Hi,
This is my setup:
/* Restore default configuration */
lsm6dsm_reset_set(&dev_ctx, PROPERTY_ENABLE);
do {
lsm6dsm_reset_get(&dev_ctx, &rst);
} while (rst);
/* Set XL full scale and Gyro full scale */
lsm6dsm_xl_full_scale_set(&dev_ctx, LSM6DSM_16g);
lsm6dsm_gy_full_scale_set(&dev_ctx, LSM6DSM_125dps);
/* Enable Block Data Update (BDU) when FIFO support selected */
lsm6dsm_block_data_update_set(&dev_ctx, PROPERTY_ENABLE);
/* Set FIFO watermark to a multiple of a pattern
* in this example we set watermark to 260 pattern
* which means ten sequence of:
* (GYRO + XL) = 12 bytes
*/
lsm6dsm_fifo_watermark_set(&dev_ctx, 10 * pattern_len);
lsm6dsm_fifo_stop_on_wtm_set(&dev_ctx, PROPERTY_ENABLE);
/* Set FIFO mode to Stream to FIFO */
lsm6dsm_fifo_mode_set(&dev_ctx, LSM6DSM_STREAM_TO_FIFO_MODE);
/* Enable FIFO watermark interrupt generation on INT1 pin */
lsm6dsm_pin_int1_route_get(&dev_ctx, &int_1_reg);
int_1_reg.int1_fth = PROPERTY_ENABLE;
lsm6dsm_pin_int1_route_set(&dev_ctx, int_1_reg);
/* FIFO watermark interrupt on INT2 pin */
//lsm6dsm_pin_int2_route_get(&dev_ctx, &int_2_reg);
//int_2_reg.int2_fth = PROPERTY_ENABLE;
//lsm6dsm_pin_int2_route_set(&dev_ctx, int_2_reg);
/* Set FIFO sensor decimator */
lsm6dsm_fifo_xl_batch_set(&dev_ctx, LSM6DSM_FIFO_XL_NO_DEC);
lsm6dsm_fifo_gy_batch_set(&dev_ctx, LSM6DSM_FIFO_GY_NO_DEC);
/* Set ODR FIFO */
lsm6dsm_fifo_data_rate_set(&dev_ctx, LSM6DSM_FIFO_1k66Hz);
/* Set XL and Gyro Output Data Rate:
* in this example we set 52 Hz for Accelerometer and
* 52 Hz for Gyroscope
*/
lsm6dsm_xl_data_rate_set(&dev_ctx, LSM6DSM_XL_ODR_1k66Hz);
lsm6dsm_gy_data_rate_set(&dev_ctx, LSM6DSM_GY_ODR_1k66Hz);
And this is how I read the values:
if (waterm)
{
HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
/* Read number of word in FIFO */
lsm6dsm_fifo_data_level_get(&dev_ctx, &num);
num_pattern = num / pattern_len;
while (num_pattern-- > 0)
{
/* Following the sensors ODR configuration, FIFO pattern is composed
* by this sequence of samples: GYRO, XL
*/
lsm6dsm_fifo_pattern_get(&dev_ctx, &pattern);
lsm6dsm_fifo_raw_data_get(&dev_ctx, data_raw_angular_rate.u8bit, 3 * sizeof(int16_t));
angular_rate_dps[0] = lsm6dsm_from_fs125dps_to_mdps(data_raw_angular_rate.i16bit[0])/100;
angular_rate_dps[1] = lsm6dsm_from_fs125dps_to_mdps(data_raw_angular_rate.i16bit[1])/100;
angular_rate_dps[2] = lsm6dsm_from_fs125dps_to_mdps(data_raw_angular_rate.i16bit[2]/100);
// sprintf((char *)tx_buffer, "Angular rate [mdps]:%4.2f\t%4.2f\t%4.2f\r\n", angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]);
// sprintf((char *)tx_buffer, "%4.2f\t%4.2f\t%4.2f\r\n", angular_rate_mdps[0], angular_rate_mdps[1], angular_rate_mdps[2]);
// tx_com(tx_buffer, strlen((char const *)tx_buffer));
lsm6dsm_fifo_pattern_get(&dev_ctx, &pattern);
lsm6dsm_fifo_raw_data_get(&dev_ctx, data_raw_acceleration.u8bit, 3 * sizeof(int16_t));
acceleration_mg[0] = lsm6dsm_from_fs16g_to_mg(data_raw_acceleration.i16bit[0]);
acceleration_mg[1] = lsm6dsm_from_fs16g_to_mg(data_raw_acceleration.i16bit[1]);
acceleration_mg[2] = lsm6dsm_from_fs16g_to_mg(data_raw_acceleration.i16bit[2]);
// sprintf((char *)tx_buffer, "Acc [mg]:%4.2f\t%4.2f\t%4.2f\r\n", acceleration_mg[0], acceleration_mg[1], acceleration_mg[2]);
sprintf((char *)tx_buffer, "%4.2f\t%4.2f\t%4.2f\t%4.2f\t%4.2f\t%4.2f\r\n", acceleration_mg[0], acceleration_mg[1], acceleration_mg[2], angular_rate_dps[0], angular_rate_dps[1], angular_rate_dps[2]);
tx_com(tx_buffer, strlen((char const *)tx_buffer));
}
/* Reset FIFO */
lsm6dsm_fifo_mode_set(&dev_ctx, LSM6DSM_BYPASS_MODE);
waterm = 0;
lsm6dsm_fifo_mode_set(&dev_ctx, LSM6DSM_STREAM_TO_FIFO_MODE);
}
This code is however for both gyro and accel. I experience the same issue. In this case, at a higher ODR it seems that the Accel follows the same pattern as the Gyro.
Reading the FIFO pattern shows that the correct data pattern is read.
