0b90fd5adf
As both C and C++ standards require applications running under an OS to
return 'int', adapt that for Zephyr to align with those standard. This also
eliminates errors when building with clang when not using -ffreestanding,
and reduces the need for compiler flags to silence warnings for both clang
and gcc.
Most of these changes were automated using coccinelle with the following
script:
@@
@@
- void
+ int
main(...) {
...
- return;
+ return 0;
...
}
Approximately 40 files had to be edited by hand as coccinelle was unable to
fix them.
Signed-off-by: Keith Packard <keithp@keithp.com>
144 lines
3.2 KiB
C
144 lines
3.2 KiB
C
/*
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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/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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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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const 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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const 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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const 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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int main(void)
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{
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const struct device *const icm42605 = DEVICE_DT_GET_ONE(invensense_icm42605);
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if (!device_is_ready(icm42605)) {
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printk("sensor: device not ready.\n");
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return 0;
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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 0;
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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 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(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 0;
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}
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printf("Configured for triggered sampling.\n");
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return 0;
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}
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