1 /*
2 * Copyright (c) 2019 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_IIS2DLPC_TRIGGER
14 static int iis2dlpc_trig_cnt;
15
iis2dlpc_trigger_handler(const struct device * dev,const struct sensor_trigger * trig)16 static void iis2dlpc_trigger_handler(const struct device *dev,
17 const struct sensor_trigger *trig)
18 {
19 sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
20 iis2dlpc_trig_cnt++;
21 }
22 #endif
23
24 #ifdef CONFIG_ISM330DHCX_TRIGGER
25 static int ism330dhcx_acc_trig_cnt;
26 static int ism330dhcx_gyr_trig_cnt;
27 static int ism330dhcx_temp_trig_cnt;
28
ism330dhcx_acc_trig_handler(const struct device * dev,const struct sensor_trigger * trig)29 static void ism330dhcx_acc_trig_handler(const struct device *dev,
30 const struct sensor_trigger *trig)
31 {
32 sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
33 ism330dhcx_acc_trig_cnt++;
34 }
35
ism330dhcx_gyr_trig_handler(const struct device * dev,const struct sensor_trigger * trig)36 static void ism330dhcx_gyr_trig_handler(const struct device *dev,
37 const struct sensor_trigger *trig)
38 {
39 sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
40 ism330dhcx_gyr_trig_cnt++;
41 }
42
ism330dhcx_temp_trig_handler(const struct device * dev,const struct sensor_trigger * trig)43 static void ism330dhcx_temp_trig_handler(const struct device *dev,
44 const struct sensor_trigger *trig)
45 {
46 sensor_sample_fetch_chan(dev, SENSOR_CHAN_DIE_TEMP);
47 ism330dhcx_temp_trig_cnt++;
48 }
49 #endif
50
iis2dlpc_config(const struct device * iis2dlpc)51 static void iis2dlpc_config(const struct device *iis2dlpc)
52 {
53 struct sensor_value odr_attr, fs_attr;
54
55 /* set IIS2DLPC accel/gyro sampling frequency to 100 Hz */
56 odr_attr.val1 = 100;
57 odr_attr.val2 = 0;
58
59 if (sensor_attr_set(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ,
60 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
61 printk("Cannot set sampling frequency for IIS2DLPC accel\n");
62 return;
63 }
64
65 sensor_g_to_ms2(16, &fs_attr);
66
67 if (sensor_attr_set(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ,
68 SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
69 printk("Cannot set sampling frequency for IIS2DLPC gyro\n");
70 return;
71 }
72
73 #ifdef CONFIG_IIS2DLPC_TRIGGER
74 struct sensor_trigger trig;
75
76 trig.type = SENSOR_TRIG_DATA_READY;
77 trig.chan = SENSOR_CHAN_ACCEL_XYZ;
78 sensor_trigger_set(iis2dlpc, &trig, iis2dlpc_trigger_handler);
79 #endif
80 }
81
ism330dhcx_config(const struct device * ism330dhcx)82 static void ism330dhcx_config(const struct device *ism330dhcx)
83 {
84 struct sensor_value odr_attr, fs_attr;
85
86 /* set ISM330DHCX accel sampling frequency to 208 Hz */
87 odr_attr.val1 = 208;
88 odr_attr.val2 = 0;
89
90 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ,
91 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
92 printk("Cannot set sampling frequency for ISM330DHCX accel\n");
93 return;
94 }
95
96 sensor_g_to_ms2(16, &fs_attr);
97
98 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ,
99 SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
100 printk("Cannot set fs for ISM330DHCX accel\n");
101 return;
102 }
103
104 /* set ISM330DHCX gyro sampling frequency to 208 Hz */
105 odr_attr.val1 = 208;
106 odr_attr.val2 = 0;
107
108 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_GYRO_XYZ,
109 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
110 printk("Cannot set sampling frequency for ISM330DHCX gyro\n");
111 return;
112 }
113
114 sensor_degrees_to_rad(250, &fs_attr);
115
116 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_GYRO_XYZ,
117 SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
118 printk("Cannot set fs for ISM330DHCX gyro\n");
119 return;
120 }
121
122 /* set ISM330DHCX external magn sampling frequency to 100 Hz */
123 odr_attr.val1 = 100;
124 odr_attr.val2 = 0;
125
126 #ifdef CONFIG_ISM330DHCX_EXT_IIS2MDC
127 if (sensor_attr_set(ism330dhcx, SENSOR_CHAN_MAGN_XYZ,
128 SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
129 printk("Cannot set sampling frequency for ISM330DHCX ext magn\n");
130 return;
131 }
132 #endif
133
134 #ifdef CONFIG_ISM330DHCX_TRIGGER
135 struct sensor_trigger trig;
136
137 trig.type = SENSOR_TRIG_DATA_READY;
138 trig.chan = SENSOR_CHAN_ACCEL_XYZ;
139 sensor_trigger_set(ism330dhcx, &trig, ism330dhcx_acc_trig_handler);
140
141 trig.type = SENSOR_TRIG_DATA_READY;
142 trig.chan = SENSOR_CHAN_GYRO_XYZ;
143 sensor_trigger_set(ism330dhcx, &trig, ism330dhcx_gyr_trig_handler);
144
145 trig.type = SENSOR_TRIG_DATA_READY;
146 trig.chan = SENSOR_CHAN_DIE_TEMP;
147 sensor_trigger_set(ism330dhcx, &trig, ism330dhcx_temp_trig_handler);
148 #endif
149 }
150
main(void)151 int main(void)
152 {
153 #ifdef CONFIG_ISM330DHCX_ENABLE_TEMP
154 struct sensor_value die_temp;
155 #endif
156 struct sensor_value accel1[3], accel2[3];
157 struct sensor_value gyro[3];
158 struct sensor_value magn[3];
159 const struct device *const iis2dlpc = DEVICE_DT_GET_ONE(st_iis2dlpc);
160 const struct device *const ism330dhcx = DEVICE_DT_GET_ONE(st_ism330dhcx);
161 int cnt = 1;
162
163 if (!device_is_ready(iis2dlpc)) {
164 printk("%s: device not ready.\n", iis2dlpc->name);
165 return 0;
166 }
167 if (!device_is_ready(ism330dhcx)) {
168 printk("%s: device not ready.\n", ism330dhcx->name);
169 return 0;
170 }
171
172 iis2dlpc_config(iis2dlpc);
173 ism330dhcx_config(ism330dhcx);
174
175 while (1) {
176 /* Get sensor samples */
177
178 #ifndef CONFIG_IIS2DLPC_TRIGGER
179 if (sensor_sample_fetch(iis2dlpc) < 0) {
180 printf("IIS2DLPC Sensor sample update error\n");
181 return 0;
182 }
183 #endif
184 #ifndef CONFIG_ISM330DHCX_TRIGGER
185 if (sensor_sample_fetch(ism330dhcx) < 0) {
186 printf("ISM330DHCX Sensor sample update error\n");
187 return 0;
188 }
189 #endif
190
191 /* Get sensor data */
192 sensor_channel_get(iis2dlpc, SENSOR_CHAN_ACCEL_XYZ, accel2);
193 sensor_channel_get(ism330dhcx, SENSOR_CHAN_ACCEL_XYZ, accel1);
194 sensor_channel_get(ism330dhcx, SENSOR_CHAN_GYRO_XYZ, gyro);
195 #ifdef CONFIG_ISM330DHCX_ENABLE_TEMP
196 sensor_channel_get(ism330dhcx, SENSOR_CHAN_DIE_TEMP, &die_temp);
197 #endif
198 #ifdef CONFIG_ISM330DHCX_EXT_IIS2MDC
199 sensor_channel_get(ism330dhcx, SENSOR_CHAN_MAGN_XYZ, magn);
200 #endif
201
202 /* Display sensor data */
203
204 /* Erase previous */
205 printf("\0033\014");
206
207 printf("X-NUCLEO-IKS02A1 sensor Mode 2 dashboard\n\n");
208
209 printf("IIS2DLPC: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n",
210 sensor_value_to_double(&accel2[0]),
211 sensor_value_to_double(&accel2[1]),
212 sensor_value_to_double(&accel2[2]));
213
214 printf("ISM330DHCX: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n",
215 sensor_value_to_double(&accel1[0]),
216 sensor_value_to_double(&accel1[1]),
217 sensor_value_to_double(&accel1[2]));
218
219 printf("ISM330DHCX: GYro (dps): x: %.3f, y: %.3f, z: %.3f\n",
220 sensor_value_to_double(&gyro[0]),
221 sensor_value_to_double(&gyro[1]),
222 sensor_value_to_double(&gyro[2]));
223
224 #ifdef CONFIG_ISM330DHCX_ENABLE_TEMP
225 /* temperature */
226 printf("ISM330DHCX: Temperature: %.1f C\n",
227 sensor_value_to_double(&die_temp));
228 #endif
229
230 #ifdef CONFIG_ISM330DHCX_EXT_IIS2MDC
231 printf("ISM330DHCX: Magn (gauss): x: %.3f, y: %.3f, z: %.3f\n",
232 sensor_value_to_double(&magn[0]),
233 sensor_value_to_double(&magn[1]),
234 sensor_value_to_double(&magn[2]));
235 #endif
236
237 #ifdef CONFIG_IIS2DLPC_TRIGGER
238 printk("%d:: iis2dlpc trig %d\n", cnt, iis2dlpc_trig_cnt);
239 #endif
240
241 #ifdef CONFIG_ISM330DHCX_TRIGGER
242 printk("%d:: ism330dhcx acc trig %d\n", cnt, ism330dhcx_acc_trig_cnt);
243 printk("%d:: ism330dhcx gyr trig %d\n", cnt, ism330dhcx_gyr_trig_cnt);
244 #ifdef CONFIG_ISM330DHCX_ENABLE_TEMP
245 printk("%d:: ism330dhcx temp trig %d\n", cnt, ism330dhcx_temp_trig_cnt);
246 #endif
247 #endif
248
249 cnt++;
250 k_sleep(K_MSEC(2000));
251 }
252 }
253
