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commit 4a64703a601c9c41c90eef4d2d865a606eef59cd Author: raiden00pl <[email protected]> AuthorDate: Fri Jul 24 15:02:15 2026 +0200 boards/stm32f4discovery: add sensorscope config streams the on-board LIS3DSH over USB CDC/ACM with SensorScope Signed-off-by: raiden00pl <[email protected]> Assisted-by: Claude:Claude-Fable-5 --- .../arm/stm32f4/boards/stm32f4discovery/index.rst | 23 ++++++++ boards/arm/common/stm32/src/CMakeLists.txt | 2 +- boards/arm/common/stm32/src/Make.defs | 2 +- boards/arm/common/stm32/src/stm32_lis3dsh.c | 40 +++++++------ .../stm32f4discovery/configs/sensorscope/defconfig | 65 ++++++++++++++++++++++ .../stm32f4/stm32f4discovery/src/stm32_bringup.c | 12 +++- .../arm/stm32f4/stm32f4discovery/src/stm32_spi.c | 6 +- 7 files changed, 127 insertions(+), 23 deletions(-) diff --git a/Documentation/platforms/arm/stm32f4/boards/stm32f4discovery/index.rst b/Documentation/platforms/arm/stm32f4/boards/stm32f4discovery/index.rst index ea78006fcfd..452ab1ff585 100644 --- a/Documentation/platforms/arm/stm32f4/boards/stm32f4discovery/index.rst +++ b/Documentation/platforms/arm/stm32f4/boards/stm32f4discovery/index.rst @@ -2448,3 +2448,26 @@ nxscope_cdcacm Configuration demonstrating NxScope stream over CDC-ACM interface. See :doc:`/applications/examples/nxscope/index` and :doc:`/applications/logging/nxscope/index` for more details. + +sensorscope +----------- + +Streams the on-board LIS3DSH accelerometer (registered as a uORB sensor at +``/dev/uorb/sensor_accel0``) over the USB CDC/ACM virtual serial port using the +SensorScope application on top of the NxScope logging protocol. The stream is +read on the host with Nxscli (https://github.com/railab/nxscli). + +Read it with Nxscli:: + + # List the available channels: expect one FLOAT channel of dimension 3 + # named "sensor_accel0" (the accelerometer X/Y/Z axes). + nxscli serial /dev/ttyACM1 pdevinfo + + # Print samples of channel 0 to stdout. + nxscli serial /dev/ttyACM1 chan 0 pprinter 100 + + # Plot samples with nxscli-pqg plugin. + nxscli serial /dev/ttyACM1 chan 0 q_roll 100 + +See :doc:`/applications/system/sensorscope/index` and +:doc:`/applications/logging/nxscope/index` for more details. diff --git a/boards/arm/common/stm32/src/CMakeLists.txt b/boards/arm/common/stm32/src/CMakeLists.txt index 7f557894370..50b724581eb 100644 --- a/boards/arm/common/stm32/src/CMakeLists.txt +++ b/boards/arm/common/stm32/src/CMakeLists.txt @@ -144,7 +144,7 @@ if(CONFIG_SENSORS_AMG88XX) list(APPEND SRCS stm32_amg88xx.c) endif() -if(CONFIG_LIS3DSH) +if(CONFIG_LIS3DSH OR CONFIG_SENSORS_LIS3DSH_UORB) list(APPEND SRCS stm32_lis3dsh.c) endif() diff --git a/boards/arm/common/stm32/src/Make.defs b/boards/arm/common/stm32/src/Make.defs index 95482c11489..e62d8f0e291 100644 --- a/boards/arm/common/stm32/src/Make.defs +++ b/boards/arm/common/stm32/src/Make.defs @@ -160,7 +160,7 @@ ifeq ($(CONFIG_SENSORS_AMG88XX),y) CSRCS+= stm32_amg88xx.c endif -ifeq ($(CONFIG_LIS3DSH),y) +ifneq (,$(filter y,$(CONFIG_LIS3DSH) $(CONFIG_SENSORS_LIS3DSH_UORB))) CSRCS += stm32_lis3dsh.c endif diff --git a/boards/arm/common/stm32/src/stm32_lis3dsh.c b/boards/arm/common/stm32/src/stm32_lis3dsh.c index f1cfaa31ce3..e483fb63c8e 100644 --- a/boards/arm/common/stm32/src/stm32_lis3dsh.c +++ b/boards/arm/common/stm32/src/stm32_lis3dsh.c @@ -62,12 +62,14 @@ * ****************************************************************************/ +#ifndef CONFIG_SENSORS_LIS3DSH_UORB int attach_disc_lis3dsh(struct lis3dsh_config_s *config, xcpt_t interrupt_handler) { return stm32_gpiosetevent(BOARD_LIS3DSH_GPIO_EXT0, true, false, false, interrupt_handler, NULL); } +#endif /**************************************************************************** * Public Functions @@ -77,10 +79,12 @@ int attach_disc_lis3dsh(struct lis3dsh_config_s *config, * Name: board_lis3dsh_initialize * * Description: - * Initialize and register the LIS3DSH 3-axis accelerometer. + * Initialize and register the LIS3DSH 3-axis accelerometer as a legacy + * character device (/dev/accN), or as a uORB sensor when + * CONFIG_SENSORS_LIS3DSH_UORB is selected. * * Input Parameters: - * devno - The device number, used to build the device path as /dev/accN + * devno - The device number * busno - The SPI bus number * * Returned Value: @@ -90,28 +94,28 @@ int attach_disc_lis3dsh(struct lis3dsh_config_s *config, int board_lis3dsh_initialize(int devno, int busno) { - static struct lis3dsh_config_s acc0_config; - char devpath[12]; struct spi_dev_s *spi; - int ret; sninfo("Initializing LIS3DSH\n"); - acc0_config.irq = 22; - acc0_config.spi_devid = 0; - acc0_config.attach = &attach_disc_lis3dsh; - - spi = stm32_spibus_initialize(1); - if (!spi) + spi = stm32_spibus_initialize(busno); + if (spi == NULL) { spiinfo("Failed to initialize SPI port\n"); - ret = -ENODEV; - } - else - { - snprintf(devpath, sizeof(devpath), "/dev/acc%d", devno); - ret = lis3dsh_register(devpath, spi, &acc0_config); + return -ENODEV; } - return ret; +#ifdef CONFIG_SENSORS_LIS3DSH_UORB + return lis3dsh_register_uorb(devno, spi); +#else + static struct lis3dsh_config_s acc0_config; + char devpath[12]; + + acc0_config.irq = 22; + acc0_config.spi_devid = 0; + acc0_config.attach = &attach_disc_lis3dsh; + + snprintf(devpath, sizeof(devpath), "/dev/acc%d", devno); + return lis3dsh_register(devpath, spi, &acc0_config); +#endif } diff --git a/boards/arm/stm32f4/stm32f4discovery/configs/sensorscope/defconfig b/boards/arm/stm32f4/stm32f4discovery/configs/sensorscope/defconfig new file mode 100644 index 00000000000..3315f376be4 --- /dev/null +++ b/boards/arm/stm32f4/stm32f4discovery/configs/sensorscope/defconfig @@ -0,0 +1,65 @@ +# +# This file is autogenerated: PLEASE DO NOT EDIT IT. +# +# You can use "make menuconfig" to make any modifications to the installed .config file. +# You can then do "make savedefconfig" to generate a new defconfig file that includes your +# modifications. +# +# CONFIG_ARCH_FPU is not set +# CONFIG_DEV_CONSOLE is not set +CONFIG_ARCH="arm" +CONFIG_ARCH_BOARD="stm32f4discovery" +CONFIG_ARCH_BOARD_COMMON=y +CONFIG_ARCH_BOARD_STM32F4_DISCOVERY=y +CONFIG_ARCH_BUTTONS=y +CONFIG_ARCH_CHIP="stm32f4" +CONFIG_ARCH_CHIP_STM32=y +CONFIG_ARCH_CHIP_STM32F407VG=y +CONFIG_ARCH_CHIP_STM32F4=y +CONFIG_ARCH_STACKDUMP=y +CONFIG_BOARDCTL=y +CONFIG_BOARDCTL_USBDEVCTRL=y +CONFIG_BOARD_LOOPSPERMSEC=16717 +CONFIG_BUILTIN=y +CONFIG_CDCACM=y +CONFIG_CDCACM_RXBUFSIZE=256 +CONFIG_CDCACM_TXBUFSIZE=2048 +CONFIG_DEBUG_FULLOPT=y +CONFIG_DEBUG_SYMBOLS=y +CONFIG_FS_PROCFS=y +CONFIG_HAVE_CXX=y +CONFIG_HAVE_CXXINITIALIZE=y +CONFIG_IDLETHREAD_STACKSIZE=2048 +CONFIG_INIT_ENTRYPOINT="sensorscope_main" +CONFIG_INIT_STACKSIZE=4096 +CONFIG_INTELHEX_BINARY=y +CONFIG_LOGGING_NXSCOPE=y +CONFIG_LOGGING_NXSCOPE_ACKFRAMES=y +CONFIG_LOGGING_NXSCOPE_DIVIDER=y +CONFIG_MM_REGIONS=2 +CONFIG_PREALLOC_TIMERS=4 +CONFIG_RAMLOG=y +CONFIG_RAMLOG_BUFSIZE=4096 +CONFIG_RAMLOG_SYSLOG=y +CONFIG_RAM_SIZE=114688 +CONFIG_RAM_START=0x20000000 +CONFIG_RAW_BINARY=y +CONFIG_RR_INTERVAL=200 +CONFIG_SCHED_WAITPID=y +CONFIG_SENSORS=y +CONFIG_SENSORS_LIS3DSH_UORB=y +CONFIG_STACK_COLORATION=y +CONFIG_START_DAY=27 +CONFIG_START_YEAR=2013 +CONFIG_STM32_JTAG_SW_ENABLE=y +CONFIG_STM32_OTGFS=y +CONFIG_STM32_PWR=y +CONFIG_STM32_SPI1=y +CONFIG_STM32_USART2=y +CONFIG_SYSTEM_READLINE=y +CONFIG_SYSTEM_SENSORSCOPE=y +CONFIG_SYSTEM_SENSORSCOPE_CDCACM=y +CONFIG_SYSTEM_SENSORSCOPE_FETCH_INTERVAL=100000 +CONFIG_SYSTEM_SENSORSCOPE_SERIAL_PATH="/dev/ttyACM0" +CONFIG_SYSTEM_SENSORSCOPE_STREAMBUF_LEN=2048 +CONFIG_USBDEV=y diff --git a/boards/arm/stm32f4/stm32f4discovery/src/stm32_bringup.c b/boards/arm/stm32f4/stm32f4discovery/src/stm32_bringup.c index 16d4cbc15f2..7a8dec8f346 100644 --- a/boards/arm/stm32f4/stm32f4discovery/src/stm32_bringup.c +++ b/boards/arm/stm32f4/stm32f4discovery/src/stm32_bringup.c @@ -133,7 +133,7 @@ #include "stm32_bh1750.h" #endif -#ifdef CONFIG_LIS3DSH +#if defined(CONFIG_LIS3DSH) || defined(CONFIG_SENSORS_LIS3DSH_UORB) #include "stm32_lis3dsh.h" #endif @@ -282,6 +282,16 @@ int stm32_bringup(void) } #endif +#ifdef CONFIG_SENSORS_LIS3DSH_UORB + /* Initialize the on-board LIS3DSH accelerometer as a uORB sensor on SPI1 */ + + ret = board_lis3dsh_initialize(0, 1); + if (ret < 0) + { + syslog(LOG_ERR, "ERROR: board_lis3dsh_initialize failed: %d\n", ret); + } +#endif + #ifdef CONFIG_LEDS_MAX7219 ret = stm32_max7219init("/dev/numdisp0"); if (ret < 0) diff --git a/boards/arm/stm32f4/stm32f4discovery/src/stm32_spi.c b/boards/arm/stm32f4/stm32f4discovery/src/stm32_spi.c index dac42a7b178..c55d078d508 100644 --- a/boards/arm/stm32f4/stm32f4discovery/src/stm32_spi.c +++ b/boards/arm/stm32f4/stm32f4discovery/src/stm32_spi.c @@ -69,7 +69,8 @@ void weak_function stm32_spidev_initialize(void) stm32_configgpio(GPIO_W5500_INTR); #endif -#if defined(CONFIG_STM32_SPI1) && defined(CONFIG_SENSORS_LIS3MDL) +#if defined(CONFIG_STM32_SPI1) && (defined(CONFIG_SENSORS_LIS3MDL) || \ + defined(CONFIG_SENSORS_LIS3DSH_UORB) || defined(CONFIG_LIS3DSH)) stm32_configgpio(GPIO_CS_MEMS); /* MEMS chip select */ #endif @@ -189,7 +190,8 @@ void stm32_spi1select(struct spi_dev_s *dev, uint32_t devid, } #endif -#if defined (CONFIG_SENSORS_LIS3MDL) +#if defined(CONFIG_SENSORS_LIS3MDL) || defined(CONFIG_SENSORS_LIS3DSH_UORB) || \ + defined(CONFIG_LIS3DSH) if (devid == SPIDEV_ACCELEROMETER(0)) { stm32_gpiowrite(GPIO_CS_MEMS, !selected);
