-
Notifications
You must be signed in to change notification settings - Fork 6.1k
/
main.c
178 lines (147 loc) · 4.81 KB
/
main.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
/*
* Copyright (c) 2018 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <stdio.h>
#include <zephyr/sys/util.h>
static int print_samples;
static int lsm6dsl_trig_cnt;
static struct sensor_value accel_x_out, accel_y_out, accel_z_out;
static struct sensor_value gyro_x_out, gyro_y_out, gyro_z_out;
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
static struct sensor_value magn_x_out, magn_y_out, magn_z_out;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
static struct sensor_value press_out, temp_out;
#endif
#ifdef CONFIG_LSM6DSL_TRIGGER
static void lsm6dsl_trigger_handler(const struct device *dev,
const struct sensor_trigger *trig)
{
static struct sensor_value accel_x, accel_y, accel_z;
static struct sensor_value gyro_x, gyro_y, gyro_z;
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
static struct sensor_value magn_x, magn_y, magn_z;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
static struct sensor_value press, temp;
#endif
lsm6dsl_trig_cnt++;
sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
sensor_channel_get(dev, SENSOR_CHAN_ACCEL_X, &accel_x);
sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
/* lsm6dsl gyro */
sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
sensor_channel_get(dev, SENSOR_CHAN_GYRO_X, &gyro_x);
sensor_channel_get(dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
sensor_channel_get(dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
/* lsm6dsl external magn */
sensor_sample_fetch_chan(dev, SENSOR_CHAN_MAGN_XYZ);
sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &magn_x);
sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &magn_y);
sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &magn_z);
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
/* lsm6dsl external press/temp */
sensor_sample_fetch_chan(dev, SENSOR_CHAN_PRESS);
sensor_channel_get(dev, SENSOR_CHAN_PRESS, &press);
sensor_sample_fetch_chan(dev, SENSOR_CHAN_AMBIENT_TEMP);
sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
#endif
if (print_samples) {
print_samples = 0;
accel_x_out = accel_x;
accel_y_out = accel_y;
accel_z_out = accel_z;
gyro_x_out = gyro_x;
gyro_y_out = gyro_y;
gyro_z_out = gyro_z;
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
magn_x_out = magn_x;
magn_y_out = magn_y;
magn_z_out = magn_z;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
press_out = press;
temp_out = temp;
#endif
}
}
#endif
int main(void)
{
int cnt = 0;
char out_str[64];
struct sensor_value odr_attr;
const struct device *const lsm6dsl_dev = DEVICE_DT_GET_ONE(st_lsm6dsl);
if (!device_is_ready(lsm6dsl_dev)) {
printk("sensor: device not ready.\n");
return 0;
}
/* set accel/gyro sampling frequency to 104 Hz */
odr_attr.val1 = 104;
odr_attr.val2 = 0;
if (sensor_attr_set(lsm6dsl_dev, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
printk("Cannot set sampling frequency for accelerometer.\n");
return 0;
}
if (sensor_attr_set(lsm6dsl_dev, SENSOR_CHAN_GYRO_XYZ,
SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
printk("Cannot set sampling frequency for gyro.\n");
return 0;
}
#ifdef CONFIG_LSM6DSL_TRIGGER
struct sensor_trigger trig;
trig.type = SENSOR_TRIG_DATA_READY;
trig.chan = SENSOR_CHAN_ACCEL_XYZ;
if (sensor_trigger_set(lsm6dsl_dev, &trig, lsm6dsl_trigger_handler) != 0) {
printk("Could not set sensor type and channel\n");
return 0;
}
#endif
if (sensor_sample_fetch(lsm6dsl_dev) < 0) {
printk("Sensor sample update error\n");
return 0;
}
while (1) {
/* Erase previous */
printk("\0033\014");
printf("LSM6DSL sensor samples:\n\n");
/* lsm6dsl accel */
sprintf(out_str, "accel x:%f ms/2 y:%f ms/2 z:%f ms/2",
sensor_value_to_double(&accel_x_out),
sensor_value_to_double(&accel_y_out),
sensor_value_to_double(&accel_z_out));
printk("%s\n", out_str);
/* lsm6dsl gyro */
sprintf(out_str, "gyro x:%f dps y:%f dps z:%f dps",
sensor_value_to_double(&gyro_x_out),
sensor_value_to_double(&gyro_y_out),
sensor_value_to_double(&gyro_z_out));
printk("%s\n", out_str);
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
/* lsm6dsl external magn */
sprintf(out_str, "magn x:%f gauss y:%f gauss z:%f gauss",
sensor_value_to_double(&magn_x_out),
sensor_value_to_double(&magn_y_out),
sensor_value_to_double(&magn_z_out));
printk("%s\n", out_str);
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
/* lsm6dsl external press/temp */
sprintf(out_str, "press: %f kPa - temp: %f deg",
sensor_value_to_double(&press_out), sensor_value_to_double(&temp_out));
printk("%s\n", out_str);
#endif
printk("loop:%d trig_cnt:%d\n\n", ++cnt, lsm6dsl_trig_cnt);
print_samples = 1;
k_sleep(K_MSEC(2000));
}
}