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Add FIFO example
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‎examples/ISM330DHCX_FIFO/ISM330DHCX_FIFO.ino‎

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/*
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@file ISM330DHCX_FIFO.ino
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@author STMicroelectronics
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@brief Example to use the ISM330DHCX 3D accelerometer and 3D gyroscope FIFO
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*******************************************************************************
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Copyright (c) 2022, STMicroelectronics
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All rights reserved.
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This software component is licensed by ST under BSD 3-Clause license,
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the "License"; You may not use this file except in compliance with the
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License. You may obtain a copy of the License at:
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opensource.org/licenses/BSD-3-Clause
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*******************************************************************************
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*/
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// Includes
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#include <ISM330DHCXSensor.h>
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#if defined(ARDUINO_STM32WB5MM_DK) || defined(ARDUINO_B_U585I_IOT02A)
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#define USE_I2C_INTERFACE
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#else
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// Uncomment one communication interface to use:
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// X-NUCLEO-IKS02A1 uses I2C interface (set by default)
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// #define USE_SPI_INTERFACE
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#define USE_I2C_INTERFACE
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#endif
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#if !defined(USE_SPI_INTERFACE) && !defined(USE_I2C_INTERFACE) || \
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defined(USE_SPI_INTERFACE) && defined(USE_I2C_INTERFACE)
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#error "Uncomment one communication interface to use!"
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#endif
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#ifdef USE_SPI_INTERFACE
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// Uncomment to set SPI pins to use else default instance will be used
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// #define ISM330DHCX_SPI_MOSI PB10
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// #define ISM330DHCX_SPI_MISO PB11
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// #define ISM330DHCX_SPI_SCLK PB11
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// Define Software Chip Select pin to use (default: SS)
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#define ISM330DHCX_SPI_SSEL SS
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#if defined(ISM330DHCX_SPI_MOSI) && defined(ISM330DHCX_SPI_MISO) && \
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defined(ISM330DHCX_SPI_SCLK) && defined(ISM330DHCX_SPI_SSEL)
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SPIClass dev_interface(ISM330DHCX_SPI_MOSI, ISM330DHCX_SPI_MISO, ISM330DHCX_SPI_SCLK);
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#else
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#define dev_interface SPI
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#endif
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ISM330DHCXSensor AccGyr(&dev_interface, ISM330DHCX_SPI_SSEL);
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#else // USE_I2C_INTERFACE
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#if defined(ARDUINO_STM32WB5MM_DK)
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#define ISM330DHCX_I2C_SCL PB13
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#define ISM330DHCX_I2C_SDA PB11
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#elif defined(ARDUINO_B_U585I_IOT02A)
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#define ISM330DHCX_I2C_SCL PH4
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#define ISM330DHCX_I2C_SDA PH5
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#else
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// Uncomment to set I2C pins to use else default instance will be used
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// #define ISM330DHCX_I2C_SCL PYn
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// #define ISM330DHCX_I2C_SDA PYn
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#endif
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#if defined(ISM330DHCX_I2C_SCL) && defined(ISM330DHCX_I2C_SDA)
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TwoWire dev_interface(ISM330DHCX_I2C_SDA, ISM330DHCX_I2C_SCL);
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#else
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// X-NUCLEO-IKS02A1 uses default instance
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#define dev_interface Wire
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#endif
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ISM330DHCXSensor AccGyr(&dev_interface);
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#endif
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#define SENSOR_ODR 104.0f // In Hertz
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#define ACC_FS 2 // In g
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#define GYR_FS 2000 // In dps
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#define MEASUREMENT_TIME_INTERVAL (1000.0f/SENSOR_ODR) // In ms
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#define FIFO_SAMPLE_THRESHOLD 199
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#define FLASH_BUFF_LEN 8192
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unsigned long timestamp_count = 0;
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bool acc_available = false;
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bool gyr_available = false;
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int32_t acc_value[3];
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int32_t gyr_value[3];
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char buff[FLASH_BUFF_LEN];
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uint32_t pos = 0;
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void Read_FIFO_Data(uint16_t samples_to_read);
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void setup() {
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Serial.begin(115200);
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dev_interface.begin();
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// Initialize IMU.
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AccGyr.begin();
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AccGyr.ACC_Enable();
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AccGyr.GYRO_Enable();
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// Configure ODR and FS of the acc and gyro
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AccGyr.ACC_SetOutputDataRate(SENSOR_ODR);
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AccGyr.ACC_SetFullScale(ACC_FS);
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AccGyr.GYRO_SetOutputDataRate(SENSOR_ODR);
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AccGyr.GYRO_SetFullScale(GYR_FS);
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// Configure FIFO BDR for acc and gyro
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AccGyr.FIFO_ACC_Set_BDR(SENSOR_ODR);
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AccGyr.FIFO_GYRO_Set_BDR(SENSOR_ODR);
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// Set FIFO in Continuous mode
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AccGyr.FIFO_Set_Mode(ISM330DHCX_STREAM_MODE);
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Serial.println("ISM330DHCX FIFO Demo");
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}
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void loop() {
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uint16_t fifo_samples;
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// Check the number of samples inside FIFO
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AccGyr.FIFO_Get_Num_Samples(&fifo_samples);
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// If we reach the threshold we can empty the FIFO
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if (fifo_samples > FIFO_SAMPLE_THRESHOLD) {
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// Empty the FIFO
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Read_FIFO_Data(fifo_samples);
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// Print FIFO data
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Serial.print(buff);
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}
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}
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void Read_FIFO_Data(uint16_t samples_to_read)
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{
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uint16_t i;
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for (i = 0; i < samples_to_read; i++) {
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uint8_t tag;
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// Check the FIFO tag
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AccGyr.FIFO_Get_Tag(&tag);
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switch (tag) {
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// If we have a gyro tag, read the gyro data
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case ISM330DHCX_GYRO_NC_TAG: {
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AccGyr.FIFO_GYRO_Get_Axes(gyr_value);
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gyr_available = true;
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break;
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}
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// If we have an acc tag, read the acc data
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case ISM330DHCX_XL_NC_TAG: {
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AccGyr.FIFO_ACC_Get_Axes(acc_value);
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acc_available = true;
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break;
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}
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// We can discard other tags
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default: {
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break;
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}
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}
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// If we have the measurements of both acc and gyro, we can store them with timestamp
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if (acc_available && gyr_available) {
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int num_bytes;
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num_bytes = snprintf(&buff[pos], (FLASH_BUFF_LEN - pos), "%lu %d %d %d %d %d %d\r\n", (unsigned long)((float)timestamp_count * MEASUREMENT_TIME_INTERVAL), (int)acc_value[0], (int)acc_value[1], (int)acc_value[2], (int)gyr_value[0], (int)gyr_value[1], (int)gyr_value[2]);
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pos += num_bytes;
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timestamp_count++;
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acc_available = false;
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gyr_available = false;
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}
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}
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// We can add the termination character to the string, so we are ready to print it on hyper-terminal
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buff[pos] = '\0';
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pos = 0;
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}

‎library.properties‎

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name=STM32duino ISM330DHCX
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version=2.0.2
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version=2.1.0
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author=SRA
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maintainer=stm32duino
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sentence=High-Performance 3D digital accelerometer and 3D digital gyroscope.

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