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samples/shields: add samples to test x-nucleo-iks4a1 shield
Provide three basic examples to test the x-nucleo-iks4a1 shield: - Test shield in standard mode Acquire sensor data from shield with all MEMS sensors connected to micro-controller - Test shield in HUB1 mode Acquire sensor data from shield with lis2mdl and lps22df connected to LSM6DSV16X sensor hub - Test shield in HUB2 mode Acquire sensor data from shield with lis2mdl and lps22df connected to LSm6DSO16IS sensor hub Signed-off-by: Armando Visconti <[email protected]>
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‎boards/shields/x_nucleo_iks4a1/doc/index.rst

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@@ -150,6 +150,21 @@ There are three predefined DT overlays in the board:
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This overlay describes sensor connections (and matching h/w configuration to be done)
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as explained in SHUB2 Mode (:ref:`x-nucleo-iks4a1-mode-2`)
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Examples
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********
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Three samples are provided as examples for ``x-nucleo-iks4a1`` shield, each one associated
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with one of the overlays described above:
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- :ref:`x-nucleo-iks4a1-std-sample` application, to be used when the shield is configured
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in Standard Mode (Mode 1)
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- :ref:`x-nucleo-iks4a1-shub1-sample` application, to be used when the shield is configured
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in SHUB1 Mode (Mode 3)
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- :ref:`x-nucleo-iks4a1-shub2-sample` application, to be used when the shield is configured
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in SHUB2 Mode (Mode 2)
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See also :ref:`shields` for more details.
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.. _X-NUCLEO-IKS4A1 website:
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http://www.st.com/en/ecosystems/x-nucleo-iks4a1.html
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‎samples/shields/x_nucleo_iks4a1/sensorhub1/CMakeLists.txt

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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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cmake_minimum_required(VERSION 3.20.0)
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# This sample is specific to x_nucleo_iks4a1 shield. Enforce -DSHIELD option
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set(SHIELD x_nucleo_iks4a1_shub1)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(x_nucleo_iks4a1)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/shields/x_nucleo_iks4a1/sensorhub1/README.rst

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.. _x-nucleo-iks4a1-shub1-sample:
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X-NUCLEO-IKS4A1 shield SHUB1 (Mode 3) sample
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############################################
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Overview
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********
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This sample is provided as an example to test the X-NUCLEO-IKS4A1 shield
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configured in SHUB1 (Mode 3).
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Please refer to :ref:`x-nucleo-iks4a1-mode-3` for more info on this configuration.
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This sample enables LSM6DSV16X IMU in sensorhub mode with LIS2MDL magnetometer and
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LPS22DF pressure and temperature sensor.
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Then sensor data are displayed periodically
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- LSM6DSV16X 6-Axis acceleration and angular velocity
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- LSM6DSV16X (from LIS2MDL) 3-Axis magnetic field intensity
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- LSM6DSV16X (from LPS22DF) ambient temperature and atmospheric pressure
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Requirements
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************
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This sample communicates over I2C with the X-NUCLEO-IKS4A1 shield
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stacked on a board with an Arduino connector, e.g. the
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:ref:`nucleo_f411re_board` board.
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Building and Running
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********************
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This sample runs with X-NUCLEO-IKS4A1 stacked on any board with a matching
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Arduino connector. For this example, we use a :ref:`nucleo_f411re_board` board.
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.. zephyr-app-commands::
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:zephyr-app: samples/shields/x_nucleo_iks4a1/sensorhub1/
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:host-os: unix
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:board: nucleo_f411re
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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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.. code-block:: console
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X-NUCLEO-IKS01A4 sensor dashboard
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LSM6DSV16X: Accel (m.s-2): x: 0.081, y: -0.177, z: 9.945
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LSM6DSV16X: GYro (dps): x: 0.001, y: -0.000, z: 0.004
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LSM6DSV16X: Magn (gauss): x: 0.217, y: 0.015, z: -0.415
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LSM6DSV16X: Temperature: 19.8 C
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LSM6DSV16X: Pressure:99.655 kpa
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16:: lsm6dso16is acc trig 6432
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<updated endlessly every 2 seconds>
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References
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**********
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:ref:`x-nucleo-iks4a1`

‎samples/shields/x_nucleo_iks4a1/sensorhub1/prj.conf

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CONFIG_LOG=y
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CONFIG_STDOUT_CONSOLE=y
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CONFIG_I2C=y
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CONFIG_SENSOR=y
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CONFIG_SENSOR_LOG_LEVEL_DBG=y
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CONFIG_LSM6DSV16X_TRIGGER_OWN_THREAD=y
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CONFIG_LSM6DSV16X_SENSORHUB=y
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CONFIG_LSM6DSV16X_EXT_LIS2MDL=y
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CONFIG_LSM6DSV16X_EXT_LPS22DF=y
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CONFIG_CBPRINTF_FP_SUPPORT=y

‎samples/shields/x_nucleo_iks4a1/sensorhub1/sample.yaml

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sample:
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name: X-NUCLEO-IKS01A4 sensor shield
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tests:
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sample.shields.x_nucleo_iks4a1.sensorhub1:
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harness: shield
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tags: shield
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depends_on: arduino_i2c arduino_gpio
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platform_exclude:
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- disco_l475_iot1
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- lpcxpresso55s16
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- mimxrt1010_evk
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- stm32mp157c_dk2

‎samples/shields/x_nucleo_iks4a1/sensorhub1/src/main.c

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/*
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* Copyright (c) 2019 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/kernel.h>
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#include <zephyr/device.h>
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#include <zephyr/drivers/sensor.h>
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#include <stdio.h>
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#include <zephyr/sys/util.h>
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#ifdef CONFIG_LSM6DSV16X_TRIGGER
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static int lsm6dsv16x_acc_trig_cnt;
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static void lsm6dsv16x_acc_trig_handler(const struct device *dev,
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const struct sensor_trigger *trig)
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{
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sensor_sample_fetch_chan(dev, SENSOR_CHAN_ALL);
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lsm6dsv16x_acc_trig_cnt++;
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}
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#endif
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static void lsm6dsv16x_config(const struct device *lsm6dsv16x)
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{
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struct sensor_value odr_attr, fs_attr;
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/* set LSM6DSV16X accel sampling frequency to 208 Hz */
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odr_attr.val1 = 208;
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odr_attr.val2 = 0;
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if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_ACCEL_XYZ,
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SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
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printk("Cannot set sampling frequency for LSM6DSV16X accel\n");
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return;
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}
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sensor_g_to_ms2(16, &fs_attr);
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if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_ACCEL_XYZ,
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SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
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printk("Cannot set full scale for LSM6DSV16X accel\n");
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return;
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}
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/* set LSM6DSV16X gyro sampling frequency to 208 Hz */
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odr_attr.val1 = 208;
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odr_attr.val2 = 0;
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if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_GYRO_XYZ,
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SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
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printk("Cannot set sampling frequency for LSM6DSV16X gyro\n");
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return;
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}
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sensor_degrees_to_rad(250, &fs_attr);
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if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_GYRO_XYZ,
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SENSOR_ATTR_FULL_SCALE, &fs_attr) < 0) {
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printk("Cannot set full scale for LSM6DSV16X gyro\n");
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return;
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}
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/* set LSM6DSV16X external magn sampling frequency to 100 Hz */
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odr_attr.val1 = 100;
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odr_attr.val2 = 0;
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#ifdef CONFIG_LSM6DSV16X_EXT_LIS2MDL
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if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_MAGN_XYZ,
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SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
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printk("Cannot set sampling frequency for LSM6DSV16X ext magn\n");
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}
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#endif
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#ifdef CONFIG_LSM6DSV16X_EXT_LPS22DF
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if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_PRESS,
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SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
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printk("Cannot set sampling frequency for LSM6DSV16X ext pressure\n");
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}
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#endif
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#ifdef CONFIG_LSM6DSV16X_EXT_HTS221
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odr_attr.val1 = 12;
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if (sensor_attr_set(lsm6dsv16x, SENSOR_CHAN_HUMIDITY,
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SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
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printk("Cannot set sampling frequency for LSM6DSV16X ext humidity\n");
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}
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#endif
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#ifdef CONFIG_LSM6DSV16X_TRIGGER
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struct sensor_trigger trig;
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trig.type = SENSOR_TRIG_DATA_READY;
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trig.chan = SENSOR_CHAN_ACCEL_XYZ;
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sensor_trigger_set(lsm6dsv16x, &trig, lsm6dsv16x_acc_trig_handler);
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#endif
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}
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int main(void)
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{
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struct sensor_value lsm6dsv16x_xl[3], lsm6dsv16x_gy[3];
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#ifdef CONFIG_LSM6DSV16X_ENABLE_TEMP
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struct sensor_value lsm6dsv16x_temp;
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#endif
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#ifdef CONFIG_LSM6DSV16X_EXT_LIS2MDL
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struct sensor_value lis2mdl_magn[3];
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#endif
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#ifdef CONFIG_LSM6DSV16X_EXT_LPS22DF
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struct sensor_value lps22df_press;
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struct sensor_value lps22df_temp;
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#endif
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const struct device *const lsm6dsv16x = DEVICE_DT_GET_ONE(st_lsm6dsv16x);
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int cnt = 1;
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if (!device_is_ready(lsm6dsv16x)) {
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printk("%s: device not ready.\n", lsm6dsv16x->name);
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return 0;
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}
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lsm6dsv16x_config(lsm6dsv16x);
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while (1) {
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/* Get sensor samples */
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#ifndef CONFIG_LSM6DSV16X_TRIGGER
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if (sensor_sample_fetch(lsm6dsv16x) < 0) {
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printf("LSM6DSV16X Sensor sample update error\n");
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return 0;
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}
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#endif
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/* Get sensor data */
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sensor_channel_get(lsm6dsv16x, SENSOR_CHAN_ACCEL_XYZ, lsm6dsv16x_xl);
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sensor_channel_get(lsm6dsv16x, SENSOR_CHAN_GYRO_XYZ, lsm6dsv16x_gy);
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#ifdef CONFIG_LSM6DSV16X_ENABLE_TEMP
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sensor_channel_get(lsm6dsv16x, SENSOR_CHAN_DIE_TEMP, &lsm6dsv16x_temp);
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#endif
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#ifdef CONFIG_LSM6DSV16X_EXT_LIS2MDL
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sensor_channel_get(lsm6dsv16x, SENSOR_CHAN_MAGN_XYZ, lis2mdl_magn);
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#endif
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#ifdef CONFIG_LSM6DSV16X_EXT_LPS22DF
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sensor_channel_get(lsm6dsv16x, SENSOR_CHAN_AMBIENT_TEMP, &lps22df_temp);
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sensor_channel_get(lsm6dsv16x, SENSOR_CHAN_PRESS, &lps22df_press);
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#endif
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/* Display sensor data */
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/* Erase previous */
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printf("\0033\014");
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printf("X-NUCLEO-IKS01A4 sensor dashboard\n\n");
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printf("LSM6DSV16X: Accel (m.s-2): x: %.3f, y: %.3f, z: %.3f\n",
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sensor_value_to_double(&lsm6dsv16x_xl[0]),
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sensor_value_to_double(&lsm6dsv16x_xl[1]),
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sensor_value_to_double(&lsm6dsv16x_xl[2]));
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printf("LSM6DSV16X: Gyro (dps): x: %.3f, y: %.3f, z: %.3f\n",
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sensor_value_to_double(&lsm6dsv16x_gy[0]),
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sensor_value_to_double(&lsm6dsv16x_gy[1]),
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sensor_value_to_double(&lsm6dsv16x_gy[2]));
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#ifdef CONFIG_LSM6DSV16X_ENABLE_TEMP
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/* temperature */
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printf("LSM6DSV16X: Temperature: %.1f C\n",
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sensor_value_to_double(&lsm6dsv16x_temp));
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#endif
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#ifdef CONFIG_LSM6DSV16X_EXT_LIS2MDL
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printf("LSM6DSV16X: Magn (gauss): x: %.3f, y: %.3f, z: %.3f\n",
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sensor_value_to_double(&lis2mdl_magn[0]),
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sensor_value_to_double(&lis2mdl_magn[1]),
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sensor_value_to_double(&lis2mdl_magn[2]));
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#endif
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#ifdef CONFIG_LSM6DSV16X_EXT_LPS22DF
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printf("LSM6DSV16X: Temperature: %.1f C\n",
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sensor_value_to_double(&lps22df_temp));
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printf("LSM6DSV16X: Pressure:%.3f kpa\n",
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sensor_value_to_double(&lps22df_press));
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#endif
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#ifdef CONFIG_LSM6DSV16X_TRIGGER
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printk("%d: lsm6dsv16x acc trig %d\n", cnt, lsm6dsv16x_acc_trig_cnt);
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#endif
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cnt++;
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k_sleep(K_MSEC(2000));
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}
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}

‎samples/shields/x_nucleo_iks4a1/sensorhub2/CMakeLists.txt

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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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cmake_minimum_required(VERSION 3.20.0)
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# This sample is specific to x_nucleo_iks4a1 shield. Enforce -DSHIELD option
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set(SHIELD x_nucleo_iks4a1_shub2)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(x_nucleo_iks4a1)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎samples/shields/x_nucleo_iks4a1/sensorhub2/README.rst

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.. _x-nucleo-iks4a1-shub2-sample:
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X-NUCLEO-IKS4A1: shield SHUB2 (Mode 2) sample
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#############################################
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Overview
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********
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This sample is provided as an example to test the X-NUCLEO-IKS4A1 shield
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configured in Sensor Hub mode (Mode 2).
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Please refer to :ref:`x-nucleo-iks4a1-mode-2` for more info on this configuration.
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This sample enables LSM6DSO16IS IMU in sensorhub mode with LIS2MDL magnetometer and
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LPS22DF pressure and temperature sensor.
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Then sensor data are displayed periodically
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- LSM6DSO16IS 6-Axis acceleration and angular velocity
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- LSM6DSO16IS (from LIS2MDL) 3-Axis magnetic field intensity
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- LSM6DSO16IS (from LPS22DF) ambient temperature and atmospheric pressure
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Requirements
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************
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This sample communicates over I2C with the X-NUCLEO-IKS4A1 shield
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stacked on a board with an Arduino connector, e.g. the
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:ref:`nucleo_f411re_board` board.
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Building and Running
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********************
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This sample runs with X-NUCLEO-IKS4A1 stacked on any board with a matching
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Arduino connector. For this example, we use a :ref:`nucleo_f411re_board` board.
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.. zephyr-app-commands::
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:zephyr-app: samples/shields/x_nucleo_iks4a1/sensorhub2/
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:host-os: unix
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:board: nucleo_f411re
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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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.. code-block:: console
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X-NUCLEO-IKS01A4 sensor dashboard
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LSM6DSO16IS: Accel (m.s-2): x: 0.081, y: -0.177, z: 9.945
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LSM6DSO16IS: GYro (dps): x: 0.001, y: -0.000, z: 0.004
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LSM6DSO16IS: Magn (gauss): x: 0.217, y: 0.015, z: -0.415
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LSM6DSO16IS: Temperature: 20.8 C
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LSM6DSO16IS: Pressure:99.756 kpa
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736:: lsm6dso16is acc trig 314944
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<updated endlessly every 2 seconds>
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References
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**********
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:ref:`x-nucleo-iks4a1`

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