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samples/sensor: Add sample to read from FIFO stream
Add sample to read from up to 10 FIFO streaming devices, using the sensor_stream() API and the RTIO framework: https://docs.zephyrproject.org/latest/services/rtio/index.html The devices has to be aliased as streamN (0 <= N <= 9) in DT, and will be instantiated using SENSOR_DT_STREAM_IODEV() macro. Currently the sample gets/prints data on SENSOR_TRIG_FIFO_WATERMARK trigger basis for the following sensor channels: - SENSOR_CHAN_ACCEL_XYZ - SENSOR_CHAN_GYRO_XYZ - SENSOR_CHAN_DIE_TEMP - SENSOR_CHAN_GAME_ROTATION_VECTOR - SENSOR_CHAN_GRAVITY_VECTOR - SENSOR_CHAN_GBIAS_XYZ Signed-off-by: Armando Visconti <[email protected]>
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‎samples/sensor/stream_fifo/CMakeLists.txt

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# Copyright (c) 2024 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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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(stream_fifo)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/sensor/stream_fifo/README.rst

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.. zephyr:code-sample:: stream_fifo
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:name: Generic device FIFO streaming
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:relevant-api: sensor_interface
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Get accelerometer/gyroscope/temperature FIFO data frames from a sensor using
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SENSOR_TRIG_FIFO_WATERMARK as a trigger.
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Overview
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********
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This sample application demonstrates how to stream FIFO data using the :ref:`RTIO framework <rtio>`.
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The streaming is started using the sensor_stream() API and it is self-sustained by the
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SENSOR_TRIG_FIFO_WATERMARK trigger.
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Currently the sample gets/prints data for the following sensor channels:
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- SENSOR_CHAN_ACCEL_XYZ
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- SENSOR_CHAN_GYRO_XYZ
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- SENSOR_CHAN_DIE_TEMP
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- SENSOR_CHAN_GAME_ROTATION_VECTOR
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- SENSOR_CHAN_GRAVITY_VECTOR
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- SENSOR_CHAN_GBIAS_XYZ
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Building and Running
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********************
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This sample supports up to 10 FIFO streaming devices. Each device needs
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to be aliased as :samp:`stream{N}` 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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stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
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};
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};
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.. note::
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Note that NUM_SENSORS defined in main.c must match ``N`` and should be set accordingly.
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Example devicetree overlays and configurations are already available for nucleo_f401re and
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nucleo_h503rb in the boards directory:
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- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_f401re.overlay`
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DT overlay file for the nucleo_f401re board.
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- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_f401re.conf`
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Configuration file for the nucleo_f401re board.
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- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_h503rb.overlay`
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DT overlay file for the nucleo_h503rb board.
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- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_h503rb.conf`
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Configuration file for the nucleo_h503rb board.
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For example, build and run sample for nucleo_h503rb with:
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.. zephyr-app-commands::
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:zephyr-app: samples/sensor/stream_fifo
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:board: nucleo_h503rb
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:goals: build flash
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:compact:
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Sample Output
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=============
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The following example output is for lsm6dsv16x IMU device with accelerometer, gyroscope
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and temperature sensor including also the Sensor Fusion Low Power (SFLP) information.
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The FIFO watermark is set to 64. The board used is a nucleo_h503rb
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equipped with a :ref:`x-nucleo-iks4a1` shield.
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.. code-block:: console
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FIFO count - 64
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XL data for lsm6dsv16x@6b 1680572433340ns (0.373229, -0.009569, 9.909734)
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XL data for lsm6dsv16x@6b 1680639100006ns (0.354089, -0.023924, 9.909734)
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XL data for lsm6dsv16x@6b 1680705766672ns (0.368444, 0.000000, 9.933659)
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XL data for lsm6dsv16x@6b 1680772433338ns (0.373229, 0.000000, 9.924089)
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XL data for lsm6dsv16x@6b 1680839100004ns (0.368444, -0.004784, 9.924089)
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XL data for lsm6dsv16x@6b 1680905766670ns (0.363659, -0.009569, 9.924089)
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XL data for lsm6dsv16x@6b 1680972433336ns (0.358874, -0.004784, 9.928874)
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XL data for lsm6dsv16x@6b 1681039100002ns (0.363659, 0.004784, 9.928874)
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GY data for lsm6dsv16x@6b 1680572433340ns (0.001524, -0.000609, 0.004269)
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GY data for lsm6dsv16x@6b 1680639100006ns (-0.001219, 0.002134, 0.004879)
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GY data for lsm6dsv16x@6b 1680705766672ns (0.001219, -0.001219, 0.004879)
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GY data for lsm6dsv16x@6b 1680772433338ns (-0.000914, 0.001219, 0.003964)
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GY data for lsm6dsv16x@6b 1680839100004ns (0.000914, -0.001219, 0.004574)
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GY data for lsm6dsv16x@6b 1680905766670ns (0.001829, 0.000914, 0.005489)
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GY data for lsm6dsv16x@6b 1680972433336ns (-0.000609, 0.000304, 0.004574)
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GY data for lsm6dsv16x@6b 1681039100002ns (0.001829, 0.000304, 0.004879)
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TP data for lsm6dsv16x@6b 1680572433340ns 24.347656 °C
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TP data for lsm6dsv16x@6b 1680639100006ns 24.324218 °C
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TP data for lsm6dsv16x@6b 1680705766672ns 24.316406 °C
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TP data for lsm6dsv16x@6b 1680772433338ns 24.296875 °C
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ROT data for lsm6dsv16x@6b 1680639100006ns (-0.000008, -0.018661, 0.021575, 0.999593)
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ROT data for lsm6dsv16x@6b 1680705766672ns (-0.000139, -0.018524, 0.021606, 0.999594)
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ROT data for lsm6dsv16x@6b 1680772433338ns (-0.000055, -0.018569, 0.021621, 0.999593)
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ROT data for lsm6dsv16x@6b 1680839100004ns (-0.000050, -0.018539, 0.021606, 0.999594)
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ROT data for lsm6dsv16x@6b 1680905766670ns (-0.000003, -0.018569, 0.021621, 0.999593)
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ROT data for lsm6dsv16x@6b 1680972433336ns (0.000044, -0.018493, 0.021667, 0.999594)
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ROT data for lsm6dsv16x@6b 1681039100002ns (0.000013, -0.018432, 0.021667, 0.999595)
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ROT data for lsm6dsv16x@6b 1681105766668ns (0.000113, -0.018402, 0.021682, 0.999595)
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GV data for lsm6dsv16x@6b 1680639100006ns (37.270999, -0.792999, 998.447998)
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GV data for lsm6dsv16x@6b 1680705766672ns (36.965999, -1.037000, 998.447998)
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GV data for lsm6dsv16x@6b 1680772433338ns (37.088001, -0.854000, 998.447998)
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GV data for lsm6dsv16x@6b 1680839100004ns (37.027000, -0.854000, 998.447998)
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GV data for lsm6dsv16x@6b 1680905766670ns (37.088001, -0.792999, 998.447998)
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GV data for lsm6dsv16x@6b 1680972433336ns (36.904998, -0.670999, 998.447998)
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GV data for lsm6dsv16x@6b 1681039100002ns (36.783000, -0.732000, 998.447998)
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GV data for lsm6dsv16x@6b 1681105766668ns (36.722000, -0.548999, 998.447998)
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GY GBIAS data for lsm6dsv16x@6b 1680572433340ns (0.000303, -0.000151, 0.004179)
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GY GBIAS data for lsm6dsv16x@6b 1680639100006ns (0.000303, 0.000000, 0.004179)
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GY GBIAS data for lsm6dsv16x@6b 1680705766672ns (0.000303, -0.000075, 0.004179)
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GY GBIAS data for lsm6dsv16x@6b 1680772433338ns (0.000227, 0.000000, 0.004179)
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GY GBIAS data for lsm6dsv16x@6b 1680839100004ns (0.000303, -0.000075, 0.004179)
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GY GBIAS data for lsm6dsv16x@6b 1680905766670ns (0.000303, 0.000000, 0.004255)
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GY GBIAS data for lsm6dsv16x@6b 1680972433336ns (0.000303, 0.000000, 0.004255)
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GY GBIAS data for lsm6dsv16x@6b 1681039100002ns (0.000379, 0.000000, 0.004255)
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XL data for lsm6dsv16x@6b 1681105766668ns (0.358874, -0.019139, 9.928874)
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XL data for lsm6dsv16x@6b 1681172433334ns (0.382799, -0.004784, 9.962369)
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XL data for lsm6dsv16x@6b 1681239100000ns (0.354089, 0.000000, 9.914519)
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GY data for lsm6dsv16x@6b 1681105766668ns (0.000304, 0.002134, 0.004574)
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GY data for lsm6dsv16x@6b 1681172433334ns (-0.000914, 0.000914, 0.004574)
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GY data for lsm6dsv16x@6b 1681239100000ns (0.002744, -0.002439, 0.004879)
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TP data for lsm6dsv16x@6b 1680839100004ns 24.339843 °C
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TP data for lsm6dsv16x@6b 1680905766670ns 24.339843 °C
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TP data for lsm6dsv16x@6b 1680972433336ns 24.289062 °C
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TP data for lsm6dsv16x@6b 1681039100002ns 24.296875 °C
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ROT data for lsm6dsv16x@6b 1681172433334ns (0.000049, -0.018310, 0.021697, 0.999596)
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ROT data for lsm6dsv16x@6b 1681239100000ns (0.000020, -0.018371, 0.021697, 0.999595)
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GV data for lsm6dsv16x@6b 1681172433334ns (36.539001, -0.670999, 998.447998)
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GV data for lsm6dsv16x@6b 1681239100000ns (36.660999, -0.732000, 998.447998)
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GY GBIAS data for lsm6dsv16x@6b 1681105766668ns (0.000379, 0.000000, 0.004331)
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GY GBIAS data for lsm6dsv16x@6b 1681172433334ns (0.000303, 0.000075, 0.004331)
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GY GBIAS data for lsm6dsv16x@6b 1681239100000ns (0.000379, 0.000000, 0.004331)
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TP data for lsm6dsv16x@6b 1681105766668ns 24.289062 °C
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TP data for lsm6dsv16x@6b 1681172433334ns 24.324218 °C
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TP data for lsm6dsv16x@6b 1681239100000ns 24.281250 °C

‎samples/sensor/stream_fifo/boards/nucleo_f401re.conf

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# Copyright (c) 2024 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_I2C_RTIO=y
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CONFIG_LSM6DSV16X_STREAM=y
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CONFIG_LSM6DSV16X_ENABLE_TEMP=y

‎samples/sensor/stream_fifo/boards/nucleo_f401re.overlay

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/*
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* Copyright (c) 2024 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/sensor/lsm6dsv16x.h>
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/*
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* Nucleo F401RE board + shield iks4a1
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*
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* This devicetree overlay file will be automatically picked by the Zephyr
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* build system when building the sample for the nucleo_f401re board.
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*/
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/ {
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aliases {
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stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
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};
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};
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&arduino_i2c {
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lsm6dsv16x_6b_x_nucleo_iks4a1: lsm6dsv16x@6b {
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compatible = "st,lsm6dsv16x";
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reg = <0x6b>;
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accel-odr = <LSM6DSV16X_DT_ODR_AT_480Hz>;
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accel-range = <LSM6DSV16X_DT_FS_16G>;
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gyro-odr = <LSM6DSV16X_DT_ODR_AT_480Hz>;
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gyro-range = <LSM6DSV16X_DT_FS_500DPS>;
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fifo-watermark = <64>;
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accel-fifo-batch-rate = <LSM6DSV16X_DT_XL_BATCHED_AT_60Hz>;
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gyro-fifo-batch-rate = <LSM6DSV16X_DT_GY_BATCHED_AT_60Hz>;
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temp-fifo-batch-rate = <LSM6DSV16X_DT_TEMP_BATCHED_AT_15Hz>;
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int2-gpios = <&arduino_header 10 GPIO_ACTIVE_HIGH>; /* D4 (PB5) */
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drdy-pin = <2>;
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drdy-pulsed;
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};
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};

‎samples/sensor/stream_fifo/boards/nucleo_h503rb.conf

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# Copyright (c) 2024 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_I2C_RTIO=y
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CONFIG_LSM6DSV16X_STREAM=y
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CONFIG_LSM6DSV16X_ENABLE_TEMP=y

‎samples/sensor/stream_fifo/boards/nucleo_h503rb.overlay

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/*
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* Copyright (c) 2024 STMicroelectronics
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/dt-bindings/sensor/lsm6dsv16x.h>
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/*
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* Nucleo F401RE board + shield iks4a1
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*
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* This devicetree overlay file will be automatically picked by the Zephyr
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* build system when building the sample for the nucleo_f401re board.
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*/
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/ {
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aliases {
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stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
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};
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};
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&arduino_i2c {
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lsm6dsv16x_6b_x_nucleo_iks4a1: lsm6dsv16x@6b {
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compatible = "st,lsm6dsv16x";
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reg = <0x6b>;
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accel-odr = <LSM6DSV16X_DT_ODR_AT_480Hz>;
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accel-range = <LSM6DSV16X_DT_FS_16G>;
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gyro-odr = <LSM6DSV16X_DT_ODR_AT_480Hz>;
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gyro-range = <LSM6DSV16X_DT_FS_500DPS>;
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fifo-watermark = <64>;
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accel-fifo-batch-rate = <LSM6DSV16X_DT_XL_BATCHED_AT_15Hz>;
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gyro-fifo-batch-rate = <LSM6DSV16X_DT_GY_BATCHED_AT_15Hz>;
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temp-fifo-batch-rate = <LSM6DSV16X_DT_TEMP_BATCHED_AT_15Hz>;
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sflp-odr = <LSM6DSV16X_DT_SFLP_ODR_AT_15Hz>;
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sflp-fifo-enable = <LSM6DSV16X_DT_SFLP_FIFO_GAME_ROTATION_GRAVITY_GBIAS>;
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int2-gpios = <&arduino_header 10 GPIO_ACTIVE_HIGH>; /* D4 (PB5) */
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drdy-pin = <2>;
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drdy-pulsed;
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};
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};

‎samples/sensor/stream_fifo/prj.conf

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# Copyright (c) 2024 STMicroelectronics
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# SPDX-License-Identifier: Apache-2.0
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CONFIG_STDOUT_CONSOLE=y
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CONFIG_SENSOR=y
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CONFIG_SENSOR_ASYNC_API=y
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CONFIG_CBPRINTF_FP_SUPPORT=y

‎samples/sensor/stream_fifo/sample.yaml

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sample:
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name: Stream FIFO sample
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tests:
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sample.sensor.stream_fifo:
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harness: console
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tags: sensors
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filter: dt_alias_exists("stream0")
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harness_config:
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type: one_line
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regex:
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- "^\\s*[0-9A-Za-z_,+-.]*@[0-9A-Fa-f]* \\[m\/s\\^2\\]: \
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\\(\\s*-?[0-9\\.]*,\\s*-?[0-9\\.]*,\\s*-?[0-9\\.]*\\)$"

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