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