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samples: sensor: 6DOF motion DRDY generic sample
It reports IMU 6-axis accelerometer and gyroscope data using DRDY interrupt. Signed-off-by: Aurelie Fontaine <[email protected]>
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‎samples/sensor/6dof_motion_drdy/CMakeLists.txt‎

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#
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# Copyright (c) 2024 TDK Invensense
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(6dof_motion_drdy)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/sensor/6dof_motion_drdy/README.rst‎

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.. zephyr:code-sample:: 6dof_motion_drdy
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:name: Generic 6DOF Motion Dataready
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:relevant-api: sensor_interface
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Get 6-Axis accelerometer and gyroscope data from a sensor (data ready interrupt mode).
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Overview
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********
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This sample application periodically (100 Hz) measures the 6-axis IMU sensor with
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temperature, acceleration, and angular velocity, displaying the
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values on the console along with a timestamp since startup.
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Trigger options could be configured through KConfig.
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Wiring
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******
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This sample uses an external breakout for the sensor. A devicetree
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overlay must be provided to identify the 6-axis motion sensor, the SPI or I2C bus interface and the interrupt
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sensor GPIO.
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Building and Running
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********************
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This sample supports up to 6-Axis IMU devices. Each device needs
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to be aliased as ``6dof-motion-drdyN`` where ``N`` goes from ``0`` to ``9``. For example:
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.. code-block:: devicetree
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/ {
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aliases {
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6dof-motion-drdy0 = &icm42670p;
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};
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};
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Make sure the aliases are in devicetree, then build and run with:
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.. zephyr-app-commands::
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:zephyr-app: samples/sensor/6dof_motion_drdy
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:board: nrf52dk/nrf52832
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:goals: build flash
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Sample Output
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=============
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.. code-block:: console
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Found device "icm42670p@68", getting sensor data
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[0:00:01.716]: temp 23.00 Cel accel 0.150839 -0.140065 9.994899 m/s/s gyro -0.001597 0.005859 0.001597 rad/s
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[0:00:01.726]: temp 23.00 Cel accel 0.140065 -0.146050 9.988914 m/s/s gyro -0.002663 0.005859 0.003195 rad/s
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[0:00:01.736]: temp 23.50 Cel accel 0.146050 -0.130487 9.988914 m/s/s gyro -0.001597 0.006391 0.003195 rad/s
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[0:00:01.746]: temp 23.00 Cel accel 0.149642 -0.136473 9.990111 m/s/s gyro -0.002663 0.004261 0.002663 rad/s
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[0:00:01.756]: temp 23.00 Cel accel 0.146050 -0.136473 9.979337 m/s/s gyro -0.002130 0.005326 0.001597 rad/s
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[0:00:01.766]: temp 23.00 Cel accel 0.136473 -0.147247 9.986519 m/s/s gyro -0.001065 0.005859 0.002663 rad/s
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<repeats endlessly>

‎samples/sensor/6dof_motion_drdy/boards/nrf52dk_nrf52832_i2c.overlay‎

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/*
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* Copyright (c) 2024, TDK Invensense
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/*
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* Get a node identifier for 6-axis IMU sensor.
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*/
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/ {
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aliases {
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6dof-motion-drdy0 = &icm42670p;
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};
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};
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/*
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* Example configuration of a ICM42670-P device on i2c0 compatible with an Arduino I2C bus.
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*
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* Device address 0x68 is assumed. Your device may have a different
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* address; check your device documentation if unsure.
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*
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* Configure 100Hz IMU data reporting
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*/
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&arduino_i2c {
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status = "okay";
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icm42670p: icm42670p@68 {
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compatible = "invensense,icm42670p";
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reg = <0x68>;
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int-gpios = <&arduino_header 8 GPIO_ACTIVE_HIGH>; /* D2 */
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accel-hz = <100>;
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gyro-hz = <100>;
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accel-fs = <16>;
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gyro-fs = <2000>;
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};
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};
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/*
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* Increase native UART speed to report all IMU data at 100Hz.
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*/
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&uart0 {
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compatible = "nordic,nrf-uarte";
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current-speed = <1000000>;
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};

‎samples/sensor/6dof_motion_drdy/boards/nrf52dk_nrf52832_spi.overlay‎

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/*
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* Copyright (c) 2024, TDK Invensense
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/*
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* Get a node identifier for 6-axis IMU sensor.
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*/
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/ {
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aliases {
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6dof-motion-drdy0 = &icm42670p;
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};
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};
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/* Example configuration of a ICM42670-P device on spi2 compatible with an Arduino SPI bus.
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*
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* Configure 100Hz IMU data reporting
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*/
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&arduino_spi {
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status = "okay";
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cs-gpios = <&arduino_header 14 GPIO_ACTIVE_LOW>; /* D8 */
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icm42670p: icm42670p@0 {
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compatible = "invensense,icm42670p";
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reg = <0>;
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spi-max-frequency = <1000000>; /* conservatively set to 1MHz */
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int-gpios = <&arduino_header 8 GPIO_ACTIVE_HIGH>; /* D2 */
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accel-hz = <100>;
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gyro-hz = <100>;
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accel-fs = <16>;
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gyro-fs = <2000>;
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};
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};
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/*
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* Increase native UART speed to report all IMU data at 100Hz.
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*/
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&uart0 {
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compatible = "nordic,nrf-uarte";
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current-speed = <1000000>;
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};

‎samples/sensor/6dof_motion_drdy/prj.conf‎

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#
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# Copyright (c) 2024 TDK Invensense
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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CONFIG_SENSOR=y
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CONFIG_LOG=y
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CONFIG_LOG_PRINTK=y
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CONFIG_SENSOR_LOG_LEVEL_DBG=y
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# Floating point format support
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# Selecting this increases stack size requirements slightly, but increases code size significantly.
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CONFIG_CBPRINTF_FP_SUPPORT=y
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# Buffer size for console. The defaults are optimized to save RAM
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CONFIG_CONSOLE_SUBSYS=y
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CONFIG_CONSOLE_GETCHAR=y
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CONFIG_CONSOLE_GETCHAR_BUFSIZE=16
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CONFIG_CONSOLE_PUTCHAR_BUFSIZE=512
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# Trigger mode: sample is using interrupt triggering
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CONFIG_ICM42670_TRIGGER_OWN_THREAD=y

‎samples/sensor/6dof_motion_drdy/sample.yaml‎

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sample:
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name: 6DOF Motion dataready sample
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tests:
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sample.sensor.6dof_motion_drdy:
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build_only: true
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tags: sensors
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filter: dt_alias_exists("6dof_motion_drdy0")
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integration_platforms:
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- nrf52dk/nrf52832

‎samples/sensor/6dof_motion_drdy/src/main.c‎

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/*
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* Copyright (c) 2024 TDK Invensense
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/devicetree.h>
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#include <zephyr/drivers/sensor.h>
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#include <stdio.h>
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static struct sensor_trigger data_trigger;
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/* Flag set from IMU device irq handler */
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static volatile int irq_from_device;
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/*
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* Get a device structure from a devicetree node from alias
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* "6dof_motion_drdy0".
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*/
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static const struct device *get_6dof_motion_device(void)
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{
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const struct device *const dev = DEVICE_DT_GET(DT_ALIAS(6dof_motion_drdy0));
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if (!device_is_ready(dev)) {
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printk("\nError: Device \"%s\" is not ready; "
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"check the driver initialization logs for errors.\n",
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dev->name);
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return NULL;
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}
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printk("Found device \"%s\", getting sensor data\n", dev->name);
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return dev;
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}
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static const char *now_str(void)
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{
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static char buf[16]; /* ...HH:MM:SS.MMM */
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uint32_t now = k_uptime_get_32();
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unsigned int ms = now % MSEC_PER_SEC;
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unsigned int s;
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unsigned int min;
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unsigned int h;
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now /= MSEC_PER_SEC;
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s = now % 60U;
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now /= 60U;
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min = now % 60U;
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now /= 60U;
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h = now;
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snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u", h, min, s, ms);
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return buf;
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}
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static void handle_6dof_motion_drdy(const struct device *dev, const struct sensor_trigger *trig)
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{
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if (trig->type == SENSOR_TRIG_DATA_READY) {
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int rc = sensor_sample_fetch_chan(dev, trig->chan);
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if (rc < 0) {
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printf("sample fetch failed: %d\n", rc);
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printf("cancelling trigger due to failure: %d\n", rc);
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(void)sensor_trigger_set(dev, trig, NULL);
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return;
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} else if (rc == 0) {
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irq_from_device = 1;
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}
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}
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}
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int main(void)
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{
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const struct device *dev = get_6dof_motion_device();
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struct sensor_value accel[3];
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struct sensor_value gyro[3];
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struct sensor_value temperature;
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if (dev == NULL) {
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return 0;
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}
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data_trigger = (struct sensor_trigger){
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.type = SENSOR_TRIG_DATA_READY,
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.chan = SENSOR_CHAN_ALL,
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};
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if (sensor_trigger_set(dev, &data_trigger, handle_6dof_motion_drdy) < 0) {
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printf("Cannot configure data trigger!!!\n");
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return 0;
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}
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k_sleep(K_MSEC(1000));
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while (1) {
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if (irq_from_device) {
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sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ, accel);
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sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ, gyro);
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sensor_channel_get(dev, SENSOR_CHAN_DIE_TEMP, &temperature);
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printf("[%s]: temp %.2f Cel "
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" accel %f %f %f m/s/s "
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" gyro %f %f %f rad/s\n",
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now_str(), sensor_value_to_double(&temperature),
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sensor_value_to_double(&accel[0]), sensor_value_to_double(&accel[1]),
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sensor_value_to_double(&accel[2]), sensor_value_to_double(&gyro[0]),
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sensor_value_to_double(&gyro[1]), sensor_value_to_double(&gyro[2]));
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irq_from_device = 0;
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}
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}
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return 0;
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}

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