Sensors

IMU

Interface for the inertial measurement unit (LSM6DSO32). Provides orientation and acceleration data.

int imu_poll(const struct device *dev, float *orientation_deg, float *acc)

Poll the IMU for orientation and acceleration data.

Parameters:

  • dev – Pointer to the IMU device.

  • orientation_deg – Output for orientation angle in degrees, or NULL.

  • acc – Output for acceleration magnitude in m/s^2, or NULL.

Return values:

  • 0 – on success.

  • -errno – Negative errno on failure.

int imu_set_sampling_freq(const struct device *dev, int sampling_rate_hz)

Set the IMU accelerometer and gyroscope sampling frequency.

Parameters:

  • dev – Pointer to the IMU device.

  • sampling_rate_hz – Desired sampling rate in Hertz.

Return values:

  • 0 – on success.

  • -errno – Negative errno on failure.

int imu_init(const struct device *dev)

Initialize the IMU device.

Checks device readiness and configures the sampling frequency.

Parameters:

dev – Pointer to the IMU device.

Return values:

  • 0 – on success.

  • -ENODEV – if the device is not ready.

Barometer

Interface for the barometric pressure sensor (MS5607). Computes altitude from pressure readings.

int baro_measure(const struct device *dev, struct sensor_value *temp, struct sensor_value *press)

Measure temperature and pressure from the barometric sensor.

Parameters:

  • dev – Pointer to the barometric sensor device.

  • temp – Output for temperature, or NULL to skip.

  • press – Output for pressure, or NULL to skip.

Return values:

  • 0 – on success.

  • -EINVAL – if dev is NULL and both outputs are NULL.

  • -errno – Other negative errno on failure.

int baro_init(const struct device *dev)

Initialize the barometric pressure sensor.

Checks device readiness and configures the oversampling rate.

Parameters:

dev – Pointer to the barometric sensor device.

Return values:

  • 0 – on success.

  • -ETIMEDOUT – if the device is not ready.

  • -EIO – if oversampling configuration fails.