Add basic examples

examples/LSM6DOX_basic_example_i2c/LSM6DOX_basic_example_i2c.ino

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+/**
+ ******************************************************************************
+   @file    LSM6DSOX_basic_example_i2c.ino
+   @author  Benhalor
+   @version V1.0.1
+   @date    January 2020
+   @brief   Basic example for using the LSM6DSOX library .
+ ******************************************************************************
+   @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.
+
+ ******************************************************************************
+*/
+
+/* WIRING
+  In order to use the Adafruit lsm6dsox sensor with a ST nucleo board,
+  plug Nucleo "+3.3V" to AdafruitLSM6DOX "VIN",
+  plug Nucleo "GND" to AdafruitLSM6DOX "GND",
+  plug Nucleo "SCL"(D15) to AdafruitLSM6DOX "SCL",
+  plug Nucleo "SDA"(D14) to AdafruitLSM6DOX "SDA".*/
+
+#include "LSM6DSOXSensor.h"
+
+// Declare LSM6DSOX sensor. Sensor address can have 2 values LSM6DSOX_I2C_ADD_L (corresponds to 0x6A I2C address) or LSM6DSOX_I2C_ADD_H (corresponds to 0x6B I2C address)
+// On Adafruit lsm6dsox sensor, LSM6DSOX_I2C_ADD_L is the default address
+LSM6DSOXSensor lsm6dsoxSensor = LSM6DSOXSensor(&Wire, LSM6DSOX_I2C_ADD_L);
+
+void setup() {
+  Serial.begin(115200);
+  Wire.begin();
+
+  // Default clock is 100kHz. LSM6DSOX also supports 400kHz, let's use it
+  Wire.setClock(400000);
+
+  // Init the sensor
+  lsm6dsoxSensor.begin();
+
+  // Enable accelerometer and gyroscope, and check success
+  if (lsm6dsoxSensor.Enable_X() == LSM6DSOX_OK && lsm6dsoxSensor.Enable_X() == LSM6DSOX_OK) {
+    Serial.println("Success enabling accelero and gyro");
+  } else {
+    Serial.println("Error enabling accelero and gyro");
+  }
+
+  // Read ID of device and check that it is correct
+  uint8_t id;
+  lsm6dsoxSensor.ReadID(&id);
+  if (id != LSM6DSOX_ID) {
+    Serial.println("Wrong ID for LSM6DSOX sensor. Check that device is plugged");
+  } else {
+    Serial.println("Receviced correct ID for LSM6DSOX sensor");
+  }
+
+  // Set accelerometer scale at +- 2G. Available values are +- 2, 4, 8, 16 G
+  lsm6dsoxSensor.Set_X_FS(2);
+
+  // Set gyroscope scale at +- 125 degres per second. Available values are +- 125, 250, 500, 1000, 2000 dps
+  lsm6dsoxSensor.Set_G_FS(125);
+
+
+  // Set Accelerometer sample rate to 208 Hz. Available values are +- 12.0, 26.0, 52.0, 104.0, 208.0, 416.0, 833.0, 1667.0, 3333.0, 6667.0 Hz
+  lsm6dsoxSensor.Set_X_ODR(208.0f);
+
+
+  // Set Gyroscope sample rate to 208 Hz. Available values are +- 12.0, 26.0, 52.0, 104.0, 208.0, 416.0, 833.0, 1667.0, 3333.0, 6667.0 Hz
+  lsm6dsoxSensor.Set_G_ODR(208.0f);
+
+
+}
+
+void loop() {
+
+  // Read accelerometer
+  uint8_t acceleroStatus;
+  lsm6dsoxSensor.Get_X_DRDY_Status(&acceleroStatus);
+  if (acceleroStatus == 1) { // Status == 1 means a new data is available
+    int32_t acceleration[3];
+    lsm6dsoxSensor.Get_X_Axes(acceleration);
+    // Plot data for each axe in mg
+    Serial.print("AccelerationX="); Serial.print(acceleration[0]); Serial.print("mg, AccelerationY="); Serial.print(acceleration[1]); Serial.print("mg, AccelerationZ="); Serial.print(acceleration[2]); Serial.println("mg");
+  }
+
+  // Read gyroscope
+  uint8_t gyroStatus;
+  lsm6dsoxSensor.Get_G_DRDY_Status(&gyroStatus);
+  if (gyroStatus == 1) { // Status == 1 means a new data is available
+    int32_t rotation[3];
+    lsm6dsoxSensor.Get_X_Axes(rotation);
+    // Plot data for each axe in milli degres per second
+    Serial.print("RotationX="); Serial.print(rotation[0]); Serial.print("mdps, RotationY="); Serial.print(rotation[1]); Serial.print("mdps, RotationZ="); Serial.print(rotation[2]); Serial.println("mdps");
+  }
+
+  delay(10);
+
+}

examples/LSM6DOX_fifo_example_i2c/LSM6DOX_fifo_example_i2c.ino

@@ -0,0 +1,149 @@
+/**
+ ******************************************************************************
+   @file    LSM6DSOX_fifo_example_i2c.ino
+   @author  Benhalor
+   @version V1.0.1
+   @date    January 2020
+   @brief   Basic example for using the LSM6DSOX library with FIFO.
+ ******************************************************************************
+   @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.
+
+ ******************************************************************************
+*/
+
+/* WIRING
+  In order to use the Adafruit lsm6dsox sensor with a ST nucleo board,
+  plug Nucleo "+3.3V" to AdafruitLSM6DOX "VIN",
+  plug Nucleo "GND" to AdafruitLSM6DOX "GND",
+  plug Nucleo "SCL"(D15) to AdafruitLSM6DOX "SCL",
+  plug Nucleo "SDA"(D14) to AdafruitLSM6DOX "SDA".*/
+
+#include "LSM6DSOXSensor.h"
+
+// Declare LSM6DSOX sensor. Sensor address can have 2 values LSM6DSOX_I2C_ADD_L (corresponds to 0x6A I2C address) or LSM6DSOX_I2C_ADD_H (corresponds to 0x6B I2C address) 
+// On Adafruit lsm6dsox board, LSM6DSOX_I2C_ADD_L is the default address 
+LSM6DSOXSensor lsm6dsoxSensor = LSM6DSOXSensor(&Wire, LSM6DSOX_I2C_ADD_L);
+
+void setup() {
+  Serial.begin(115200);
+  Wire.begin();
+
+  // Default clock is 100kHz. LSM6DSOX also supports 400kHz, let's use it
+  Wire.setClock(400000);
+
+  // Init the sensor
+  lsm6dsoxSensor.begin();
+
+  // Enable accelerometer and gyroscope, and check success
+  if (lsm6dsoxSensor.Enable_X() == LSM6DSOX_OK && lsm6dsoxSensor.Enable_X() == LSM6DSOX_OK) {
+    Serial.println("Success enabling accelero and gyro");
+  } else {
+    Serial.println("Error enabling accelero and gyro");
+  }
+
+  // Read ID of device and check that it is correct
+  uint8_t id;
+  lsm6dsoxSensor.ReadID(&id);
+  if (id != LSM6DSOX_ID) {
+    Serial.println("Wrong ID for LSM6DSOX sensor. Check that device is plugged");
+  } else {
+    Serial.println("Receviced correct ID for LSM6DSOX sensor");
+  }
+
+  // Set accelerometer scale at +- 2G. Available values are +- 2, 4, 8, 16 G
+  lsm6dsoxSensor.Set_X_FS(2);
+
+  // Set gyroscope scale at +- 125 degres per second. Available values are +- 125, 250, 500, 1000, 2000 dps
+  lsm6dsoxSensor.Set_G_FS(125);
+
+
+  // Set Accelerometer sample rate to 52 Hz. Available values are +- 12.0, 26.0, 52.0, 104.0, 208.0, 416.0, 833.0, 1667.0, 3333.0, 6667.0 Hz
+  lsm6dsoxSensor.Set_X_ODR(52.0f);
+
+
+  // Set Gyroscope sample rate to 52 Hz. Available values are +- 12.0, 26.0, 52.0, 104.0, 208.0, 416.0, 833.0, 1667.0, 3333.0, 6667.0 Hz
+  lsm6dsoxSensor.Set_G_ODR(52.0f);
+
+  // Set FIFO batch data rate for each sensor. Available values are +- 12.0, 26.0, 52.0, 104.0, 208.0, 416.0, 833.0, 1667.0, 3333.0, 6667.0 Hz
+  lsm6dsoxSensor.Set_FIFO_X_BDR(52.0f);
+  lsm6dsoxSensor.Set_FIFO_G_BDR(52.0f);
+
+  // Setup Watermark : the max number of sensor values in the FIFO.
+  lsm6dsoxSensor.Set_FIFO_Watermark_Level(200u);
+  // Enable the watermark
+  lsm6dsoxSensor.Set_FIFO_Stop_On_Fth(1);
+
+  // Set FIFO to continuous mode. Continuous mode provides a continuous FIFO update: as new data arrives, the older data is discarded.
+  lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_STREAM_MODE);
+}
+
+void loop() {
+
+  // Given the 52Hz batch data rate, for both accelero,and gyro, aroud 2000ms will be required to reach the 200 watermark threshold.
+  delay(2000);
+
+  uint8_t fifoStatus = 0;
+  uint16_t NumSamples = 0;
+  uint8_t Tag;
+  int32_t acceleration[3];
+  int32_t rotation[3];
+
+  // Check that FIFO is full.
+  lsm6dsoxSensor.Get_FIFO_Full_Status(&fifoStatus);
+  if (fifoStatus == 0) {
+    Serial.println("Accelero Gyro sensor : Data is not ready. Waiting for data");
+    Serial.print("Accelero Gyro sensor : Number of available samples :");
+    Serial.println(NumSamples);
+  }
+  while (fifoStatus == 0) { // If not full, wait unit FIFO is full
+    lsm6dsoxSensor.Get_FIFO_Full_Status(&fifoStatus);
+  }
+
+  for (int32_t i = 0; i < 200; i++) {
+    // both accelerometer and gyroscope write in the FIFO. Before reading a data from the FIFO, the first step is to check the TAG of this data
+    lsm6dsoxSensor.Get_FIFO_Tag(&Tag);
+
+    // Tag 1 corresponds to Gyroscope data
+    if (Tag == 1u) { 
+      lsm6dsoxSensor.Get_FIFO_G_Axes(rotation);
+      // Plot data for each axe in milli degres per second
+      Serial.print("RotationX="); Serial.print(rotation[0]); Serial.print("mdps, RotationY="); Serial.print(rotation[1]); Serial.print("mdps, RotationZ="); Serial.print(rotation[2]); Serial.println("mdps");
+
+    } 
+
+    // Tag 2 corresponds to Accelerometer data
+    else if (Tag == 2u) {
+      lsm6dsoxSensor.Get_FIFO_X_Axes(acceleration); 
+      // Plot data for each axe in mg
+      Serial.print("AccelerationX="); Serial.print(acceleration[0]); Serial.print("mg, AccelerationY="); Serial.print(acceleration[1]); Serial.print("mg, AccelerationZ="); Serial.print(acceleration[2]); Serial.println("mg");
+    }
+  }
+
+
+
+
+}