Get_FIFO_Watermark_Status

examples/fifo_interrupt.ino

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+/**
+ ******************************************************************************
+ * @file    fifo_interrupt.ino
+ * @author  alvaro-oliver
+ * @version V1.0.0
+ * @date    May 2021
+ * @brief   Example for LSM6DSOX library with FIFO status interrupts.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#include "LSM6DSOXSensor.h"
+
+#define SR 417.0f // Sample rate. Options are: 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333 and 6667 Hz
+#define WTM_LV 102 // Watermark threshold level. Max samples in this FIFO configuration is 512 (accel and gyro only).
+
+// Define interrupt pins according to MCU board and sensor wiring.
+#define INT1_pin A0 // MCU input pin connected to sensor INT1 output pin
+
+/** LSM6DSOX i2c address:
+ * LSM6DSOX_I2C_ADD_L: 0x6A (default)
+ * LSM6DSOX_I2C_ADD_H: 0x6B 
+ **/
+LSM6DSOXSensor lsm6dsoxSensor = LSM6DSOXSensor(&Wire, LSM6DSOX_I2C_ADD_L);
+
+volatile uint8_t fullFlag = 0; // FIFO full flag
+
+// ISR callback for INT1
+void INT1_fullEvent_cb() {
+  fullFlag = 1;
+}
+
+void setup() {
+
+  Serial.begin(921600);
+  // Comment this line to skip waiting for serial:
+  while(!Serial) delay(10);
+
+  // i2c, fast mode
+  Wire.begin();
+  Wire.setClock(400000);
+
+  // Interrupt pin settings
+  pinMode(INT1_pin, INPUT);
+  attachInterrupt(digitalPinToInterrupt(INT1_pin), INT1_fullEvent_cb, RISING); // attach watermark event to INT1 input pin
+
+  // Initialize sensors
+  lsm6dsoxSensor.begin();
+  if (lsm6dsoxSensor.Enable_G() == LSM6DSOX_OK && lsm6dsoxSensor.Enable_X() == LSM6DSOX_OK) {
+    Serial.println("Success enabling accelero and gyro");
+  } else {
+    Serial.println("Error enabling accelero and gyro");
+    abort();
+  }
+
+  // Check device id
+  uint8_t id;
+  lsm6dsoxSensor.ReadID(&id);
+  if (id != LSM6DSOX_ID) {
+    Serial.println("Wrong id for LSM6DSOX sensor. Check that device is plugged");
+    abort();
+  } else {
+    Serial.println("Success checking id for LSM6DSOX sensor");
+  }
+
+  // Set accelerometer scale. Available values are: 2, 4, 8, 16 G
+  lsm6dsoxSensor.Set_X_FS(2);
+  // Set gyroscope scale. Available values are: 125, 250, 500, 1000, 2000 dps
+  lsm6dsoxSensor.Set_G_FS(250);
+
+  // Set accelerometer Output Data Rate. Available values are: 1.6, 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333, 6667 Hz
+  lsm6dsoxSensor.Set_X_ODR(SR);
+  // Set gyroscope Output Data Rate. Available values are 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333, 6667 Hz
+  lsm6dsoxSensor.Set_G_ODR(SR);
+
+  // Set FIFO Batch Data Rate for accelerometer and gyroscope. Available values are: 0, 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333, 6667 Hz
+  lsm6dsoxSensor.Set_FIFO_X_BDR(SR);
+  lsm6dsoxSensor.Set_FIFO_G_BDR(SR);
+
+  /** Set FIFO operation mode. Available values are:
+   * LSM6DSOX_BYPASS_MODE: FIFO is not used, the buffer content is cleared
+   * LSM6DSOX_FIFO_MODE: bufer continues filling until it becomes full. Then it stops collecting data.
+   * LSM6DSOX_STREAM_MODE: continuous mode. Older data are replaced by the new data.
+   * LSM6DSOX_STREAM_TO_FIFO_MODE: FIFO buffer starts operating in Continuous mode and switches to FIFO mode when an event condition occurs.
+   * LSM6DSOX_BYPASS_TO_STREAM_MODE: FIFO buffer starts operating in Bypass mode and switches to Continuous mode when an event condition occurs.
+   * */
+  lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_BYPASS_MODE); // flush any previous value in FIFO before start
+
+  lsm6dsoxSensor.Set_FIFO_INT1_FIFO_Full(1); // enable FIFO full interrupt on sensor INT1 pin
+
+  // Set FIFO watermark level. Can be used to check when the number of samples in buffer reaches this defined threshold level.
+  lsm6dsoxSensor.Set_FIFO_Watermark_Level(WTM_LV);
+
+  // FIFO size can be limited to the watermark level by setting the STOP_ON_WTM flag to 1
+  lsm6dsoxSensor.Set_FIFO_Stop_On_Fth(1);
+
+  // start batching in continous mode
+  lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_STREAM_MODE);
+
+  Serial.println("Starting...");
+}
+
+void loop() {
+
+  uint16_t numSamples = 0; // number of samples in FIFO
+  uint8_t Tag; // FIFO data sensor identifier
+  int32_t acceleration[3]; // X, Y, Z accelerometer values in mg
+  int32_t rotation[3]; // X, Y, Z giroscope values in mdps
+  int16_t dummy[3];
+  uint8_t fullStatus = 0; // full status
+  int32_t count_acc_samples = 0;
+  int32_t count_gyro_samples = 0;
+  int32_t count_dummy_samples = 0;
+
+  // Get number of samples in buffer
+  lsm6dsoxSensor.Get_FIFO_Num_Samples(&numSamples);
+  Serial.print("Samples in FIFO: ");
+  Serial.println(numSamples);
+
+  // Check if FIFO threshold level was reached.
+  if (fullFlag != 0) {
+    fullFlag = 0;
+
+    lsm6dsoxSensor.Get_FIFO_Full_Status(&fullStatus);
+
+    if(fullStatus) {
+      Serial.println("-- FIFO Watermark level reached!, fetching data.");
+
+      lsm6dsoxSensor.Get_FIFO_Num_Samples(&numSamples);
+
+      Serial.print("numSamples=");
+      Serial.println(numSamples);
+
+      // fetch data from FIFO
+      for (uint16_t i = 0; i < numSamples; i++) {
+
+        lsm6dsoxSensor.Get_FIFO_Tag(&Tag); // get data identifier
+
+        // Get gyroscope data
+        if (Tag == 1) { 
+          lsm6dsoxSensor.Get_FIFO_G_Axes(rotation);
+          count_gyro_samples++;
+          #if 1 // set to 1 for printing values
+          Serial.print("mdps: "); Serial.print(rotation[0]); 
+          Serial.print(", "); Serial.print(rotation[1]); 
+          Serial.print(", "); Serial.print(rotation[2]); 
+          Serial.println();
+          #endif
+        } 
+
+        // Get accelerometer data
+        else if (Tag == 2) {
+          lsm6dsoxSensor.Get_FIFO_X_Axes(acceleration);
+          count_acc_samples++; 
+          #if 1 // set to 1 for printing values
+          Serial.print("mG: "); Serial.print(acceleration[0]); 
+          Serial.print(", "); Serial.print(acceleration[1]); 
+          Serial.print(", "); Serial.print(acceleration[2]); 
+          Serial.println();
+          #endif
+        }
+
+        // Flush unused tag
+        else {
+          lsm6dsoxSensor.Get_FIFO_Data((uint8_t *)dummy);
+          count_dummy_samples++;
+        }
+      }
+      Serial.print("Acc Samples: ");
+      Serial.println(count_acc_samples);
+      Serial.print("Gyro Samples: ");
+      Serial.println(count_gyro_samples);
+      Serial.print("Dummy Samples: ");
+      Serial.println(count_dummy_samples);
+    }
+  }
+}

examples/fifo_polling.ino

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+/**
+ ******************************************************************************
+ * @file    fifo_polling.ino
+ * @author  alvaro-oliver
+ * @version V1.0.1
+ * @date    May 2021
+ * @brief   Example for LSM6DSOX library with FIFO status polling.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2019 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *   1. Redistributions of source code must retain the above copyright notice,
+ *      this list of conditions and the following disclaimer.
+ *   2. Redistributions in binary form must reproduce the above copyright notice,
+ *      this list of conditions and the following disclaimer in the documentation
+ *      and/or other materials provided with the distribution.
+ *   3. Neither the name of STMicroelectronics nor the names of its contributors
+ *      may be used to endorse or promote products derived from this software
+ *      without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+*/
+
+#include "LSM6DSOXSensor.h"
+
+#define SR 417 // Sample rate. Options are: 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333 and 6667 Hz.
+#define WTM_LV 500 // Watermark threshold level. Max samples in this FIFO configuration is 512 (accel and gyro only).
+
+/** LSM6DSOX i2c address:
+ * LSM6DSOX_I2C_ADD_L: 0x6A (default)
+ * LSM6DSOX_I2C_ADD_H: 0x6B 
+ **/
+LSM6DSOXSensor lsm6dsoxSensor = LSM6DSOXSensor(&Wire, LSM6DSOX_I2C_ADD_L);
+
+void setup() {
+
+  Serial.begin(115200);
+  // Comment this line to skip waiting for serial:
+  while(!Serial) delay(10);
+
+  // i2c, fast mode
+  Wire.begin();
+  Wire.setClock(400000);
+
+  // Initialize sensors
+  lsm6dsoxSensor.begin();
+  if (lsm6dsoxSensor.Enable_G() == LSM6DSOX_OK && lsm6dsoxSensor.Enable_X() == LSM6DSOX_OK) {
+    Serial.println("Success enabling accelero and gyro");
+  } else {
+    Serial.println("Error enabling accelero and gyro");
+    abort();
+  }
+
+  // Check device id
+  uint8_t id;
+  lsm6dsoxSensor.ReadID(&id);
+  if (id != LSM6DSOX_ID) {
+    Serial.println("Wrong id for LSM6DSOX sensor. Check that device is plugged");
+    abort();
+  } else {
+    Serial.println("Success checking id for LSM6DSOX sensor");
+  }
+
+  // Set accelerometer scale. Available values are: 2, 4, 8, 16 G
+  lsm6dsoxSensor.Set_X_FS(2);
+  // Set gyroscope scale. Available values are: 125, 250, 500, 1000, 2000 dps
+  lsm6dsoxSensor.Set_G_FS(250);
+
+  // Set accelerometer Output Data Rate. Available values are: 1.6, 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333, 6667 Hz
+  lsm6dsoxSensor.Set_X_ODR(SR);
+  // Set gyroscope Output Data Rate. Available values are 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333, 6667 Hz
+  lsm6dsoxSensor.Set_G_ODR(SR);
+
+  // Set FIFO Batch Data Rate for accelerometer and gyroscope. Available values are: 0, 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333, 6667 Hz
+  lsm6dsoxSensor.Set_FIFO_X_BDR(SR);
+  lsm6dsoxSensor.Set_FIFO_G_BDR(SR);
+
+  /** Set FIFO operation mode. Available values are:
+   * LSM6DSOX_BYPASS_MODE: FIFO is not used, the buffer content is cleared
+   * LSM6DSOX_FIFO_MODE: bufer continues filling until it becomes full. Then it stops collecting data.
+   * LSM6DSOX_STREAM_MODE: continuous mode. Older data are replaced by the new data.
+   * LSM6DSOX_STREAM_TO_FIFO_MODE: FIFO buffer starts operating in Continuous mode and switches to FIFO mode when an event condition occurs.
+   * LSM6DSOX_BYPASS_TO_STREAM_MODE: FIFO buffer starts operating in Bypass mode and switches to Continuous mode when an event condition occurs.
+   * */
+  lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_BYPASS_MODE); // flush any previous value in FIFO before start
+  lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_STREAM_MODE); // start batching in continous mode
+
+  // Set FIFO watermark level. Can be used to check when the number of samples in buffer reaches this defined threshold level.
+  lsm6dsoxSensor.Set_FIFO_Watermark_Level(WTM_LV);
+
+  // FIFO size can be limited to the watermark level by setting the STOP_ON_WTM flag to 1
+  //lsm6dsoxSensor.Set_FIFO_Stop_On_Fth(1);
+
+  Serial.println("Starting...");
+}
+
+void loop() {
+
+  static uint8_t wtmStatus = 0; // FIFO watermark status
+  uint8_t fullStatus = 0; // FIFO full status
+  uint16_t numSamples = 0; // number of samples in FIFO
+  uint8_t Tag; // FIFO data sensor identifier
+  int32_t acceleration[3]; // X, Y, Z accelerometer values in mg
+  int32_t rotation[3]; // X, Y, Z giroscope values in mdps
+
+  // Get number of samples in buffer
+  lsm6dsoxSensor.Get_FIFO_Num_Samples(&numSamples);
+  Serial.print("Samples in FIFO: "); Serial.println(numSamples);
+
+  // Check if FIFO threshold level was reached.
+  lsm6dsoxSensor.Get_FIFO_Watermark_Status(&wtmStatus);
+
+  if (wtmStatus != 0) {
+    Serial.println("-- FIFO Watermark level reached!, fetching data.");
+
+    // fetch data from FIFO
+    for (uint16_t i = 0; i < WTM_LV; i++) {
+
+      lsm6dsoxSensor.Get_FIFO_Tag(&Tag); // get data identifier
+
+      // Get gyroscope data
+      if (Tag == 1) { 
+        lsm6dsoxSensor.Get_FIFO_G_Axes(rotation);
+        #if 0 // set to 1 for printing values
+        Serial.print("mdps: "); Serial.print(rotation[0]); 
+        Serial.print(", "); Serial.print(rotation[1]); 
+        Serial.print(", "); Serial.print(rotation[2]); 
+        Serial.println();
+        #endif
+      } 
+
+      // Get accelerometer data
+      else if (Tag == 2) {
+        lsm6dsoxSensor.Get_FIFO_X_Axes(acceleration); 
+        #if 0 // set to 1 for printing values
+        Serial.print("mG: "); Serial.print(acceleration[0]); 
+        Serial.print(", "); Serial.print(acceleration[1]); 
+        Serial.print(", "); Serial.print(acceleration[2]); 
+        Serial.println();
+        #endif
+      }
+    }
+  }
+
+  // Check if FIFO is full.
+  lsm6dsoxSensor.Get_FIFO_Full_Status(&fullStatus);
+
+  if (fullStatus != 0) {
+    Serial.println("-- FIFO is full!, consider reducing Watermark Level or Buffer Data Rate.\nFlushing data from FIFO.");
+    lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_BYPASS_MODE); // flush FIFO data
+    lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_STREAM_MODE); // continue batching
+  }
+
+  delay(10); // FIFO continues batching while we sleep 
+}