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samples: sensor: sample app of ICM42605 motion sensor
Sample appication of TDK Invensense ICM42605 motion sensor. Signed-off-by: JuHyun Kim <[email protected]>
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‎samples/sensor/icm42605/CMakeLists.txt‎

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#
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# Copyright (c) 2019 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 3.13.1)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(icm42605)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/sensor/icm42605/README.rst‎

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

‎samples/sensor/icm42605/boards/nrf52dk_nrf52832.overlay‎

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

‎samples/sensor/icm42605/prj.conf‎

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#
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# Copyright (c) 2019 Nordic Semiconductor ASA
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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CONFIG_SPI=y
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CONFIG_SENSOR=y
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CONFIG_ICM42605=y
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CONFIG_ICM42605_TRIGGER_OWN_THREAD=y

‎samples/sensor/icm42605/sample.yaml‎

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

‎samples/sensor/icm42605/src/main.c‎

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/*
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* Copyright (c) 2020 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.h>
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#include <device.h>
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#include <drivers/sensor.h>
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#include <stdio.h>
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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",
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h, min, s, ms);
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return buf;
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}
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static int process_icm42605(const struct device *dev)
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{
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struct sensor_value temperature;
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struct sensor_value accel[3];
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struct sensor_value gyro[3];
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int rc = sensor_sample_fetch(dev);
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if (rc == 0) {
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rc = sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ,
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accel);
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}
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if (rc == 0) {
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rc = sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ,
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gyro);
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}
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if (rc == 0) {
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rc = sensor_channel_get(dev, SENSOR_CHAN_DIE_TEMP,
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&temperature);
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}
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if (rc == 0) {
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printf("[%s]:% g Cel\n"
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" accel % f % f % f m/s/s\n"
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" gyro % f % f % f rad/s\n",
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now_str(),
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sensor_value_to_double(&temperature),
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sensor_value_to_double(&accel[0]),
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sensor_value_to_double(&accel[1]),
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sensor_value_to_double(&accel[2]),
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sensor_value_to_double(&gyro[0]),
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sensor_value_to_double(&gyro[1]),
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sensor_value_to_double(&gyro[2]));
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} else {
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printf("sample fetch/get failed: %d\n", rc);
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}
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return rc;
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}
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static struct sensor_trigger data_trigger;
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static struct sensor_trigger tap_trigger;
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static struct sensor_trigger double_tap_trigger;
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static void handle_icm42605_drdy(const struct device *dev,
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struct sensor_trigger *trig)
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{
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int rc = process_icm42605(dev);
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if (rc != 0) {
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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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}
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}
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static void handle_icm42605_tap(const struct device *dev,
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struct sensor_trigger *trig)
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{
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printf("Tap Detected!\n");
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}
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static void handle_icm42605_double_tap(const struct device *dev,
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struct sensor_trigger *trig)
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{
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printf("Double Tap detected!\n");
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}
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void main(void)
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{
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const char *const label = DT_LABEL(DT_INST(0, invensense_icm42605));
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const struct device *icm42605 = device_get_binding(label);
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if (!icm42605) {
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printf("Failed to find sensor %s\n", label);
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return;
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}
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tap_trigger = (struct sensor_trigger) {
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.type = SENSOR_TRIG_TAP,
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.chan = SENSOR_CHAN_ALL,
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};
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if (sensor_trigger_set(icm42605, &tap_trigger,
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handle_icm42605_tap) < 0) {
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printf("Cannot configure tap trigger!!!\n");
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return;
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}
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double_tap_trigger = (struct sensor_trigger) {
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.type = SENSOR_TRIG_DOUBLE_TAP,
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.chan = SENSOR_CHAN_ALL,
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};
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if (sensor_trigger_set(icm42605, &double_tap_trigger,
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handle_icm42605_double_tap) < 0) {
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printf("Cannot configure double tap trigger!!!\n");
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return;
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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(icm42605, &data_trigger,
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handle_icm42605_drdy) < 0) {
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printf("Cannot configure data trigger!!!\n");
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return;
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}
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printf("Configured for triggered sampling.\n");
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}

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