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samples: sensor: sample app of ICM42605 motion sensor

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Sample appication of TDK Invensense ICM42605
motion sensor.

Signed-off-by: JuHyun Kim <jkim@invensense.com>
This commit is contained in:
JuHyun Kim 2020-11-01 05:15:00 -08:00 committed by Kumar Gala
parent cc56fb5247
commit a8722a9e65
6 changed files with 256 additions and 0 deletions
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12
samples/sensor/icm42605/CMakeLists.txt Normal file
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#
# Copyright (c) 2019 TDK Invensense
#
# SPDX-License-Identifier: Apache-2.0
#
cmake_minimum_required(VERSION 3.13.1)
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(icm42605)
FILE(GLOB app_sources src/*.c)
target_sources(app PRIVATE ${app_sources})

57
samples/sensor/icm42605/README.rst Normal file
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.. _icm42605:
MPU6050: Invensense Motion Tracking Device
##########################################
Description
***********
This sample application periodically (10 Hz) measures the sensor
temperature, acceleration, and angular velocity, tap, double tap
displaying the values on the console along with a timestamp since
startup.
Wiring
*******
This sample uses an external breakout for the sensor. A devicetree
overlay must be provided to identify the SPI bus and GPIO used to
control the sensor.
Building and Running
********************
After providing a devicetree overlay that specifies the sensor location,
build this sample app using:
.. zephyr-app-commands::
:zephyr-app: samples/sensor/icm42605
:board: nrf52dk_nrf52832
:goals: build flash
Sample Output
=============
.. code-block:: console
*** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661 ***
[0:00:00.008]:23.6359 Cel
accel -5.882554 -6.485893 5.868188 m/s/s
gyro 0.014522 0.002264 -0.036905 rad/s
[0:00:02.020]:23.6359 Cel
accel -5.841853 -6.435615 5.911283 m/s/s
gyro 0.017852 0.001199 -0.034640 rad/s
[0:00:04.032]:23.6829 Cel
accel -5.930438 -6.461951 6.009446 m/s/s
gyro 0.012923 0.002131 -0.037171 rad/s
[0:00:06.044]:23.6359 Cel
accel -5.884948 -6.524200 5.961562 m/s/s
gyro 0.012390 -0.001732 -0.045964 rad/s
[0:00:08.056]:35.7712 Cel
accel -5.863400 -12.872426 -0.154427 m/s/s
gyro -0.034373 -0.034373 -0.034373 rad/s
[0:00:10.068]:23.6829 Cel
accel -5.906496 -6.461951 5.899312 m/s/s
gyro 0.015321 -0.000399 -0.039169 rad/s
<repeats endlessly>

21
samples/sensor/icm42605/boards/nrf52dk_nrf52832.overlay Normal file
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/*
* Copyright (c) 2020 TDK Invensense
*
* SPDX-License-Identifier: Apache-2.0
*/
&spi0 {
compatible = "nordic,nrf-spi";
status = "okay";
sck-pin = <27>;
mosi-pin = <26>;
miso-pin = <23>;
cs-gpios = <&gpio0 22 GPIO_ACTIVE_LOW>;
icm42605@0 {
compatible = "invensense,icm42605";
spi-max-frequency = <24000000>;
reg = <0>;
label = "ICM42605";
int-gpios = <&gpio0 18 GPIO_ACTIVE_HIGH>;
};
};

10
samples/sensor/icm42605/prj.conf Normal file
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#
# Copyright (c) 2019 Nordic Semiconductor ASA
#
# SPDX-License-Identifier: Apache-2.0
#
CONFIG_SPI=y
CONFIG_SENSOR=y
CONFIG_ICM42605=y
CONFIG_ICM42605_TRIGGER_OWN_THREAD=y

13
samples/sensor/icm42605/sample.yaml Normal file
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#
# Copyright (c) 2020 TDK Invensense
#
# SPDX-License-Identifier: Apache-2.0
#
sample:
name: ICM42605 Sensor Sample
tests:
sample.sensor.icm42605:
build_only: true
platform_allow: nrf52dk_nrf52832
tags: sensors

143
samples/sensor/icm42605/src/main.c Normal file
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/*
* Copyright (c) 2020 TDK Invensense
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr.h>
#include <device.h>
#include <drivers/sensor.h>
#include <stdio.h>
static const char *now_str(void)
{
static char buf[16]; /* ...HH:MM:SS.MMM */
uint32_t now = k_uptime_get_32();
unsigned int ms = now % MSEC_PER_SEC;
unsigned int s;
unsigned int min;
unsigned int h;
now /= MSEC_PER_SEC;
s = now % 60U;
now /= 60U;
min = now % 60U;
now /= 60U;
h = now;
snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u",
h, min, s, ms);
return buf;
}
static int process_icm42605(const struct device *dev)
{
struct sensor_value temperature;
struct sensor_value accel[3];
struct sensor_value gyro[3];
int rc = sensor_sample_fetch(dev);
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ,
accel);
}
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ,
gyro);
}
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_DIE_TEMP,
&temperature);
}
if (rc == 0) {
printf("[%s]:% g Cel\n"
" accel % f % f % f m/s/s\n"
" gyro % f % f % f rad/s\n",
now_str(),
sensor_value_to_double(&temperature),
sensor_value_to_double(&accel[0]),
sensor_value_to_double(&accel[1]),
sensor_value_to_double(&accel[2]),
sensor_value_to_double(&gyro[0]),
sensor_value_to_double(&gyro[1]),
sensor_value_to_double(&gyro[2]));
} else {
printf("sample fetch/get failed: %d\n", rc);
}
return rc;
}
static struct sensor_trigger data_trigger;
static struct sensor_trigger tap_trigger;
static struct sensor_trigger double_tap_trigger;
static void handle_icm42605_drdy(const struct device *dev,
struct sensor_trigger *trig)
{
int rc = process_icm42605(dev);
if (rc != 0) {
printf("cancelling trigger due to failure: %d\n", rc);
(void)sensor_trigger_set(dev, trig, NULL);
return;
}
}
static void handle_icm42605_tap(const struct device *dev,
struct sensor_trigger *trig)
{
printf("Tap Detected!\n");
}
static void handle_icm42605_double_tap(const struct device *dev,
struct sensor_trigger *trig)
{
printf("Double Tap detected!\n");
}
void main(void)
{
const char *const label = DT_LABEL(DT_INST(0, invensense_icm42605));
const struct device *icm42605 = device_get_binding(label);
if (!icm42605) {
printf("Failed to find sensor %s\n", label);
return;
}
tap_trigger = (struct sensor_trigger) {
.type = SENSOR_TRIG_TAP,
.chan = SENSOR_CHAN_ALL,
};
if (sensor_trigger_set(icm42605, &tap_trigger,
handle_icm42605_tap) < 0) {
printf("Cannot configure tap trigger!!!\n");
return;
}
double_tap_trigger = (struct sensor_trigger) {
.type = SENSOR_TRIG_DOUBLE_TAP,
.chan = SENSOR_CHAN_ALL,
};
if (sensor_trigger_set(icm42605, &double_tap_trigger,
handle_icm42605_double_tap) < 0) {
printf("Cannot configure double tap trigger!!!\n");
return;
}
data_trigger = (struct sensor_trigger) {
.type = SENSOR_TRIG_DATA_READY,
.chan = SENSOR_CHAN_ALL,
};
if (sensor_trigger_set(icm42605, &data_trigger,
handle_icm42605_drdy) < 0) {
printf("Cannot configure data trigger!!!\n");
return;
}
printf("Configured for triggered sampling.\n");
}