How to integrate the IKS01A2 expansion board with STM32MP157C-DK2

1 Article purpose[edit]

The purpose of this article is to explain how to integrate the IKS01A2 expansion board with STM32MP157C-DK2, managed by Linux on Cortex®-A7.

The IKS01A2 board is an expansion board that includes several motion MEMS like HTS221 and LSM6DSL.

This article provides step-by-step instructions to:

  • configure Linux software to support IKS01A2 expansion board,
  • activate/use several motion MEMS such as HTS221 and LSM6DSL.

2 Prerequisites[edit]

2.1 Hardware prerequisites[edit]

  • STM32MP157C-DK2
STM32MP157C-DK2

For more information about the STM32 discovery board and how to start it up, jump to this section Getting_started/STM32MP1_boards/STM32MP157C-DK2

  • IKS01A2 expansion board
IKS01A2
IKS01A2 expansion board

2.2 Software prerequisites[edit]

The STM32MP157C-DK2 board must be downloaded with appropriate software in order to support IKS01A2 expansion board. For proceeding, follow the step-by-step instructions provided at STM32MP157C-DK2 Let's start.

3 Software customization to support IKS01A2 expansion board[edit]

The STM32MP157C-DK2 Linux software must be configured to activate the IKS01A2 board connected on top of the STM32MP157C-DK2 board.

The configuration consists in modifying the STM32MP157C-DK2 Linux kernel and managing some new device tree elements.

3.1 Kernel configuration[edit]

By default, the motion MEMS drivers present on IKS01A2 expansion board are enabled in STM32MP1 kernel configuration: hts221, pressure(lp22hb) and lsm6dsl. The device tree must be updated to declare and activate them.

To check whether associated drivers are enabled inside the kernel, type the commands provided here below :

Board $>  cat /proc/config.gz | gunzip | grep HTS221
CONFIG_HTS221=y
CONFIG_HTS221_I2C=y
CONFIG_HTS221_SPI=y
Board $>  cat /proc/config.gz | gunzip | grep ST_PRESS
CONFIG_IIO_ST_PRESS=m
CONFIG_IIO_ST_PRESS_I2C=m
CONFIG_IIO_ST_PRESS_SPI=m
Board $>  cat /proc/config.gz | gunzip |  grep ST_LSM6DS
CONFIG_IIO_ST_LSM6DSX=m
CONFIG_IIO_ST_LSM6DSX_I2C=m
CONFIG_IIO_ST_LSM6DSX_SPI=m
Info.png If the above configurations are not enabled, follow the indications given in Modify, rebuild and reload the Linux® kernel

3.2 Kernel device tree configuration[edit]

3.2.1 Hardware / software interface[edit]

The HTS221 and LSM6DSL motion MEMS present on IKS01A2 expansion board are involved in the following use case.
According to IKS01A2 user manual[1], both motion MEMS are controlled by I2C bus.

In the schematics of IKS01A2 [2] and STM32MP157C-DK2[3] presented below, the pins that are interconnected are highlighted.

  • IKS01A2 schematic (Arduino connector) [2]
    • Pins 10 and 9 of CN5 are used for I2C Bus (SDA and SCL) (I2C1 and I2C2 bus instances are mixed via JP7 and JP8 jumpers)
    • Pins 6 and 5 of CN9 are used to manage interruptions on LSM6DSL motion MEMS (indicated for information: not used on kernel configuration).
Screenshot iks01a2
IKS01A2 schematics extract
  • STM32MP157C-DK2 schematic (Arduino connector) [3]
    • Pins 10 and 9 of CN5 are used for I2C Bus (I2C5_SDA and I2C5_SCL)
    • Pins 6 and 5 of CN14 are used to manage interruptions on LSM6DSL motion MEMS (indicated for information: not used on kernel configuration)
Screenshot stm32mp157c-dk2
stm32mp157c-dk2 schematics extract


Warning.png I2C5 bus instance MUST be enabled by software in order to access the motion MEMS present on IKS01A2

3.2.2 Kernel device tree configuration[edit]

As indicated in previous section, the IKS01A2 expansion board is controlled via I2C bus. On STM32MP157C-DK2, the associated I2C bus is I2C5.

The I2C5 bus must be activated into STM32MP157C-DK2 device tree and a node must be added for each hardware to be supported (see entries like hts221, as shown in the device tree content example below).


For that, add following content into stm32mp157c-dk2.dts file:

 &i2c5 {
	pinctrl-names = "default", "sleep";
	pinctrl-0 = <&i2c5_pins_a>;
	pinctrl-1 = <&i2c5_pins_sleep_a>;
	i2c-scl-rising-time-ns = <124>;
	i2c-scl-falling-time-ns = <3>;
	/delete-property/dmas;
	/delete-property/dma-names;

	status = "okay";

	hts221@5f {
		compatible = "st,hts221";
		reg = <0x5f>;
	};
	lsm6dsl@6b {
		compatible = "st,lsm6dsl";
		reg = <0x6b>;
	};
 };
Info.png To generate a new device tree, please follow the indications given in Modify, rebuild and reload the Linux® kernel

3.3 Activate the new configuration in the STM32MP157C-DK2 board[edit]

  • Add the two generated files in the board file system, precisely in the bootfs partition (/boot directory)
Board $> ls -1 /boot/stm32*dk2*
                                                                                              
/boot/stm32mp157c-dk2-a7-examples.dtb
/boot/stm32mp157c-dk2-iks01a2.dtb
/boot/stm32mp157c-dk2-m4-examples.dtb
/boot/stm32mp157c-dk2.dtb
  • Add a new entry in extlinux.conf file located in /boot/mmc0_stm32mp157c-dk2_extlinux/. If the mmc0_<something> directory is not available, add the new entry in /boot/extlinux/extlinux.conf.
 
 # Generic Distro Configuration file generated by OpenEmbedded
 menu title Select the boot mode
 MENU BACKGROUND ../splash.bmp
 TIMEOUT 20
 DEFAULT stm32mp157c-dk2-iks01a2
 LABEL stm32mp157c-dk2-sdcard
         KERNEL /uImage
         FDT /stm32mp157c-dk2.dtb
         APPEND root=/dev/mmcblk0p6 rootwait rw console=ttySTM0,115200
 LABEL stm32mp157c-dk2-a7-examples-sdcard
         KERNEL /uImage
         FDT /stm32mp157c-dk2-a7-examples.dtb
         APPEND root=/dev/mmcblk0p6 rootwait rw console=ttySTM0,115200
 LABEL stm32mp157c-dk2-m4-examples-sdcard
         KERNEL /uImage
         FDT /stm32mp157c-dk2-m4-examples.dtb
         APPEND root=/dev/mmcblk0p6 rootwait rw console=ttySTM0,115200
 LABEL stm32mp157c-dk2-iks01a2
        KERNEL /uImage
        FDT /stm32mp157c-dk2-iks01a2.dtb
        APPEND root=/dev/mmcblk0p6 rootwait rw console=ttySTM0,115200
Warning.png Do not forget to synchronize the file system before rebooting the board
Board $> sync


  • Reboot the board

3.4 Verify the new configuration on board[edit]

  • Verify if i2c5 is enabled:
Board $>  cat /proc/device-tree/soc/i2c\@40015000/status 
okay
  • Verify if the motion MEMS drivers are declared in the device tree node:
Board $> ls -l /proc/device-tree/soc/i2c\@40015000/
total 0
-r--r--r-- 1 root root  4 Dec 19 11:01 #address-cells
-r--r--r-- 1 root root  4 Dec 19 11:01 #size-cells
-r--r--r-- 1 root root  8 Dec 19 11:01 clocks
-r--r--r-- 1 root root 15 Dec 19 11:01 compatible
-r--r--r-- 1 root root  6 Dec 19 11:01 dma-names
-r--r--r-- 1 root root 32 Dec 19 11:01 dmas
drwxr-xr-x 2 root root  0 Dec 19 10:54 hts221@5f
-r--r--r-- 1 root root  4 Dec 19 11:01 i2c-scl-falling-time-ns
-r--r--r-- 1 root root  4 Dec 19 11:01 i2c-scl-rising-time-ns
-r--r--r-- 1 root root 19 Dec 19 11:01 interrupt-names
-r--r--r-- 1 root root 44 Dec 19 11:01 interrupts-extended
drwxr-xr-x 2 root root  0 Dec 19 10:54 lsm6dsl@6b
-r--r--r-- 1 root root  4 Dec 19 11:01 name
-r--r--r-- 1 root root  4 Dec 19 11:01 pinctrl-0
-r--r--r-- 1 root root  4 Dec 19 11:01 pinctrl-1
-r--r--r-- 1 root root 14 Dec 19 11:01 pinctrl-names
-r--r--r-- 1 root root  4 Dec 19 11:01 power-domains
-r--r--r-- 1 root root  8 Dec 19 11:01 reg
-r--r--r-- 1 root root  8 Dec 19 11:01 resets
-r--r--r-- 1 root root 12 Dec 19 11:01 st,syscfg-fmp
-r--r--r-- 1 root root  5 Dec 19 11:01 status
  • Verify if the motion MEMS drivers are correctly probed and if the system provides access to the associated hardware:
Board $>  grep OF_NAME /sys/bus/iio/devices/iio\:device*/uevent
/sys/bus/iio/devices/iio:device0/uevent:OF_NAME=adc
/sys/bus/iio/devices/iio:device1/uevent:OF_NAME=adc
/sys/bus/iio/devices/iio:device2/uevent:OF_NAME=hts221
/sys/bus/iio/devices/iio:device3/uevent:OF_NAME=temp
/sys/bus/iio/devices/iio:device4/uevent:OF_NAME=lsm6dsl
/sys/bus/iio/devices/iio:device5/uevent:OF_NAME=lsm6dsl
Info.png If the results are different, check that
  1. the expansion board is correctly connected
  2. all steps, described above, were correctly done.

4 Read motion MEMS via bash script[edit]

The goal of this section is to read the informations provided by the Linux kernel interface and to process it with a bash script.


4.1 List of sensors entry[edit]

The IKS01A2 expansion board provides several MEMS like HTS221, LSM6DSL, LPS22HB.
The list of hardware MEMS detected by Linux via the IIO framework can be verified in the sysfs.

Board $>   grep OF_NAME /sys/bus/iio/devices/iio\:device*/uevent
/sys/bus/iio/devices/iio:device0/uevent:OF_NAME=adc
/sys/bus/iio/devices/iio:device1/uevent:OF_NAME=adc
/sys/bus/iio/devices/iio:device2/uevent:OF_NAME=hts221
/sys/bus/iio/devices/iio:device3/uevent:OF_NAME=temp
/sys/bus/iio/devices/iio:device4/uevent:OF_NAME=lsm6dsl
/sys/bus/iio/devices/iio:device5/uevent:OF_NAME=lsm6dsl

This list provides the association between entries and MEMS drivers. In the rest of the article, this list is used a as reference.

4.2 HTS221: Temperature/Humidity[edit]

The HTS221 is a capacitive digital sensor for relative humidity and temperature.

In this example, hts221 entry is /sys/bus/iio/devices/iio:device2/. In case the user as a different setup the entry should be adapted accordingly in the scripts provided here after.

4.2.1 Temperature[edit]

  • Read IIO entries associated to the temperature for HTS221 driver
Board $>  cat /sys/bus/iio/devices/iio\:device2/in_temp_raw
Board $>  cat /sys/bus/iio/devices/iio\:device2/in_temp_offset
Board $>  cat /sys/bus/iio/devices/iio\:device2/in_temp_scale
  • Calculate real temperature according following formula
Temperature = ( Raw value + Offset value) * Scale value)
  • Calculate temperature by shell script : static IIO entries

Content of hts221_read_temperature_on_device2.sh:

#!/bin/sh
raw=`cat /sys/bus/iio/devices/iio\:device2/in_temp_raw`
offset=`cat /sys/bus/iio/devices/iio\:device2/in_temp_offset`
scale=`cat /sys/bus/iio/devices/iio\:device2/in_temp_scale`
printf "Value read: raw         %0f\n" $raw
printf "Value read: offset      %0f\n" $offset
printf "Value read: scale       %0f\n" $scale

temperature=`echo "scale=2;$raw*$scale + $offset*$scale" | bc`

echo "Temperature $temperature"
printf "Temperature %.01f\n" $temperature


  • Calculate temperature by shell script: auto detection of IIO entries

Content of hts221_read_temperature_with_entry_detection.sh:

#!/bin/sh
DRIVER_NAME=hts221
for d in `ls -d1 /sys/bus/iio/devices/*device*`;
do
    if grep -q $DRIVER_NAME $d/name ;
    then
        raw=`cat $d/in_temp_raw`
        offset=`cat $d/in_temp_offset`
        scale=`cat $d/in_temp_scale`

        printf "Value read: raw         %0f\n" $raw
        printf "Value read: offset      %0f\n" $offset
        printf "Value read: scale       %0f\n" $scale

        temperature=`echo "scale=2;$raw*$scale + $offset*$scale" | bc`

        echo "Temperature $temperature"
        printf "Temperature %.01f\n" $temperature

        break;
    fi
done
  • Test on board
Board $>  ./hts221_read_temperature_on_device2.sh
Value read: raw         563.000000
Value read: offset      1036.674817
Value read: scale       0.019172
Temperature 30.668765624
Temperature 30.7

4.2.2 Humidity[edit]

  • Read IIO entries associated to humidity for HTS221 driver
Board $> cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_raw
Board $> cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_offset
Board $> cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_scale
  • Calculate real humidity according following formula
Humidity = ( Raw value + Offset value) * Scale value)
  • Calculate humidity by shell script: static IIO entries

Content of hts221_read_humidity_on_device2.sh:

#!/bin/sh
raw=`cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_raw`
offset=`cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_offset`
scale=`cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_scale`
printf "Value read: raw         %0f\n" $raw
printf "Value read: offset      %0f\n" $offset
printf "Value read: scale       %0f\n" $scale

humidity=`echo "scale=2;$raw*$scale + $offset*$scale" | bc`

echo "Humidity $humidity"
printf "Humidity %.01f\n" $humidity


  • Calculate humidity by shell script: auto detection of IIO entries

Content of hts221_read_humidity_with_entry_detection.sh:

#!/bin/sh
DRIVER_NAME=hts221
for d in `ls -d1 /sys/bus/iio/devices/*device*`;
do
    if grep -q $DRIVER_NAME $d/name ;
    then
        raw=`cat $d/in_humidityrelative_raw`
        offset=`cat $d/in_humidityrelative_offset`
        scale=`cat $d/in_humidityrelative_scale`

        printf "Value read: raw         %0f\n" $raw
        printf "Value read: offset      %0f\n" $offset
        printf "Value read: scale       %0f\n" $scale

        humidity=`echo "scale=2;$raw*$scale + $offset*$scale" | bc`

        echo "Humidity $humidity"
        printf "Humidity %.01f\n" $humidity

        break;
    fi
done
  • Test on board
Board $> ./hts221_read_humidity_on_device2.sh
Value read: raw         2669.000000
Value read: offset      -10661.500000
Value read: scale       -0.003000
Humidity 23.977500000
Humidity 24.0

4.3 LSM6DSL: accelerometer/gyroscope[edit]

The LSM6DSL is an inertial measurement unit (IMU) with ultra-low power and high accuracy, for smartphones and battery operated IoT, gaming, wearable and consumer electronics.

In this example, lsm6dsl entries are /sys/bus/iio/devices/iio:device4/ and /sys/bus/iio/devices/iio:device4/.
The device4 entry is dedicated to accelerometer and the device5 one to gyroscope.

4.3.1 Accelerometer[edit]

  • Read IIO entries associated to accelerometer for LSM6DSL driver
Board $> cat /sys/bus/iio/devices/iio\:device4/in_accel_x_raw
Board $> cat /sys/bus/iio/devices/iio\:device4/in_accel_x_scale
Board $> cat /sys/bus/iio/devices/iio\:device4/in_accel_y_raw
Board $> cat /sys/bus/iio/devices/iio\:device4/in_accel_y_scale
Board $> cat /sys/bus/iio/devices/iio\:device4/in_accel_z_raw
Board $> cat /sys/bus/iio/devices/iio\:device4/in_accel_z_scale
  • Calculate accelerometer values according following formula
X = Raw value * scale value * (256.0 / 9.81)
Y = Raw value * scale value * (256.0 / 9.81)
Z = Raw value * scale value * (256.0 / 9.81)
  • Calculate accelerometer value by shell script: static IIO entries

Content of lsm6dsl_accel_read_on_device4.sh:

#!/bin/sh
xraw=`cat /sys/bus/iio/devices/iio\:device4/in_accel_x_raw`
xscale=`cat /sys/bus/iio/devices/iio\:device4/in_accel_x_scale`

yraw=`cat /sys/bus/iio/devices/iio\:device4/in_accel_y_raw`
yscale=`cat /sys/bus/iio/devices/iio\:device4/in_accel_y_scale`

zraw=`cat /sys/bus/iio/devices/iio\:device4/in_accel_z_raw`
zscale=`cat /sys/bus/iio/devices/iio\:device4/in_accel_z_scale`

printf "Value read: X (raw/scale)  %d / %.06f \n" $xraw $xscale
printf "Value read: Y (raw/scale)  %d / %.06f \n" $yraw $yscale
printf "Value read: Z (raw/scale)  %d / %.06f \n" $zraw $zscale

factor=`echo "scale=2;256.0 / 9.81" | bc`
xval=`echo "scale=2;$xraw*$xscale*$factor" | bc`
yval=`echo "scale=2;$yraw*$yscale*$factor" | bc`
zval=`echo "scale=2;$zraw*$zscale*$factor" | bc`

printf "Accelerometer value: [ %.02f, %.02f, %.02f ]\n" $xval $yval $zval
  • Calculate accelerometer value by shell script: auto detection of IIO entries

Content of lsm6dsl_accel_read_with_entry_detection.sh:

#!/bin/sh
DRIVER_NAME=lsm6dsl_accel       
for d in `ls -d1 /sys/bus/iio/devices/*device*`;
do
    if grep -q $DRIVER_NAME $d/name ;
    then
        xraw=`cat $d/in_accel_x_raw`
        xscale=`cat $d/in_accel_x_scale`

        yraw=`cat $d/in_accel_y_raw`
        yscale=`cat $d/in_accel_y_scale`

        zraw=`cat $d/in_accel_z_raw`
        zscale=`cat $d/in_accel_z_scale`

        printf "Value read: X (raw/scale)  %d / %.06f \n" $xraw $xscale
        printf "Value read: Y (raw/scale)  %d / %.06f \n" $yraw $yscale
        printf "Value read: Z (raw/scale)  %d / %.06f \n" $zraw $zscale

        factor=`echo "scale=2;256.0 / 9.81" | bc`
        xval=`echo "scale=2;$xraw*$xscale*$factor" | bc`
        yval=`echo "scale=2;$yraw*$yscale*$factor" | bc`
        zval=`echo "scale=2;$zraw*$zscale*$factor" | bc`

        printf "Accelerometer value: [ %.02f, %.02f, %.02f ]\n" $xval $yval $zval
 
        break;
    fi
done
  • Test on board
Board $> ./lsm6dsl_accel_read_on_device4.sh
Value read: X (raw/scale)  104 / 0.000598 
Value read: Y (raw/scale)  -16378 / 0.000598 
Value read: Z (raw/scale)  -1117 / 0.000598 
Accelerometer value: [ 1.62, -255.53, -17.43 ]

4.3.2 Gyroscope[edit]

  • Read IIO entries associated to gyroscope for LSM6DSL driver
Board $> cat /sys/bus/iio/devices/iio\:device5/in_anglvel_x_raw
Board $> cat /sys/bus/iio/devices/iio\:device5/in_anglvel_x_scale
Board $> cat /sys/bus/iio/devices/iio\:device5/in_anglvel_y_raw
Board $> cat /sys/bus/iio/devices/iio\:device5/in_anglvel_y_scale
Board $> cat /sys/bus/iio/devices/iio\:device5/in_anglvel_z_raw
Board $> cat /sys/bus/iio/devices/iio\:device5/in_anglvel_z_scale
  • Calculate gyroscope values according following formula
X = Raw value * scale value * (256.0 / 9.81)
Y = Raw value * scale value * (256.0 / 9.81)
Z = Raw value * scale value * (256.0 / 9.81)
  • Calculate gyroscope value by shell script: static IIO entries

Content of lsm6dsl_gyro_read_on_device5.sh:

#!/bin/sh
xraw=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_x_raw`
xscale=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_x_scale`

yraw=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_y_raw`
yscale=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_y_scale`

zraw=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_z_raw`
zscale=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_z_scale`

printf "Value read: X (raw/scale)  %d / %.06f \n" $xraw $xscale
printf "Value read: Y (raw/scale)  %d / %.06f \n" $yraw $yscale
printf "Value read: Z (raw/scale)  %d / %.06f \n" $zraw $zscale

factor=`echo "scale=2;256.0 / 9.81" | bc`
xval=`echo "scale=2;$xraw*$xscale*$factor" | bc`
yval=`echo "scale=2;$yraw*$yscale*$factor" | bc`
zval=`echo "scale=2;$zraw*$zscale*$factor" | bc`

printf "Gyroscope value: [ %.02f, %.02f, %.02f ]\n" $xval $yval $zval
  • Calculate gyroscope value by shell script: auto detection of IIO entries

Content of lsm6dsl_gyro_read_with_entry_detection.sh:

#!/bin/sh
DRIVER_NAME=lsm6dsl_gyro       
for d in `ls -d1 /sys/bus/iio/devices/*device*`;
do
    if grep -q $DRIVER_NAME $d/name ;
    then
        xraw=`cat $d/in_anglvel_x_raw`
        xscale=`cat $d/in_anglvel_x_scale`

        yraw=`cat $d/in_anglvel_y_raw`
        yscale=`cat $d/in_anglvel_y_scale`

        zraw=`cat $d/in_anglvel_z_raw`
        zscale=`cat $d/in_anglvel_z_scale`

        printf "Value read: X (raw/scale)  %d / %.06f \n" $xraw $xscale
        printf "Value read: Y (raw/scale)  %d / %.06f \n" $yraw $yscale
        printf "Value read: Z (raw/scale)  %d / %.06f \n" $zraw $zscale

        factor=`echo "scale=2;256.0 / 9.81" | bc`
        xval=`echo "scale=2;$xraw*$xscale*$factor" | bc`
        yval=`echo "scale=2;$yraw*$yscale*$factor" | bc`
        zval=`echo "scale=2;$zraw*$zscale*$factor" | bc`

        printf "Gyroscope value: [ %.02f, %.02f, %.02f ]\n" $xval $yval $zval

        break;
    fi
done
  • Test on board
Board $> ./lsm6dsl_gyro_read_on_device5.sh
Value read: X (raw/scale)  -2293 / 0.000153 
Value read: Y (raw/scale)  150 / 0.000153 
Value read: Z (raw/scale)  -111 / 0.000153 
Gyroscope value: [ -9.15, 0.60, -0.44 ]

4.4 BASH: script with all the measurements[edit]

  • Content of iks01a2.sh
#!/bin/sh
echo "============================="
echo "===       HTS221          ==="
echo "===    (temperature)      ==="
echo "============================="
raw=`cat /sys/bus/iio/devices/iio\:device2/in_temp_raw`
offset=`cat /sys/bus/iio/devices/iio\:device2/in_temp_offset`
scale=`cat /sys/bus/iio/devices/iio\:device2/in_temp_scale`
printf "Value read: raw      %0f\n" $raw
printf "Value read: offset   %0f\n" $offset
printf "Value read: scale    %0f\n" $scale

temperature=`echo "scale=2;$raw*$scale + $offset*$scale" | bc`

echo "Temperature $temperature"
printf "Temperature %.02f\n" $temperature

echo "============================="
echo "===       HTS221          ==="
echo "===    (humidity)         ==="
echo "============================="
raw=`cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_raw`
offset=`cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_offset`
scale=`cat /sys/bus/iio/devices/iio\:device2/in_humidityrelative_scale`
printf "Value read: raw         %0f\n" $raw
printf "Value read: offset      %0f\n" $offset
printf "Value read: scale       %0f\n" $scale

humidity=`echo "scale=2;$raw*$scale + $offset*$scale" | bc`

echo "Humidity $humidity"
printf "Humidity %.02f\n" $humidity


echo "============================="
echo "===      LSM6DSL          ==="
echo "===    (accelerometer)    ==="
echo "============================="

xraw=`cat /sys/bus/iio/devices/iio\:device4/in_accel_x_raw`
xscale=`cat /sys/bus/iio/devices/iio\:device4/in_accel_x_scale`

yraw=`cat /sys/bus/iio/devices/iio\:device4/in_accel_y_raw`
yscale=`cat /sys/bus/iio/devices/iio\:device4/in_accel_y_scale`

zraw=`cat /sys/bus/iio/devices/iio\:device4/in_accel_z_raw`
zscale=`cat /sys/bus/iio/devices/iio\:device4/in_accel_z_scale`

printf "Value read: X (raw/scale)  %d / %.06f \n" $xraw $xscale
printf "Value read: Y (raw/scale)  %d / %.06f \n" $yraw $yscale
printf "Value read: Z (raw/scale)  %d / %.06f \n" $zraw $zscale

factor=`echo "scale=2;256.0 / 9.81" | bc`
xval=`echo "scale=2;$xraw*$xscale*$factor" | bc`
yval=`echo "scale=2;$yraw*$yscale*$factor" | bc`
zval=`echo "scale=2;$zraw*$zscale*$factor" | bc`

printf "Accelerometer value: [ %.02f, %.02f, %.02f ]\n" $xval $yval $zval

echo "============================="
echo "===      LSM6DSL          ==="
echo "===    (gyroscope)        ==="
echo "============================="

xraw=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_x_raw`
xscale=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_x_scale`

yraw=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_y_raw`
yscale=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_y_scale`

zraw=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_z_raw`
zscale=`cat /sys/bus/iio/devices/iio\:device5/in_anglvel_z_scale`

printf "Value read: X (raw/scale)  %d / %.06f \n" $xraw $xscale
printf "Value read: Y (raw/scale)  %d / %.06f \n" $yraw $yscale
printf "Value read: Z (raw/scale)  %d / %.06f \n" $zraw $zscale

factor=`echo "scale=2;256.0 / 9.81" | bc`
xval=`echo "scale=2;$xraw*$xscale*$factor" | bc`
yval=`echo "scale=2;$yraw*$yscale*$factor" | bc`
zval=`echo "scale=2;$zraw*$zscale*$factor" | bc`

printf "Gyroscope value: [ %.02f, %.02f, %.02f ]\n" $xval $yval $zval
  • Content of iks01a2_with_auto_detection.sh
#!/bin/sh

for d in `ls -d1 /sys/bus/iio/devices/*device*`;
do
    # for hts221: Temperature + Humidity
    if grep -q hts221 $d/name ;
    then
        echo "============================="
        echo "===       HTS221          ==="
        echo "===    (temperature)      ==="
        echo "============================="
        raw=`cat $d/in_temp_raw`
        offset=`cat $d/in_temp_offset`
        scale=`cat $d/in_temp_scale`

        printf "Value read: raw         %0f\n" $raw
        printf "Value read: offset      %0f\n" $offset
        printf "Value read: scale       %0f\n" $scale

        temperature=`echo "scale=2;$raw*$scale + $offset*$scale" | bc`

        echo "Temperature $temperature"
        printf "Temperature %.02f\n" $temperature

        echo "============================="
        echo "===       HTS221          ==="
        echo "===    (humidity)         ==="
        echo "============================="
        raw=`cat $d/in_humidityrelative_raw`
        offset=`cat $d/in_humidityrelative_offset`
        scale=`cat $d/in_humidityrelative_scale`

        printf "Value read: raw         %0f\n" $raw
        printf "Value read: offset      %0f\n" $offset
        printf "Value read: scale       %0f\n" $scale

        humidity=`echo "scale=2;$raw*$scale + $offset*$scale" | bc`

        echo "Humidity $humidity"
        printf "Humidity %.02f\n" $humidity
    fi

    # for lsm6dsl: accelerometer
    if grep -q lsm6dsl_accel $d/name ;
    then
        echo "============================="
        echo "===      LSM6DSL          ==="
        echo "===    (accelerometer)    ==="
        echo "============================="
        xraw=`cat $d/in_accel_x_raw`
        xscale=`cat $d/in_accel_x_scale`

        yraw=`cat $d/in_accel_y_raw`
        yscale=`cat $d/in_accel_y_scale`

        zraw=`cat $d/in_accel_z_raw`
        zscale=`cat $d/in_accel_z_scale`

        printf "Value read: X (raw/scale)  %d / %.06f \n" $xraw $xscale
        printf "Value read: Y (raw/scale)  %d / %.06f \n" $yraw $yscale
        printf "Value read: Z (raw/scale)  %d / %.06f \n" $zraw $zscale

        factor=`echo "scale=2;256.0 / 9.81" | bc`
        xval=`echo "scale=2;$xraw*$xscale*$factor" | bc`
        yval=`echo "scale=2;$yraw*$yscale*$factor" | bc`
        zval=`echo "scale=2;$zraw*$zscale*$factor" | bc`

        printf "Accelerometer value: [ %.02f, %.02f, %.02f ]\n" $xval $yval $zval
    fi

    # for lsm6dsl: gyroscope
    if grep -q lsm6dsl_gyro $d/name ;
    then
        echo "============================="
        echo "===      LSM6DSL          ==="
        echo "===    (gyroscope)        ==="
        echo "============================="
        xraw=`cat $d/in_anglvel_x_raw`
        xscale=`cat $d/in_anglvel_x_scale`

        yraw=`cat $d/in_anglvel_y_raw`
        yscale=`cat $d/in_anglvel_y_scale`

        zraw=`cat $d/in_anglvel_z_raw`
        zscale=`cat $d/in_anglvel_z_scale`

        printf "Value read: X (raw/scale)  %d / %.06f \n" $xraw $xscale
        printf "Value read: Y (raw/scale)  %d / %.06f \n" $yraw $yscale
        printf "Value read: Z (raw/scale)  %d / %.06f \n" $zraw $zscale

        factor=`echo "scale=2;256.0 / 9.81" | bc`
        xval=`echo "scale=2;$xraw*$xscale*$factor" | bc`
        yval=`echo "scale=2;$yraw*$yscale*$factor" | bc`
        zval=`echo "scale=2;$zraw*$zscale*$factor" | bc`

        printf "Gyroscope value: [ %.02f, %.02f, %.02f ]\n" $xval $yval $zval
    fi
done

5 Read motion MEMS via Python script[edit]

The goal of this section is to read the informations provided by Linux kernel interface and process it with a python script.
The python displays the calculated value through a graphic user interface.

5.1 Display a window with Python and weston/wayland[edit]

#!/usr/bin/python3
import gi
gi.require_version('Gtk', '3.0')
from gi.repository import Gtk
from gi.repository import GObject
from gi.repository import Gdk
from gi.repository import GLib
from gi.repository import GdkPixbuf
import cairo

import random
import math
import os
from time import sleep, time

# -------------------------------------------------------------------
# -------------------------------------------------------------------
class MainUIWindow(Gtk.Window):
    def __init__(self):
        Gtk.Window.__init__(self, title="Sensor usage")
        #self.set_decorated(False)
        self.maximize()
        self.screen_width = self.get_screen().get_width()
        self.screen_height = self.get_screen().get_height()

        self.set_default_size(self.screen_width, self.screen_height)
        print("[DEBUG] screen size: %dx%d" % (self.screen_width, self.screen_height))
        self.set_position(Gtk.WindowPosition.CENTER)
        self.connect('destroy', Gtk.main_quit)

    def destroy(self, widget, data=None):
        Gtk.main_quit()

# -------------------------------------------------------------------
# -------------------------------------------------------------------
# Main
if __name__ == "__main__":
    # add signal to catch CRTL+C
    import signal
    signal.signal(signal.SIGINT, signal.SIG_DFL)
    win = MainUIWindow()
    win.connect("delete-event", Gtk.main_quit)
    win.show_all()

    Gtk.main()

5.2 Read temperature[edit]

Part of code for reading temperature with HTS221 driver:

def found_iio_device_with_name(data, name):
    prefix = "/sys/bus/iio/devices/"
    of_name = 'OF_NAME=' + name
    try:
        for filefolder in os.listdir(prefix):
            with open(prefix + '/' + filefolder + '/uevent') as f:
                for line in f:
                    if line.split('\n')[0] == of_name:
                        ''' return directory which contains "data" '''
                        if os.path.exists(prefix + '/' + filefolder + '/' + data):
                            return (prefix + '/' + filefolder + '/')
    except OSError:
        pass
    except Exception as exc:
        pass
    return None

prefix_path = found_iio_device_with_name("in_temp_raw", "hts221")
try:
    with open(prefix_path + "in_temp_" + 'raw', 'r') as f:
        raw = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_temp_" + 'raw', exc)
    raw = 0.0

try:
    with open(prefix_path + "in_temp_" + 'scale', 'r') as f:
        scale = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_temp_" + 'scale', exc)
    scale = 0.0

try:
    with open(prefix_path + "in_temp_" + 'offset', 'r') as f:
        offset = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_temp_" + 'offset', exc)
    offset = 0.0

temp = (offset + raw) * scale


5.3 Read humidity[edit]

Part of code for reading humidity with HTS221 driver:

def found_iio_device_with_name(data, name):
    prefix = "/sys/bus/iio/devices/"
    of_name = 'OF_NAME=' + name
    try:
        for filefolder in os.listdir(prefix):
            with open(prefix + '/' + filefolder + '/uevent') as f:
                for line in f:
                    if line.split('\n')[0] == of_name:
                        ''' return directory which contains "data" '''
                        if os.path.exists(prefix + '/' + filefolder + '/' + data):
                            return (prefix + '/' + filefolder + '/')
    except OSError:
        pass
    except Exception as exc:
        pass
    return None

prefix_path = found_iio_device_with_name("in_humidityrelative_raw", "hts221")
try:
    with open(prefix_path + "in_humidityrelative_" + 'raw', 'r') as f:
        raw = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_humidityrelative_" + 'raw', exc)
    raw = 0.0

try:
    with open(prefix_path + "in_humidityrelative_" + 'scale', 'r') as f:
        scale = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_humidityrelative_" + 'scale', exc)
    scale = 0.0

try:
    with open(prefix_path + "in_humidityrelative_" + 'offset', 'r') as f:
        offset = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_humidityrelative_" + 'offset', exc)
    offset = 0.0

humidity = (offset + raw) * scale

5.4 Read accelerometer[edit]

Part of code for reading accelerometer with LSM6DSL driver:

def found_iio_device_with_name(data, name):
    prefix = "/sys/bus/iio/devices/"
    of_name = 'OF_NAME=' + name
    try:
        for filefolder in os.listdir(prefix):
            with open(prefix + '/' + filefolder + '/uevent') as f:
                for line in f:
                    if line.split('\n')[0] == of_name:
                        ''' return directory which contains "data" '''
                        if os.path.exists(prefix + '/' + filefolder + '/' + data):
                            return (prefix + '/' + filefolder + '/')
    except OSError:
        pass
    except Exception as exc:
        pass
    return None

prefix_path = found_iio_device_with_name("in_accel_x_raw", "lsm6dsl")
try:
    with open(prefix_path + "in_accel_" + 'x_raw', 'r') as f:
        xraw = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_accel_" + 'x_raw', exc)
    xraw = 0.0

try:
    with open(prefix_path + "in_accel_" + 'x_scale', 'r') as f:
        xscale = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_accel_" + 'x_scale', exc)
    xscale = 0.0
accel_x = int(xraw * xscale * 256.0 / 9.81)

try:
    with open(prefix_path + "in_accel_" + 'y_raw', 'r') as f:
        yraw = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_accel_" + 'y_raw', exc)
    yraw = 0.0

try:
    with open(prefix_path + "in_accel_" + 'y_scale', 'r') as f:
        yscale = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_accel_" + 'y_scale', exc)
    yscale = 0.0
accel_y = int(yraw * yscale * 256.0 / 9.81)

try:
    with open(prefix_path + "in_accel_" + 'z_raw', 'r') as f:
        zraw = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_accel_" + 'z_raw', exc)
    zraw = 0.0

try:
    with open(prefix_path + "in_accel_" + 'z_scale', 'r') as f:
        zscale = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_accel_" + 'z_scale', exc)
    zscale = 0.0
accel_z = int(zraw * zscale * 256.0 / 9.81)

5.5 Read gyroscope[edit]

Part of code for reading gyroscope with LSM6DSL driver:

def found_iio_device_with_name(data, name):
    prefix = "/sys/bus/iio/devices/"
    of_name = 'OF_NAME=' + name
    try:
        for filefolder in os.listdir(prefix):
            with open(prefix + '/' + filefolder + '/uevent') as f:
                for line in f:
                    if line.split('\n')[0] == of_name:
                        ''' return directory which contains "data" '''
                        if os.path.exists(prefix + '/' + filefolder + '/' + data):
                            return (prefix + '/' + filefolder + '/')
    except OSError:
        pass
    except Exception as exc:
        pass
    return None

prefix_path = found_iio_device_with_name("in_anglvel_x_raw", "lsm6dsl")
try:
    with open(prefix_path + "in_anglvel_" + 'x_raw', 'r') as f:
        xraw = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'x_raw', exc)
    xraw = 0.0

try:
    with open(prefix_path + "in_anglvel_" + 'x_scale', 'r') as f:
        xscale = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'x_scale', exc)
    xscale = 0.0
gyro_x = int(xraw * xscale * 256.0 / 9.81)

try:
    with open(prefix_path + "in_anglvel_" + 'y_raw', 'r') as f:
        yraw = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'y_raw', exc)
    yraw = 0.0

try:
    with open(prefix_path + "in_anglvel_" + 'y_scale', 'r') as f:
        yscale = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'y_scale', exc)
    yscale = 0.0
gyro_y = int(yraw * yscale * 256.0 / 9.81)

try:
    with open(prefix_path + "in_anglvel_" + 'z_raw', 'r') as f:
        zraw = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'z_raw', exc)
    zraw = 0.0

try:
    with open(prefix_path + "in_anglvel_" + 'z_scale', 'r') as f:
        zscale = float(f.read())
except Exception as exc:
    print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'z_scale', exc)
    zscale = 0.0
gyro_z = int(zraw * zscale * 256.0 / 9.81)

5.6 Full script with information displayed in a graphic user interface[edit]

#!/usr/bin/python3
import gi
gi.require_version('Gtk', '3.0')
from gi.repository import Gtk
from gi.repository import GObject
from gi.repository import Gdk
from gi.repository import GLib
from gi.repository import GdkPixbuf
import cairo

import random
import math
import os
from time import sleep, time

# time between each sensor mesearuement (1s)
TIME_UPATE = 2000


class Sensors():
    def __init__(self):
        ''' '''
        self.sensor_dictionnary = {}

    def found_iio_device_with_name(self, data, name):
        prefix = "/sys/bus/iio/devices/"
        of_name = 'OF_NAME=' + name
        try:
            for filefolder in os.listdir(prefix):
                with open(prefix + '/' + filefolder + '/uevent') as f:
                    for line in f:
                        if line.split('\n')[0] == of_name:
                            ''' return directory which contains "data" '''
                            if os.path.exists(prefix + '/' + filefolder + '/' + data):
                                return (prefix + '/' + filefolder + '/')
        except OSError:
            pass
        except Exception as exc:
            pass
        return None

    def found_all_sensor_path(self):
        self.sensor_dictionnary['temperature'] = self.found_iio_device_with_name("in_temp_raw", "hts221")
        self.sensor_dictionnary['humidity']    = self.found_iio_device_with_name("in_humidityrelative_raw", "hts221")
        self.sensor_dictionnary['accelerometer'] = self.found_iio_device_with_name("in_accel_x_raw", "lsm6dsl")
        self.sensor_dictionnary['gyroscope'] = self.found_iio_device_with_name("in_anglvel_x_raw", "lsm6dsl")

        print("[DEBUG] temperature   -> ", self.sensor_dictionnary['temperature'], "<")
        print("[DEBUG] humidity      -> ", self.sensor_dictionnary['humidity'], "<")
        print("[DEBUG] accelerometer -> ", self.sensor_dictionnary['accelerometer'], "<")
        print("[DEBUG] gyroscope     -> ", self.sensor_dictionnary['gyroscope'], "<")

    def temperature_read(self):
        prefix_path = self.sensor_dictionnary['temperature']
        try:
            with open(prefix_path + "in_temp_" + 'raw', 'r') as f:
                raw = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_temp_" + 'raw', exc)
            raw = 0.0
        try:
            with open(prefix_path + "in_temp_" + 'scale', 'r') as f:
                scale = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_temp_" + 'scale', exc)
            scale = 0.0
        try:
            with open(prefix_path + "in_temp_" + 'offset', 'r') as f:
                offset = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_temp_" + 'offset', exc)
            offset = 0.0
        return (offset + raw) * scale

    def humidity_read(self):
        prefix_path = self.sensor_dictionnary['humidity']
        try:
            with open(prefix_path + "in_humidityrelative_" + 'raw', 'r') as f:
                raw = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_humidityrelative_" + 'raw', exc)
            raw = 0.0
        try:
            with open(prefix_path + "in_humidityrelative_" + 'scale', 'r') as f:
                scale = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_humidityrelative_" + 'scale', exc)
            scale = 0.0
        try:
            with open(prefix_path + "in_humidityrelative_" + 'offset', 'r') as f:
                offset = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_humidityrelative_" + 'offset', exc)
            offset = 0.0
        return (offset + raw) * scale

    def accelerometer_read(self):
        prefix_path = self.sensor_dictionnary['accelerometer']
        try:
            with open(prefix_path + "in_accel_" + 'x_raw', 'r') as f:
                xraw = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_accel_" + 'x_raw', exc)
            xraw = 0.0
        try:
            with open(prefix_path + "in_accel_" + 'x_scale', 'r') as f:
                xscale = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_accel_" + 'x_scale', exc)
            xscale = 0.0
        accel_x = int(xraw * xscale * 256.0 / 9.81)
        try:
            with open(prefix_path + "in_accel_" + 'y_raw', 'r') as f:
                yraw = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_accel_" + 'y_raw', exc)
            yraw = 0.0
        try:
            with open(prefix_path + "in_accel_" + 'y_scale', 'r') as f:
                yscale = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_accel_" + 'y_scale', exc)
            yscale = 0.0
        accel_y = int(yraw * yscale * 256.0 / 9.81)
        try:
            with open(prefix_path + "in_accel_" + 'z_raw', 'r') as f:
                zraw = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_accel_" + 'z_raw', exc)
            zraw = 0.0
        try:
            with open(prefix_path + "in_accel_" + 'z_scale', 'r') as f:
                zscale = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_accel_" + 'z_scale', exc)
            zscale = 0.0
        accel_z = int(zraw * zscale * 256.0 / 9.81)
        return [ accel_x, accel_y, accel_z]

    def gyroscope_read(self):
        prefix_path = self.sensor_dictionnary['gyroscope']
        try:
            with open(prefix_path + "in_anglvel_" + 'x_raw', 'r') as f:
                xraw = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'x_raw', exc)
            xraw = 0.0
        try:
            with open(prefix_path + "in_anglvel_" + 'x_scale', 'r') as f:
                xscale = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'x_scale', exc)
            xscale = 0.0
        gyro_x = int(xraw * xscale * 256.0 / 9.81)
        try:
            with open(prefix_path + "in_anglvel_" + 'y_raw', 'r') as f:
                yraw = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'y_raw', exc)
            yraw = 0.0
        try:
            with open(prefix_path + "in_anglvel_" + 'y_scale', 'r') as f:
                yscale = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'y_scale', exc)
            yscale = 0.0
        gyro_y = int(yraw * yscale * 256.0 / 9.81)
        try:
            with open(prefix_path + "in_anglvel_" + 'z_raw', 'r') as f:
                zraw = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'z_raw', exc)
            zraw = 0.0
        try:
            with open(prefix_path + "in_anglvel_" + 'z_scale', 'r') as f:
                zscale = float(f.read())
        except Exception as exc:
            print("[ERROR] read %s " % prefix_path + "in_anglvel_" + 'z_scale', exc)
            zscale = 0.0
        gyro_z = int(zraw * zscale * 256.0 / 9.81)
        return [ gyro_x, gyro_y, gyro_z]

# -------------------------------------------------------------------
# -------------------------------------------------------------------
class MainUIWindow(Gtk.Window):
    def __init__(self):
        Gtk.Window.__init__(self, title="Sensor usage")
        #self.set_decorated(False)
        self.maximize()
        self.screen_width = self.get_screen().get_width()
        self.screen_height = self.get_screen().get_height()

        self.set_default_size(self.screen_width, self.screen_height)
        print("[DEBUG] screen size: %dx%d" % (self.screen_width, self.screen_height))
        self.set_position(Gtk.WindowPosition.CENTER)
        self.connect('destroy', Gtk.main_quit)

        # search sensor interface
        self.sensors = Sensors()
        self.sensors.found_all_sensor_path()

        sensor_box = Gtk.VBox(spacing=0)

        # temperature
        temp_label = Gtk.Label()
        temp_label.set_markup("<span font_desc='LiberationSans 25'>Temperature</span>")
        self.temp_value_label = Gtk.Label()
        self.temp_value_label.set_markup("<span font_desc='LiberationSans 25'>--.-- °C</span>")
        temp_box = Gtk.HBox(False, 0)
        temp_box.add(temp_label)
        temp_box.add(self.temp_value_label)
        sensor_box.add(temp_box)

        # humidity
        humidity_label = Gtk.Label()
        humidity_label.set_markup("<span font_desc='LiberationSans 25'>Humidity</span>")
        self.humidity_value_label = Gtk.Label()
        self.humidity_value_label.set_markup("<span font_desc='LiberationSans 25'>--.-- %c</span>" % '%')
        humidity_box = Gtk.HBox(False, 0)
        humidity_box.add(humidity_label)
        humidity_box.add(self.humidity_value_label)
        sensor_box.add(humidity_box)

        # Accel
        accel_label = Gtk.Label()
        accel_label.set_markup("<span font_desc='LiberationSans 25'>Accelerometer</span>")
        self.accel_value_label = Gtk.Label()
        self.accel_value_label.set_markup("<span font_desc='LiberationSans 25'> [ --.--, --.--, --.--]</span>")
        accel_box = Gtk.HBox(False, 0)
        accel_box.add(accel_label)
        accel_box.add(self.accel_value_label)
        sensor_box.add(accel_box)

        # Gyroscope
        gyro_label = Gtk.Label()
        gyro_label.set_markup("<span font_desc='LiberationSans 25'>Gyroscope</span>")
        self.gyro_value_label = Gtk.Label()
        self.gyro_value_label.set_markup("<span font_desc='LiberationSans 25'> [ --.--, --.--, --.--]</span>")
        gyro_box = Gtk.HBox(False, 0)
        gyro_box.add(gyro_label)
        gyro_box.add(self.gyro_value_label)
        sensor_box.add(gyro_box)

        self.add(sensor_box)

        # Add a timer callback to update
        # this takes 2 args: (how often to update in millisec, the method to run)
        self.timer = GObject.timeout_add(TIME_UPATE, self.update_ui, None)
        self.timer_enable = True


    def destroy(self, widget, data=None):
        Gtk.main_quit()


    def update_ui(self, user_data):
        if False == self.timer_enable:
            return False;
        # temperature
        temp = self.sensors.temperature_read()
        self.temp_value_label.set_markup("<span font_desc='LiberationSans 25'>%.02f °C</span>" % temp)
        # humidity
        hum = self.sensors.humidity_read()
        self.humidity_value_label.set_markup("<span font_desc='LiberationSans 25'>%.02f %c</span>" % (hum, '%'))
        # accel
        accel = self.sensors.accelerometer_read()
        self.accel_value_label.set_markup("<span font_desc='LiberationSans 25'>[ %.02f, %.02f, %.02f]</span>" % (accel[0], accel[1], accel[2]))
        # gyro
        gyro = self.sensors.gyroscope_read()
        self.gyro_value_label.set_markup("<span font_desc='LiberationSans 25'>[ %.02f, %.02f, %.02f]</span>" % (gyro[0], gyro[1], gyro[2]))

        # As this is a timeout function, return True so that it
        # continues to get called
        return True


# -------------------------------------------------------------------
# -------------------------------------------------------------------
# Main
if __name__ == "__main__":
    # add signal to catch CRTL+C
    import signal
    signal.signal(signal.SIGINT, signal.SIG_DFL)
    win = MainUIWindow()
    win.connect("delete-event", Gtk.main_quit)
    win.show_all()

    Gtk.main()
  • Screenshot showing the results in the graphic user interface
Result of Python script
Result of Python script

5.7 More screenshot examples with results displayed in a graphic user interface[edit]

Example of interpreted IMU data
Example of interpreted IMU data


Example of raw IMU data
Example of raw IMU data


Example of sensors data presentation
Example of sensors data presentation


6 References[edit]

  1. IKS01A2 User Manual [1]
  2. 2.02.1 IKS01A2 Schematics [2]
  3. 3.03.1 STM32MP157C-DK2 Schematics [3]


Inter-Integrated Circuit

Serial Peripheral Interface

Industrial I/O Linux subsystem

Serial DAta line

Serial clock line

System File System (See https://en.wikipedia.org/wiki/Sysfs for more details)

Inertial Measurement Unit

Internet of Things

Attachments

Discussions