Hi there,
I'm tring to use the lsm9ds1 with all three sensors. Because polling is too comutational expensive I want to use interrupts. But they only work for me in combination with polling.
I have defind the pins PB5-7 for the interrupts on my Nucelo-F072RB and sample with 119Hz for the accelerometer and the gyroscope and 80Hz for the magnetometer.
The polling looks like this:
while (1) {
HAL_I2C_Mem_Read(&hi2c1, LSM9DS1_IMU_I2C_ADD_H, LSM9DS1_STATUS_REG, 1, &ctrl_imu, 1, timeout);
HAL_I2C_Mem_Read(&hi2c1, LSM9DS1_MAG_I2C_ADD_L, LSM9DS1_STATUS_REG_M, 1, &ctrl_mag, 1, timeout);
//new acc data
if((ctrl_imu & 1)!=0){
counter[0]++;
status = HAL_I2C_Mem_Read(&hi2c1, LSM9DS1_IMU_I2C_ADD_H, LSM9DS1_OUT_X_L_XL, 1, data_acc, 6, timeout);
}
//new gyro data
if((ctrl_imu & 2)!=0){
counter[1]++;
status = HAL_I2C_Mem_Read(&hi2c1, LSM9DS1_IMU_I2C_ADD_H, LSM9DS1_OUT_X_L_G, 1, data_gyro, 6, timeout);
}
//new mag data
if((ctrl_mag & 8)!=0){
counter[2]++;
status = HAL_I2C_Mem_Read(&hi2c1, LSM9DS1_MAG_I2C_ADD_L, LSM9DS1_OUT_X_L_M, 1, data_mag, 6, timeout);
}
The data are read correctly and the counter is increasing with the correct samplerate.
I tried to use an interrupt instead:
void HAL_GPIO_EXTI_Callback (uint16_t GPIO_Pin){
if(GPIO_Pin == GPIO_PIN_5){
counter_mag += 1;
status = HAL_I2C_Mem_Read(&hi2c1, LSM9DS1_MAG_I2C_ADD_L, LSM9DS1_OUT_X_L_M, 1, data, 6, timeout);
}
else if(GPIO_Pin == GPIO_PIN_6){
counter_gyr += 1;
status = HAL_I2C_Mem_Read(&hi2c1, LSM9DS1_IMU_I2C_ADD_H, LSM9DS1_OUT_X_L_G, 1, data, 6, timeout);
}
else if(GPIO_Pin == GPIO_PIN_7){
counter_acc += 1;
status = HAL_I2C_Mem_Read(&hi2c1, LSM9DS1_IMU_I2C_ADD_H, LSM9DS1_OUT_X_L_XL, 1, data, 6, timeout);
}
}
the corresponding counters have the same values, but without the polling no new interrupt is send and I don't have an idea why, because I can't see any dependencies.
