static void trigger_hdlr(struct device *bmi160,
struct sensor_trigger *trigger)
{
if (trigger->type != SENSOR_TRIG_DELTA &&
trigger->type != SENSOR_TRIG_DATA_READY) {
return;
}
if (sensor_sample_fetch(bmi160) < 0) {
printk("Sample update error.\n");
return;
}
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
if (trigger->chan == SENSOR_CHAN_GYRO_XYZ) {
print_gyro_data(bmi160);
}
#endif
#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
if (trigger->chan == SENSOR_CHAN_ACCEL_XYZ) {
print_accel_data(bmi160);
}
#endif
}
static void test_polling_mode(struct device *bmi160)
{
s32_t remaining_test_time = MAX_TEST_TIME;
struct sensor_value attr;
#if defined(CONFIG_BMI160_ACCEL_ODR_RUNTIME)
/* set sampling frequency to 100Hz for accel */
attr.val1 = 100;
attr.val2 = 0;
if (sensor_attr_set(bmi160, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
printk("Cannot set sampling frequency for accelerometer.\n");
return;
}
#endif
#if defined(CONFIG_BMI160_GYRO_ODR_RUNTIME)
/* set sampling frequency to 3200Hz for gyro */
attr.val1 = 3200;
attr.val2 = 0;
if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_XYZ,
SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
printk("Cannot set sampling frequency for gyroscope.\n");
return;
}
#endif
/* wait for the change to take effect */
k_sleep(SLEEPTIME);
/* poll the data and print it */
do {
if (sensor_sample_fetch(bmi160) < 0) {
printk("Sample update error.\n");
return;
}
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
print_gyro_data(bmi160);
#endif
#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
print_accel_data(bmi160);
#endif
print_temp_data(bmi160);
/* wait a while */
k_sleep(SLEEPTIME);
remaining_test_time -= SLEEPTIME;
} while (remaining_test_time > 0);
}
static void trigger_handler(struct device *bmg160, struct sensor_trigger *trigger)
{
if (trigger->type != SENSOR_TRIG_DATA_READY &&
trigger->type != SENSOR_TRIG_DELTA) {
printf("Gyro: trigger handler: unknown trigger type.\n");
return;
}
if (sensor_sample_fetch(bmg160) < 0) {
printf("Gyro sample update error.\n");
}
print_gyro_data(bmg160);
}
static void test_polling_mode(struct device *bmg160)
{
uint32_t timer_data[2] = {0, 0};
int32_t remaining_test_time = MAX_TEST_TIME;
struct nano_timer timer;
nano_timer_init(&timer, timer_data);
do {
if (sensor_sample_fetch(bmg160) < 0) {
printf("Gyro sample update error.\n");
}
print_gyro_data(bmg160);
print_temp_data(bmg160);
/* wait a while */
nano_task_timer_start(&timer, SLEEPTIME);
nano_task_timer_test(&timer, TICKS_UNLIMITED);
remaining_test_time -= SLEEPTIME;
} while (remaining_test_time > 0);
}
