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`zsensor` — Zephyr sensor bindings

The zsensor module contains a class for using sensors with Zephyr.

class Sensor — sensor control for the Zephyr port

Use this class to access data from sensors on your board. See Zephyr documentation for sensor usage here: Sensors.

Sensors are defined in the Zephyr devicetree for each board. The quantities that a given sensor can measure are called a sensor channels. Sensors can have multiple channels to represent different axes of one property or different properties a sensor can measure. See Channels below for defined sensor channels. Each channel may have multiple attributes that can be changed and/or queried. See Channel Attributes below for defined sensor channel attributes.

Constructor

class zsensor.Sensor(device_name): Device names are defined in the devicetree for your board. For example, the device name for the accelerometer in the FRDM-k64f board is “FXOS8700”.

Methods

Sensor.measure(): Obtains a measurement sample from the sensor device using Zephyr sensor_sample_fetch and stores it in an internal driver buffer as a useful value, a pair of (integer part of value, fractional part of value in 1-millionths). Returns none if successful or OSError value if failure.

Sensor.get_float(sensor_channel): Returns the value of the sensor measurement sample as a float.

Sensor.get_micros(sensor_channel): Returns the value of the sensor measurement sample in millionths. (Ex. value of (1, 500000) returns as 1500000)

Sensor.get_millis(sensor_channel): Returns the value of sensor measurement sample in thousandths. (Ex. value of (1, 500000) returns as 1500)

Sensor.get_int(sensor_channel): Returns only the integer value of the measurement sample. (Ex. value of (1, 500000) returns as 1)

Sensor.attr_set(sensor_channel, channel_attribute, val1[, val2])

Set the given channel’s attribute to the given value. val1 may be a float, in which case val2 is not given, or val1 can be used for the value’s integer part and val2 for the value’s fractional part in millionths.

Returns None if successful, or raises OSError.

Sensor.attr_get_float(sensor_channel, channel_attribute)

Returns the value of the sensor channel’s attribute as a float.

Many sensors do not support this or any other of the attr_get methods.

Sensor.attr_get_micros(sensor_channel, channel_attribute): Returns the value of the sensor channel’s attribute in millionths. (Ex. value of (1, 500000) returns as 1500000)

Sensor.attr_get_millis(sensor_channel, channel_attribute): Returns the value of the sensor channel’s attribute in thousandths. (Ex. value of (1, 500000) returns as 1500)

Sensor.attr_get_int(sensor_channel, channel_attribute): Returns only the integer value of the channel’s attribute. (Ex. value of (1, 500000) returns as 1)

Channels

zsensor.ACCEL_X: Acceleration on the X axis, in m/s^2.

zsensor.ACCEL_Y: Acceleration on the Y axis, in m/s^2.

zsensor.ACCEL_Z: Acceleration on the Z axis, in m/s^2.

zsensor.ACCEL_XYZ: Pseudo-channel representing all three accelerometer axes. Used for Sensor.attr_set() and the Sensor.attr_get_xxx() methods.

zsensor.GYRO_X: Angular velocity around the X axis, in radians/s.

zsensor.GYRO_Y: Angular velocity around the Y axis, in radians/s.

zsensor.GYRO_Z: Angular velocity around the Z axis, in radians/s.

zsensor.GYRO_XYZ: Pseudo-channel representing all three gyroscope axes. Used for Sensor.attr_set() and the Sensor.attr_get_xxx() methods.

zsensor.MAGN_X: Magnetic field on the X axis, in Gauss.

zsensor.MAGN_Y: Magnetic field on the Y axis, in Gauss.

zsensor.MAGN_Z: Magnetic field on the Z axis, in Gauss.

zsensor.DIE_TEMP: Device die temperature in degrees Celsius.

zsensor.PRESS: Pressure in kilopascal.

zsensor.PROX: Proximity. Dimensionless. A value of 1 indicates that an object is close.

zsensor.HUMIDITY: Humidity, in percent.

zsensor.LIGHT: Illuminance in visible spectrum, in lux.

zsensor.ALTITUDE: Altitude, in meters.

Channel Attributes

zsensor.ATTR_SAMPLING_FREQUENCY: Sensor sampling frequency, i.e. how many times a second the sensor takes a measurement.

zsensor.ATTR_LOWER_THRESH: Lower threshold for trigger.

zsensor.ATTR_UPPER_THRESH: Upper threshold for trigger.

zsensor.ATTR_SLOPE_TH: Threshold for any-motion (slope) trigger.

zsensor.ATTR_SLOPE_DUR: Duration for which the slope values needs to be outside the threshold for the trigger to fire.

zsensor.ATTR_HYSTERESIS

zsensor.ATTR_OVERSAMPLING: Oversampling factor.

zsensor.ATTR_FULL_SCALE: Sensor range, in SI units.

zsensor.ATTR_OFFSET: The sensor value returned will be altered by the amount indicated by offset: final_value = sensor_value + offset.

zsensor.ATTR_CALIB_TARGET: Calibration target. This will be used by the internal chip’s algorithms to calibrate itself on a certain axis, or all of them.

zsensor.ATTR_CONFIGURATION: Configure the operating modes of a sensor.

zsensor.ATTR_CALIBRATION: Set a calibration value needed by a sensor.

zsensor.ATTR_FEATURE_MASK: Enable/disable sensor features.

zsensor.ATTR_ALERT: Alert threshold or alert enable/disable.

zsensor.ATTR_FF_DUR: Free-fall duration represented in milliseconds. If the sampling frequency is changed during runtime, this attribute should be set to adjust freefall duration to the new sampling frequency.

zsensor.ATTR_BATCH_DURATION: Hardware batch duration in ticks.

zsensor.ATTR_GAIN

zsensor.ATTR_RESOLUTION

zsensor — Zephyr sensor bindings