initial commit
This commit is contained in:
+312
@@ -0,0 +1,312 @@
|
||||
/**
|
||||
*
|
||||
* @license MIT License
|
||||
*
|
||||
* Copyright (c) 2024 lewis he
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*
|
||||
* @file QMI8658_ReadFromFifoExample.ino
|
||||
* @author Lewis He (lewishe@outlook.com)
|
||||
* @date 2024-09-25
|
||||
*
|
||||
*/
|
||||
#include <Arduino.h>
|
||||
#include <Wire.h>
|
||||
#include <SPI.h>
|
||||
#include "SensorQMI8658.hpp"
|
||||
#ifdef ARDUINO_T_BEAM_S3_SUPREME
|
||||
#include <XPowersAXP2101.tpp> //PMU Library https://github.com/lewisxhe/XPowersLib.git
|
||||
#endif
|
||||
|
||||
|
||||
// #define USE_I2C //Using the I2C interface
|
||||
|
||||
#ifdef USE_I2C
|
||||
#ifndef SENSOR_SDA
|
||||
#define SENSOR_SDA 17
|
||||
#endif
|
||||
|
||||
#ifndef SENSOR_SCL
|
||||
#define SENSOR_SCL 18
|
||||
#endif
|
||||
|
||||
#else /* SPI interface */
|
||||
|
||||
#ifndef SPI_MOSI
|
||||
#define SPI_MOSI (35)
|
||||
#endif
|
||||
|
||||
#ifndef SPI_SCK
|
||||
#define SPI_SCK (36)
|
||||
#endif
|
||||
|
||||
#ifndef SPI_MISO
|
||||
#define SPI_MISO (37)
|
||||
#endif
|
||||
|
||||
#ifndef IMU_CS
|
||||
#define IMU_CS 34 // IMU CS PIN
|
||||
#endif
|
||||
|
||||
#endif /* USE_I2C*/
|
||||
|
||||
|
||||
#ifndef IMU_IRQ
|
||||
#define IMU_IRQ 33 // IMU INT PIN
|
||||
#endif
|
||||
|
||||
#ifndef OLED_SDA
|
||||
#define OLED_SDA 22 // Display Wire SDA Pin
|
||||
#endif
|
||||
|
||||
#ifndef OLED_SCL
|
||||
#define OLED_SCL 21 // Display Wire SCL Pin
|
||||
#endif
|
||||
|
||||
|
||||
SensorQMI8658 qmi;
|
||||
|
||||
const uint16_t buffer_size = 128;
|
||||
IMUdata accel[buffer_size];
|
||||
IMUdata gyro[buffer_size];
|
||||
bool disable_fifo = false;
|
||||
uint32_t timestamp = 0;
|
||||
|
||||
void beginPower()
|
||||
{
|
||||
// T_BEAM_S3_SUPREME The PMU voltage needs to be turned on to use the sensor
|
||||
#if defined(ARDUINO_T_BEAM_S3_SUPREME)
|
||||
XPowersAXP2101 power;
|
||||
power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41);
|
||||
power.disableALDO1();
|
||||
power.disableALDO2();
|
||||
delay(250);
|
||||
power.setALDO1Voltage(3300); power.enableALDO1();
|
||||
power.setALDO2Voltage(3300); power.enableALDO2();
|
||||
#endif
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial);
|
||||
|
||||
beginPower();
|
||||
|
||||
beginPower();
|
||||
|
||||
bool ret = false;
|
||||
#ifdef USE_I2C
|
||||
ret = qmi.begin(Wire, QMI8658_L_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL);
|
||||
#else
|
||||
#if defined(SPI_MOSI) && defined(SPI_SCK) && defined(SPI_MISO)
|
||||
ret = qmi.begin(SPI, IMU_CS, SPI_MOSI, SPI_MISO, SPI_SCK);
|
||||
#else
|
||||
ret = qmi.begin(SPI, IMU_CS);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
if (!ret) {
|
||||
Serial.println("Failed to find QMI8658 - check your wiring!");
|
||||
while (1) {
|
||||
delay(1000);
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* Get chip id
|
||||
* */
|
||||
Serial.print("Device ID:"); Serial.println(qmi.getChipID(), HEX);
|
||||
|
||||
|
||||
qmi.configAccelerometer(
|
||||
/*
|
||||
* ACC_RANGE_2G
|
||||
* ACC_RANGE_4G
|
||||
* ACC_RANGE_8G
|
||||
* ACC_RANGE_16G
|
||||
* */
|
||||
SensorQMI8658::ACC_RANGE_4G,
|
||||
/*
|
||||
* ACC_ODR_1000H
|
||||
* ACC_ODR_500Hz
|
||||
* ACC_ODR_250Hz
|
||||
* ACC_ODR_125Hz
|
||||
* ACC_ODR_62_5Hz
|
||||
* ACC_ODR_31_25Hz
|
||||
* ACC_ODR_LOWPOWER_128Hz
|
||||
* ACC_ODR_LOWPOWER_21Hz
|
||||
* ACC_ODR_LOWPOWER_11Hz
|
||||
* ACC_ODR_LOWPOWER_3H
|
||||
* */
|
||||
SensorQMI8658::ACC_ODR_1000Hz,
|
||||
/*
|
||||
* LPF_MODE_0 //2.66% of ODR
|
||||
* LPF_MODE_1 //3.63% of ODR
|
||||
* LPF_MODE_2 //5.39% of ODR
|
||||
* LPF_MODE_3 //13.37% of ODR
|
||||
* LPF_OFF // OFF Low-Pass Fitter
|
||||
* */
|
||||
SensorQMI8658::LPF_MODE_0);
|
||||
|
||||
|
||||
|
||||
|
||||
qmi.configGyroscope(
|
||||
/*
|
||||
* GYR_RANGE_16DPS
|
||||
* GYR_RANGE_32DPS
|
||||
* GYR_RANGE_64DPS
|
||||
* GYR_RANGE_128DPS
|
||||
* GYR_RANGE_256DPS
|
||||
* GYR_RANGE_512DPS
|
||||
* GYR_RANGE_1024DPS
|
||||
* */
|
||||
SensorQMI8658::GYR_RANGE_64DPS,
|
||||
/*
|
||||
* GYR_ODR_7174_4Hz
|
||||
* GYR_ODR_3587_2Hz
|
||||
* GYR_ODR_1793_6Hz
|
||||
* GYR_ODR_896_8Hz
|
||||
* GYR_ODR_448_4Hz
|
||||
* GYR_ODR_224_2Hz
|
||||
* GYR_ODR_112_1Hz
|
||||
* GYR_ODR_56_05Hz
|
||||
* GYR_ODR_28_025Hz
|
||||
* */
|
||||
SensorQMI8658::GYR_ODR_896_8Hz,
|
||||
/*
|
||||
* LPF_MODE_0 //2.66% of ODR
|
||||
* LPF_MODE_1 //3.63% of ODR
|
||||
* LPF_MODE_2 //5.39% of ODR
|
||||
* LPF_MODE_3 //13.37% of ODR
|
||||
* LPF_OFF // OFF Low-Pass Fitter
|
||||
* */
|
||||
SensorQMI8658::LPF_MODE_0);
|
||||
|
||||
|
||||
|
||||
qmi.configFIFO(
|
||||
/*
|
||||
* FIFO_MODE_BYPASS -- Disable FIFO
|
||||
* FIFO_MODE_FIFO -- Will not overwrite
|
||||
* FIFO_MODE_STREAM -- Cover
|
||||
*/
|
||||
SensorQMI8658::FIFO_MODE_FIFO,
|
||||
/*
|
||||
* FIFO_SAMPLES_16
|
||||
* FIFO_SAMPLES_32
|
||||
* FIFO_SAMPLES_64
|
||||
* FIFO_SAMPLES_128
|
||||
* */
|
||||
SensorQMI8658::FIFO_SAMPLES_128,
|
||||
|
||||
|
||||
/*
|
||||
* INTERRUPT_PIN_1,
|
||||
* INTERRUPT_PIN_2,
|
||||
* INTERRUPT_PIN_DISABLE
|
||||
* * */
|
||||
SensorQMI8658::INTERRUPT_PIN_1, //*Route FIFO interrupt to INT1 Pin
|
||||
|
||||
//* Number of samples to trigger interrupt
|
||||
16
|
||||
);
|
||||
|
||||
|
||||
/*
|
||||
* If both the accelerometer and gyroscope sensors are turned on at the same time,
|
||||
* the output frequency will be based on the gyroscope output frequency.
|
||||
* The example configuration is 896.8HZ output frequency,
|
||||
* so the acceleration output frequency is also limited to 896.8HZ
|
||||
* */
|
||||
|
||||
qmi.enableAccelerometer();
|
||||
|
||||
qmi.enableGyroscope();
|
||||
|
||||
|
||||
|
||||
#if IMU_IRQ > 0
|
||||
// If you want to enable interrupts, then turn on the interrupt enable
|
||||
qmi.enableINT(SensorQMI8658::INTERRUPT_PIN_1, true);
|
||||
qmi.enableINT(SensorQMI8658::INTERRUPT_PIN_2, false);
|
||||
#endif
|
||||
|
||||
|
||||
delay(3000);
|
||||
|
||||
|
||||
Serial.println("Read data now...");
|
||||
|
||||
|
||||
// Close FIFO after sampling for 5 seconds
|
||||
timestamp = millis() + 5000;
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
if (disable_fifo) {
|
||||
return ;
|
||||
}
|
||||
|
||||
if (millis() > timestamp) {
|
||||
disable_fifo = true;
|
||||
// Disable FIFO
|
||||
qmi.configFIFO(SensorQMI8658::FIFO_MODE_BYPASS);
|
||||
Serial.println(">>>>>>>>>>>>>>>>>>>>>>>>>>>> Disable FIFO...");
|
||||
}
|
||||
|
||||
// Get the number of samples from the FIFO
|
||||
uint16_t samples_num = qmi.readFromFifo(accel, buffer_size, gyro, buffer_size);
|
||||
if (samples_num == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
Serial.print("--------------[");
|
||||
Serial.print(millis());
|
||||
Serial.print("]:data size:");
|
||||
Serial.print(samples_num);
|
||||
Serial.println("--------------");
|
||||
|
||||
for (int i = 0; i < buffer_size; ++i) {
|
||||
|
||||
Serial.print('[');
|
||||
Serial.print(i);
|
||||
Serial.println(']');
|
||||
|
||||
if (qmi.isEnableAccelerometer()) {
|
||||
Serial.print("\t ACCEL.x:"); Serial.print(accel[i].x); Serial.println(" m2/s");
|
||||
Serial.print("\t ACCEL.y:"); Serial.print(accel[i].y); Serial.println(" m2/s");
|
||||
Serial.print("\t ACCEL.z:"); Serial.print(accel[i].z); Serial.println(" m2/s");
|
||||
}
|
||||
|
||||
|
||||
if (qmi.isEnableGyroscope()) {
|
||||
Serial.print("\t GYRO.x:"); Serial.print(gyro[i].x); Serial.println(" degrees/sec");
|
||||
Serial.print("\t GYRO.y:"); Serial.print(gyro[i].y); Serial.println(" degrees/sec");
|
||||
Serial.print("\t GYRO.z:"); Serial.print(gyro[i].z); Serial.println(" degrees/sec");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user