From 7fddc21eee15552abe2f14b0c22dc8444a8b4569 Mon Sep 17 00:00:00 2001
From: Brendan Haines <brendan.haines@gmail.com>
Date: Sun, 28 Apr 2024 00:35:57 -0600
Subject: [PATCH] add second accelerometer for comparison

---
 app/src/main.c                              | 37 +++++++++++++++++----
 boards/bh/mellifera_rev1/mellifera_rev1.dts |  6 ++++
 drivers/sensor/bmx055/bmx055.c              |  8 ++---
 3 files changed, 40 insertions(+), 11 deletions(-)

diff --git a/app/src/main.c b/app/src/main.c
index 228ec5b..1b939ee 100644
--- a/app/src/main.c
+++ b/app/src/main.c
@@ -84,7 +84,7 @@ int main(void)
 
 	cfb_set_kerning(dev, 3);
 
-	const struct device *ina, *bmp, *bmx, *hdc;
+	const struct device *ina, *bmp, *bmx, *lis, *hdc;
 
 	ina = DEVICE_DT_GET(DT_NODELABEL(ina231));
 	if (!device_is_ready(ina))
@@ -108,6 +108,14 @@ int main(void)
 	}
 	LOG_INF("Initialized %s\n", bmx->name);
 
+	lis = DEVICE_DT_GET(DT_NODELABEL(lis2dh));
+	if (!device_is_ready(lis))
+	{
+		LOG_ERR("Device %s not ready\n", lis->name);
+		return 0;
+	}
+	LOG_INF("Initialized %s\n", lis->name);
+
 	// hdc = DEVICE_DT_GET(DT_NODELABEL(hdc1080));
 	// if (!device_is_ready(dev))
 	// {
@@ -118,12 +126,13 @@ int main(void)
 	while (1)
 	{
 		int ret;
-		struct sensor_value voltage, current, pressure, temperature, accel_x, humidity;
+		struct sensor_value voltage, current, pressure, temperature, accel_z, accel_z_ref, humidity;
 		char str_v[15] = {0};
 		char str_i[15] = {0};
 		char str_p[16] = {0};
 		char str_t[16] = {0};
-		char str_ax[16] = {0};
+		char str_az[16] = {0};
+		char str_az_ref[16] = {0};
 		char str_h[16] = {0};
 
 		ret = sensor_sample_fetch(ina);
@@ -176,7 +185,20 @@ int main(void)
 			LOG_ERR("Could not get temperature (%d)", ret);
 			return 0;
 		}
-		ret = sensor_channel_get(bmx, SENSOR_CHAN_ACCEL_X, &accel_x);
+		ret = sensor_channel_get(bmx, SENSOR_CHAN_ACCEL_Z, &accel_z);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not get acceleration (%d)", ret);
+			return 0;
+		}
+
+		ret = sensor_sample_fetch(lis);
+		if (ret < 0)
+		{
+			LOG_ERR("Could not fetch sample (%d)", ret);
+			return 0;
+		}
+		ret = sensor_channel_get(lis, SENSOR_CHAN_ACCEL_Z, &accel_z_ref);
 		if (ret < 0)
 		{
 			LOG_ERR("Could not get acceleration (%d)", ret);
@@ -200,7 +222,8 @@ int main(void)
 		sprintf(str_i, "I:%01d.%06d", current.val1, current.val2);
 		sprintf(str_p, "P:%03d.%04d", pressure.val1, pressure.val2 / 100);
 		sprintf(str_t, "T:%03d.%04d", temperature.val1, temperature.val2 / 100);
-		sprintf(str_ax, "X:%03d.%04d", accel_x.val1, accel_x.val2 / 100);
+		sprintf(str_az, "Z:%03d.%04d", accel_z.val1, accel_z.val2 / 100);
+		sprintf(str_az_ref, "Z:%03d.%04d", accel_z_ref.val1, accel_z_ref.val2 / 100);
 		sprintf(str_h, "H:%05d.%06d", humidity.val1, humidity.val2);
 
 		// printf("%s\t%s\t%s\t%s\n", str_v, str_i, str_p, str_t);
@@ -216,12 +239,12 @@ int main(void)
 			printf("Failed to print a string\n");
 			continue;
 		}
-		if (cfb_print(dev, str_ax, 0, 16 * 2))
+		if (cfb_print(dev, str_az, 0, 16 * 2))
 		{
 			printf("Failed to print a string\n");
 			continue;
 		}
-		if (cfb_print(dev, str_t, 0, 16 * 3))
+		if (cfb_print(dev, str_az_ref, 0, 16 * 3))
 		{
 			printf("Failed to print a string\n");
 			continue;
diff --git a/boards/bh/mellifera_rev1/mellifera_rev1.dts b/boards/bh/mellifera_rev1/mellifera_rev1.dts
index 9b967f0..b3f6697 100644
--- a/boards/bh/mellifera_rev1/mellifera_rev1.dts
+++ b/boards/bh/mellifera_rev1/mellifera_rev1.dts
@@ -173,6 +173,12 @@
 		compatible = "bosch,bmx055";
 		reg = <0x18>;
 	};
+
+	lis2dh: lis2dh@19 {
+		// This is built into the DWM1001 module
+		compatible = "st,lis2dh";
+		reg = <0x19>;
+	};
 };
 
 &spi1 {
diff --git a/drivers/sensor/bmx055/bmx055.c b/drivers/sensor/bmx055/bmx055.c
index 24e499c..c4061e3 100644
--- a/drivers/sensor/bmx055/bmx055.c
+++ b/drivers/sensor/bmx055/bmx055.c
@@ -154,19 +154,19 @@ static int bmx055_channel_get(const struct device *dev,
         val->val2 = 0; // TODO: don't throw out LSB
         break;
     case SENSOR_CHAN_ACCEL_X:
+    case SENSOR_CHAN_ACCEL_Y:
+        return -ENOTSUP;
+    case SENSOR_CHAN_ACCEL_Z:
         // For now assume 2g since that's the default value
         // 2g   0.98mg/LSB
         // 4g   1.95mg/LSB
         // 8g   3.91mg/LSB
         // 16g  7.81mg/LSB
         // 1 g = 9.80665 m/s^2
-        float accel = data->accel_x * 0.00098 * 9.80665; // to gees, to m/s^2
+        float accel = data->accel_z * 0.00098 * 9.80665; // to gees, to m/s^2
         val->val1 = accel;
         val->val2 = (accel - val->val1) * 1000000;
         break;
-    case SENSOR_CHAN_ACCEL_Y:
-    case SENSOR_CHAN_ACCEL_Z:
-        return -ENOTSUP;
     case SENSOR_CHAN_GYRO_X:
     case SENSOR_CHAN_GYRO_Y:
     case SENSOR_CHAN_GYRO_Z: