/** * * @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 #include #include #include "SensorQMI8658.hpp" #ifdef ARDUINO_T_BEAM_S3_SUPREME #include //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"); } } }