOR_CHAN_AMBIENT_TEMP, &temp2);
121 sensor_channel_get(lsm6dsl, SENSOR_CHAN_ACCEL_XYZ, accel1);
122 sensor_channel_get(lsm6dsl, SENSOR_CHAN_GYRO_XYZ, gyro);
123 sensor_channel_get(lsm303agr_a, SENSOR_CHAN_ACCEL_XYZ, accel2);
124 sensor_channel_get(lsm303agr_m, SENSOR_CHAN_MAGN_XYZ, magn);
125
126 /* Display sensor data */
127
128 /* Erase previous */
129 printf("\0033\014");
130
131 printf("X-NUCLEO-IKS01A2 sensor dashboard\n\n");
132
133 /* temperature */
134 printf("HTS221: Temperature: %.1f C\n",
135 sensor_value_to_double(&temp1));
136
137 /* humidity */
138 printf("HTS221: Relative Humidity: %.1f%%\n",
139 sensor_value_to_double(&hum));
140
141 /* pressure */
142 printf("LPS22HB: Pressure:%.3f kpa\n",
143 sensor_value_to_double(&press));
144
145 /* lps22hb temperature */
146 printf("LPS22HB: Temperature: %.1f C\n",
147 sensor_value_to_double(&temp2));
148
149 /* lsm6dsl accel */
150 printf("LSM6DSL: Accel (m.s-2): x: %.1f, y: %.1f, z: %.1f\n",
151 sensor_value_to_double(&accel1[0]),
152 sensor_value_to_double(&accel1[1]),
153 sensor_value_to_double(&accel1[2]));
154
155 /* lsm6dsl gyro */
156 printf("LSM6DSL: Gyro (dps): x: %.3f, y: %.3f, z: %.3f\n",
157 sensor_value_to_double(&gyro[0]),
158 sensor_value_to_double(&gyro[1]),
159 sensor_value_to_double(&gyro[2]));
160
161 #if defined(CONFIG_LSM6DSL_TRIGGER)
162 printf("%d:: lsm6dsl trig %d\n", cnt++, lsm6dsl_trig_cnt);
163 #endif
164
165 /* lsm303agr accel */
166 printf("LSM303AGR: Accel (m.s-2): x: %.1f, y: %.1f, z: %.1f\n",
167 sensor_value_to_double(&accel2[0]),
168 sensor_value_to_double(&accel2[1]),
169 sensor_value_to_double(&accel2[2]));
170
171 /* lsm303agr magn */
172 printf("LSM303AGR: Magn (gauss): x: %.3f, y: %.3f, z: %.3f\n",
173 sensor_value_to_double(&magn[0]),
174 sensor_value_to_double(&magn[1]),
175 sensor_value_to_double(&magn[2]));
176
177 k_sleep(K_MSEC(2000));
178 }
179 }
180
