static void test_trigger_mode(struct device *bmi160)
{
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 100Hz for gyro */
attr.val1 = 100;
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
test_anymotion_trigger(bmi160);
test_data_ready_trigger(bmi160);
}
static void test_anymotion_trigger(struct device *bmi160)
{
s32_t remaining_test_time = MAX_TEST_TIME;
struct sensor_value attr;
struct sensor_trigger trig;
/* set up anymotion trigger */
/*
* Set slope threshold to 0.1G (0.1 * 9.80665 = 4.903325 m/s^2).
* This depends on the chosen range. One cannot choose a threshold
* bigger than half the range. For example, for a 16G range, the
* threshold must not exceed 8G.
*/
attr.val1 = 0;
attr.val2 = 980665;
if (sensor_attr_set(bmi160, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_SLOPE_TH, &attr) < 0) {
printk("Cannot set anymotion slope threshold.\n");
return;
}
/*
* Set slope duration to 2 consecutive samples (after which the
* anymotion interrupt will trigger.
*
* Allowed values are from 1 to 4.
*/
attr.val1 = 2;
attr.val2 = 0;
if (sensor_attr_set(bmi160, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_SLOPE_DUR, &attr) < 0) {
printk("Cannot set anymotion slope duration.\n");
return;
}
/* enable anymotion trigger */
trig.type = SENSOR_TRIG_DELTA;
trig.chan = SENSOR_CHAN_ACCEL_XYZ;
if (sensor_trigger_set(bmi160, &trig, trigger_hdlr) < 0) {
printk("Cannot enable anymotion trigger.\n");
return;
}
printk("Anymotion test: shake the device to get anymotion events.\n");
do {
/* wait a while */
k_sleep(SLEEPTIME);
remaining_test_time -= SLEEPTIME;
} while (remaining_test_time > 0);
printk("Anymotion test: finished, removing anymotion trigger...\n");
if (sensor_trigger_set(bmi160, &trig, NULL) < 0) {
printk("Cannot remove anymotion trigger.\n");
return;
}
}
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);
}
void main(void)
{
struct device *bmg160;
#if defined(CONFIG_BMG160_GYRO_RANGE_RUNTIME)
struct sensor_value attr;
#endif
bmg160 = device_get_binding("bmg160");
if (!bmg160) {
printf("Device not found.\n");
return;
}
#if defined(CONFIG_BMG160_GYRO_RANGE_RUNTIME)
/*
* Set gyro range to +/- 250 degrees/s. Since the sensor API needs SI
* units, convert the range to rad/s.
*/
sensor_degrees_to_rad(250, &attr);
if (sensor_attr_set(bmg160, SENSOR_CHAN_GYRO_ANY,
SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
printf("Cannot set gyro range.\n");
return;
}
#endif
printf("Testing the polling mode.\n");
test_polling_mode(bmg160);
printf("Polling mode test finished.\n");
printf("Testing the trigger mode.\n");
test_trigger_mode(bmg160);
printf("Trigger mode test finished.\n");
}
static void do_main(struct device *dev)
{
int ret;
struct sensor_value temp_value;
struct sensor_value attr;
attr.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
attr.val1 = 150;
attr.val2 = 0;
ret = sensor_attr_set(dev, SENSOR_CHAN_TEMP,
SENSOR_ATTR_FULL_SCALE, &attr);
if (ret) {
printk("sensor_attr_set failed ret %d\n", ret);
return;
}
attr.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
attr.val1 = 8;
attr.val2 = 0;
ret = sensor_attr_set(dev, SENSOR_CHAN_TEMP,
SENSOR_ATTR_SAMPLING_FREQUENCY, &attr);
if (ret) {
printk("sensor_attr_set failed ret %d\n", ret);
return;
}
while (1) {
ret = sensor_sample_fetch(dev);
if (ret) {
printk("sensor_sample_fetch failed ret %d\n", ret);
return;
}
ret = sensor_channel_get(dev, SENSOR_CHAN_TEMP, &temp_value);
if (ret) {
printk("sensor_channel_get failed ret %d\n", ret);
return;
}
printk("temp is %d (%d micro)\n", temp_value.val1,
temp_value.val2);
k_sleep(1000);
}
}
static int manual_calibration(struct device *bmi160)
{
#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
/* set accelerometer offsets */
if (sensor_attr_set(bmi160, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_OFFSET, accel_offsets) < 0) {
return -EIO;
}
#endif
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
/* set gyroscope offsets */
if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_XYZ,
SENSOR_ATTR_OFFSET, gyro_offsets) < 0) {
return -EIO;
}
#endif
return 0;
}
void main(void)
{
struct device *dev = device_get_binding("MCP9808");
if (dev == NULL) {
printf("device not found. aborting test.\n");
return;
}
#ifdef DEBUG
printf("dev %p\n", dev);
printf("dev %p name %s\n", dev, dev->config->name);
#endif
#ifdef CONFIG_MCP9808_TRIGGER
struct sensor_value val;
struct sensor_trigger trig;
val.type = SENSOR_VALUE_TYPE_INT_PLUS_MICRO;
val.val1 = 26;
val.val2 = 0;
sensor_attr_set(dev, SENSOR_CHAN_TEMP,
SENSOR_ATTR_UPPER_THRESH, &val);
trig.type = SENSOR_TRIG_THRESHOLD;
trig.chan = SENSOR_CHAN_TEMP;
sensor_trigger_set(dev, &trig, trigger_handler);
#endif
while (1) {
struct sensor_value temp;
int rc;
rc = sensor_sample_fetch(dev);
if (rc != 0) {
printf("sensor_sample_fetch error: %d\n", rc);
break;
}
rc = sensor_channel_get(dev, SENSOR_CHAN_TEMP, &temp);
if (rc != 0) {
printf("sensor_channel_get error: %d\n", rc);
break;
}
printf("temp: %d.%06d\n", temp.val1, temp.val2);
k_sleep(2000);
}
}
static int auto_calibration(struct device *bmi160)
{
#if !defined(CONFIG_BMI160_ACCEL_PMU_SUSPEND)
/* calibrate accelerometer */
if (sensor_attr_set(bmi160, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_CALIB_TARGET, acc_calib) < 0) {
return -EIO;
}
#endif
#if !defined(CONFIG_BMI160_GYRO_PMU_SUSPEND)
/*
* Calibrate gyro. No calibration value needs to be passed to BMI160 as
* the target on all axis is set internally to 0. This is used just to
* trigger a gyro calibration.
*/
if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_XYZ,
SENSOR_ATTR_CALIB_TARGET, NULL) < 0) {
return -EIO;
}
#endif
return 0;
}
static void test_trigger_mode(struct device *bmg160)
{
uint32_t timer_data[2] = {0, 0};
int32_t remaining_test_time = MAX_TEST_TIME;
struct nano_timer timer;
struct sensor_trigger trig;
struct sensor_value attr;
nano_timer_init(&timer, timer_data);
trig.type = SENSOR_TRIG_DELTA;
trig.chan = SENSOR_CHAN_GYRO_ANY;
printf("Gyro: Testing anymotion trigger.\n");
/* set up the trigger */
/* set slope threshold to 10 dps */
sensor_degrees_to_rad(10, &attr); /* convert to rad/s */
if (sensor_attr_set(bmg160, SENSOR_CHAN_GYRO_ANY,
SENSOR_ATTR_SLOPE_TH, &attr) < 0) {
printf("Gyro: cannot set slope threshold.\n");
return;
}
/* set slope duration to 4 samples */
attr.type = SENSOR_VALUE_TYPE_INT;
attr.val1 = 4;
if (sensor_attr_set(bmg160, SENSOR_CHAN_GYRO_ANY,
SENSOR_ATTR_SLOPE_DUR, &attr) < 0) {
printf("Gyro: cannot set slope duration.\n");
return;
}
if (sensor_trigger_set(bmg160, &trig, trigger_handler) < 0) {
printf("Gyro: cannot set trigger.\n");
return;
}
printf("Gyro: rotate the device and wait for events.\n");
do {
nano_task_timer_start(&timer, SLEEPTIME);
nano_task_timer_test(&timer, TICKS_UNLIMITED);
remaining_test_time -= SLEEPTIME;
} while (remaining_test_time > 0);
if (sensor_trigger_set(bmg160, &trig, NULL) < 0) {
printf("Gyro: cannot clear trigger.\n");
return;
}
printf("Gyro: Anymotion trigger test finished.\n");
printf("Gyro: Testing data ready trigger.\n");
attr.type = SENSOR_VALUE_TYPE_INT;
attr.val1 = 100;
attr.val2 = 0;
if (sensor_attr_set(bmg160, SENSOR_CHAN_GYRO_ANY,
SENSOR_ATTR_SAMPLING_FREQUENCY, &attr) < 0) {
printf("Gyro: cannot set sampling frequency.\n");
return;
}
trig.type = SENSOR_TRIG_DATA_READY;
trig.chan = SENSOR_CHAN_GYRO_ANY;
if (sensor_trigger_set(bmg160, &trig, trigger_handler) < 0) {
printf("Gyro: cannot set trigger.\n");
return;
}
remaining_test_time = MAX_TEST_TIME;
do {
nano_task_timer_start(&timer, SLEEPTIME);
nano_task_timer_test(&timer, TICKS_UNLIMITED);
remaining_test_time -= SLEEPTIME;
} while (remaining_test_time > 0);
if (sensor_trigger_set(bmg160, &trig, NULL) < 0) {
printf("Gyro: cannot clear trigger.\n");
return;
}
printf("Gyro: Data ready trigger test finished.\n");
}
void main(void)
{
struct device *bmi160;
#if defined(CONFIG_BMI160_ACCEL_RANGE_RUNTIME) ||\
defined(CONFIG_BMI160_GYRO_RANGE_RUNTIME)
struct sensor_value attr;
#endif
printk("IMU: Binding...\n");
bmi160 = device_get_binding(CONFIG_BMI160_NAME);
if (!bmi160) {
printk("Gyro: Device not found.\n");
return;
}
#if defined(CONFIG_BMI160_ACCEL_RANGE_RUNTIME)
/*
* Set accelerometer range to +/- 16G. Since the sensor API needs SI
* units, convert the range to m/s^2.
*/
sensor_g_to_ms2(16, &attr);
if (sensor_attr_set(bmi160, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
printk("Cannot set accelerometer range.\n");
return;
}
#endif
#if defined(CONFIG_BMI160_GYRO_RANGE_RUNTIME)
/*
* Set gyro range to +/- 250 degrees/s. Since the sensor API needs SI
* units, convert the range to rad/s.
*/
sensor_degrees_to_rad(250, &attr);
if (sensor_attr_set(bmi160, SENSOR_CHAN_GYRO_XYZ,
SENSOR_ATTR_FULL_SCALE, &attr) < 0) {
printk("Cannot set gyro range.\n");
return;
}
#endif
#ifdef PERFORM_MANUAL_CALIBRATION
/* manually adjust accelerometer and gyro offsets */
if (manual_calibration(bmi160) < 0) {
printk("Manual calibration failed.\n");
return;
}
#endif
#ifdef PERFORM_AUTO_CALIBRATION
/* auto calibrate accelerometer and gyro */
if (auto_calibration(bmi160) < 0) {
printk("HW calibration failed.\n");
return;
}
#endif
printk("Testing the polling mode.\n");
test_polling_mode(bmi160);
printk("Testing the polling mode finished.\n");
#ifdef CONFIG_BMI160_TRIGGER
printk("Testing the trigger mode.\n");
test_trigger_mode(bmi160);
printk("Testing the trigger mode finished.\n");
#endif
}