Added Sensor examples
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/**
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*
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* @license MIT License
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*
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* Copyright (c) 2022 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_InterruptExample.ino
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* @author Lewis He (lewishe@outlook.com)
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* @date 2022-11-03
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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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#include "boards.h"
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SensorQMI8658 qmi;
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IMUdata acc;
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IMUdata gyr;
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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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initBoard();
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// Initialize SPI bus, SDCard shares SPI bus with QMI8658
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SPI.begin(SPI_SCK, SPI_MISO, SPI_MOSI);
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pinMode(SPI_CS, OUTPUT); //sdcard pin set high
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digitalWrite(SPI_CS, HIGH);
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if (!qmi.begin(IMU_CS)) {
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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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/* Get chip id*/
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Serial.print("Device ID:");
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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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* */
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SensorQMI8658::LPF_MODE_0,
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// selfTest enable
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true);
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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_025H
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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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* */
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SensorQMI8658::LPF_MODE_3,
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// selfTest enable
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true);
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// In 6DOF mode (accelerometer and gyroscope are both enabled),
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// the output data rate is derived from the nature frequency of gyroscope
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qmi.enableGyroscope();
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qmi.enableAccelerometer();
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pinMode(IMU_INT, INPUT);
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#ifdef IMU_INT2
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pinMode(IMU_INT2, INPUT);
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#endif
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// qmi.enableINT(SensorQMI8658::IntPin1); //no use
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// Enable data ready to interrupt pin2
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qmi.enableINT(SensorQMI8658::IntPin2);
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qmi.enableDataReadyINT();
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// Print register configuration information
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qmi.dumpCtrlRegister();
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Serial.println("Read data now...");
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}
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void readSensorData(const char *name)
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{
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uint8_t status = qmi.getIrqStatus();
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// status == 0x01
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// If syncSmpl (CTRL7.bit7) = 1:
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// 0: Sensor Data is not available
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// 1: Sensor Data is available for reading
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// If syncSmpl = 0, this bit shows the same value of INT2 level
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Serial.print(name);
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Serial.print(" -> [");
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Serial.print(millis());
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Serial.print("]: -<HEX> ");
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Serial.print(status);
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Serial.print(" -<BIN> ");
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Serial.println(status, BIN);
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if (status & 0x01) {
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if (qmi.getAccelerometer(acc.x, acc.y, acc.z)) {
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Serial.print("{ACCEL: ");
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Serial.print(acc.x);
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Serial.print(",");
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Serial.print(acc.y);
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Serial.print(",");
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Serial.print(acc.z);
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Serial.println("}");
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}
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if (qmi.getGyroscope(gyr.x, gyr.y, gyr.z)) {
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Serial.print("{GYRO: ");
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Serial.print(gyr.x);
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Serial.print(",");
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Serial.print(gyr.y );
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Serial.print(",");
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Serial.print(gyr.z);
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Serial.println("}");
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}
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Serial.printf("\t\t\t\t > %lu %.2f *C\n", qmi.getTimestamp(), qmi.getTemperature_C());
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}
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}
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void loop()
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{
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if (digitalRead(IMU_INT) == HIGH) {
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readSensorData("INT1");
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}
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}
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