From 649500aecac500df601e1089d953298e897040b7 Mon Sep 17 00:00:00 2001 From: Peter Bigot Date: Sun, 22 Dec 2019 08:48:34 -0600 Subject: [PATCH] samples: sensor: mpu6050: convert to devicetree Add a sample for the MPU6050 that demonstrates on-demand and triggered display of all sensor data. Signed-off-by: Peter Bigot --- samples/sensor/mpu6050/CMakeLists.txt | 12 ++ samples/sensor/mpu6050/README.rst | 59 +++++++++ .../mpu6050/boards/nrf52_pca10040.overlay | 15 +++ samples/sensor/mpu6050/prj.conf | 10 ++ samples/sensor/mpu6050/sample.yaml | 13 ++ samples/sensor/mpu6050/src/main.c | 120 ++++++++++++++++++ 6 files changed, 229 insertions(+) create mode 100644 samples/sensor/mpu6050/CMakeLists.txt create mode 100644 samples/sensor/mpu6050/README.rst create mode 100644 samples/sensor/mpu6050/boards/nrf52_pca10040.overlay create mode 100644 samples/sensor/mpu6050/prj.conf create mode 100644 samples/sensor/mpu6050/sample.yaml create mode 100644 samples/sensor/mpu6050/src/main.c diff --git a/samples/sensor/mpu6050/CMakeLists.txt b/samples/sensor/mpu6050/CMakeLists.txt new file mode 100644 index 00000000000..02a3ddbb2fc --- /dev/null +++ b/samples/sensor/mpu6050/CMakeLists.txt @@ -0,0 +1,12 @@ +# +# Copyright (c) 2019 Nordic Semiconductor ASA +# +# SPDX-License-Identifier: Apache-2.0 +# + +cmake_minimum_required(VERSION 3.13.1) +include($ENV{ZEPHYR_BASE}/cmake/app/boilerplate.cmake NO_POLICY_SCOPE) +project(mpu6050) + +FILE(GLOB app_sources src/*.c) +target_sources(app PRIVATE ${app_sources}) diff --git a/samples/sensor/mpu6050/README.rst b/samples/sensor/mpu6050/README.rst new file mode 100644 index 00000000000..5a32538d103 --- /dev/null +++ b/samples/sensor/mpu6050/README.rst @@ -0,0 +1,59 @@ +.. _mpu6050: + +MPU6050: Invensense Motion Tracking Device +########################################## + +Description +*********** + +This sample application periodically (0.5 Hz) measures the sensor +temperature, acceleration, and angular velocity, displaying the values +on the console along with a timestamp since startup. + +When triggered mode is enabled the measurements are displayed at the +rate they are produced by the sensor. + +Wiring +******* + +This sample uses an external breakout for the sensor. A devicetree +overlay must be provided to identify the I2C bus and GPIO used to +control the sensor. + +Building and Running +******************** + +After providing a devicetree overlay that specifies the sensor location, +build this sample app using: + +.. zephyr-app-commands:: + :zephyr-app: samples/sensor/mpu6050 + :board: nrf52_pca10040 + :goals: build flash + +Sample Output +============= + +.. code-block:: console + + *** Booting Zephyr OS build zephyr-v2.1.0-576-g4b38659b0661 *** + [0:00:00.008]:23.6359 Cel + accel -5.882554 -6.485893 5.868188 m/s/s + gyro 0.014522 0.002264 -0.036905 rad/s + [0:00:02.020]:23.6359 Cel + accel -5.841853 -6.435615 5.911283 m/s/s + gyro 0.017852 0.001199 -0.034640 rad/s + [0:00:04.032]:23.6829 Cel + accel -5.930438 -6.461951 6.009446 m/s/s + gyro 0.012923 0.002131 -0.037171 rad/s + [0:00:06.044]:23.6359 Cel + accel -5.884948 -6.524200 5.961562 m/s/s + gyro 0.012390 -0.001732 -0.045964 rad/s + [0:00:08.056]:35.7712 Cel + accel -5.863400 -12.872426 -0.154427 m/s/s + gyro -0.034373 -0.034373 -0.034373 rad/s + [0:00:10.068]:23.6829 Cel + accel -5.906496 -6.461951 5.899312 m/s/s + gyro 0.015321 -0.000399 -0.039169 rad/s + + diff --git a/samples/sensor/mpu6050/boards/nrf52_pca10040.overlay b/samples/sensor/mpu6050/boards/nrf52_pca10040.overlay new file mode 100644 index 00000000000..01d73c1079b --- /dev/null +++ b/samples/sensor/mpu6050/boards/nrf52_pca10040.overlay @@ -0,0 +1,15 @@ +/* + * Copyright (c) 2019 Nordic Semiconductor ASA + * + * SPDX-License-Identifier: Apache-2.0 + */ + +&i2c0 { + mpu6050@68 { + compatible = "invensense,mpu6050"; + reg = <0x68>; + status = "okay"; + label = "MPU6050"; + int-gpios = <&gpio0 11 0>; + }; +}; diff --git a/samples/sensor/mpu6050/prj.conf b/samples/sensor/mpu6050/prj.conf new file mode 100644 index 00000000000..89588ad6fcf --- /dev/null +++ b/samples/sensor/mpu6050/prj.conf @@ -0,0 +1,10 @@ +# +# Copyright (c) 2019 Nordic Semiconductor ASA +# +# SPDX-License-Identifier: Apache-2.0 +# + +CONFIG_I2C=y +CONFIG_SENSOR=y +CONFIG_MPU6050=y +CONFIG_MPU6050_TRIGGER_NONE=y diff --git a/samples/sensor/mpu6050/sample.yaml b/samples/sensor/mpu6050/sample.yaml new file mode 100644 index 00000000000..f09b664d520 --- /dev/null +++ b/samples/sensor/mpu6050/sample.yaml @@ -0,0 +1,13 @@ +# +# Copyright (c) 2019 Nordic Semiconductor ASA +# +# SPDX-License-Identifier: Apache-2.0 +# + +sample: + name: MPU6050 Sensor Sample +tests: + sample.sensor.mpu6050: + build_only: true + platform_whitelist: nrf52_pca10040 + tags: sensors diff --git a/samples/sensor/mpu6050/src/main.c b/samples/sensor/mpu6050/src/main.c new file mode 100644 index 00000000000..e9f5703841a --- /dev/null +++ b/samples/sensor/mpu6050/src/main.c @@ -0,0 +1,120 @@ +/* + * Copyright (c) 2019 Nordic Semiconductor ASA + * + * SPDX-License-Identifier: Apache-2.0 + */ + +#include +#include +#include +#include + +static const char *now_str(void) +{ + static char buf[16]; /* ...HH:MM:SS.MMM */ + u32_t now = k_uptime_get_32(); + unsigned int ms = now % MSEC_PER_SEC; + unsigned int s; + unsigned int min; + unsigned int h; + + now /= MSEC_PER_SEC; + s = now % 60U; + now /= 60U; + min = now % 60U; + now /= 60U; + h = now; + + snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u", + h, min, s, ms); + return buf; +} + +static int process_mpu6050(struct device *dev) +{ + struct sensor_value temperature; + struct sensor_value accel[3]; + struct sensor_value gyro[3]; + int rc = sensor_sample_fetch(dev); + + if (rc == 0) { + rc = sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ, + accel); + } + if (rc == 0) { + rc = sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ, + gyro); + } + if (rc == 0) { + rc = sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP, + &temperature); + } + if (rc == 0) { + printf("[%s]:%g Cel\n" + " accel % f % f % f m/s/s\n" + " gyro % f % f % f rad/s\n", + now_str(), + sensor_value_to_double(&temperature), + sensor_value_to_double(&accel[0]), + sensor_value_to_double(&accel[1]), + sensor_value_to_double(&accel[2]), + sensor_value_to_double(&gyro[0]), + sensor_value_to_double(&gyro[1]), + sensor_value_to_double(&gyro[2])); + } else { + printf("sample fetch/get failed: %d\n", rc); + } + + return rc; +} + +#ifdef CONFIG_MPU6050_TRIGGER +static struct sensor_trigger trigger; + +static void handle_mpu6050_drdy(struct device *dev, + struct sensor_trigger *trig) +{ + int rc = process_mpu6050(dev); + + if (rc != 0) { + printf("cancelling trigger due to failure: %d\n", rc); + (void)sensor_trigger_set(dev, trig, NULL); + return; + } +} +#endif /* CONFIG_MPU6050_TRIGGER */ + +void main(void) +{ + const char *const label = DT_INST_0_INVENSENSE_MPU6050_LABEL; + struct device *mpu6050 = device_get_binding(label); + + if (!mpu6050) { + printf("Failed to find sensor %s\n", label); + return; + } + +#ifdef CONFIG_MPU6050_TRIGGER + trigger = (struct sensor_trigger) { + .type = SENSOR_TRIG_DATA_READY, + .chan = SENSOR_CHAN_ALL, + }; + if (sensor_trigger_set(mpu6050, &trigger, + handle_mpu6050_drdy) < 0) { + printf("Cannot configure trigger\n"); + return; + }; + printk("Configured for triggered sampling.\n"); +#endif + + while (!IS_ENABLED(CONFIG_MPU6050_TRIGGER)) { + int rc = process_mpu6050(mpu6050); + + if (rc != 0) { + break; + } + k_sleep(K_SECONDS(2)); + } + + /* triggered runs with its own thread after exit */ +}