Solved
lis3mdl connected to lsm6dsox I2C
Hello, support team.
In my test board, lis3mdl is connected to lsm6dsox I2C.
From above board, I want to read acceleration and gyro at 1667Hz, magnetic at 1kHz.
I refer to lsm6dsox_sensor_hub_fifo_lis2mdl.c to implement SW.
But It looks like magnetic data is rarely read from FIFO.
And maximum speed of SHUB_ODR_ is 104hz.
How can I read magnetic data at 1kHz speed?
And could you check my configuration?
/* Electrical pin configuration */
val.sdo_sa0_pull_up = 0;
val.aux_sdo_ocs_pull_up = 0;
val.int1_int2_push_pull = 0;
val.int1_pull_down = 0;
lsm6dsox_pin_conf_set(&lsm_ctx, val);
/* Check device ID */
lsm6dsox_device_id_get(&lsm_ctx, &whoamI);
while (whoamI != LSM6DSOX_ID)
nrf_delay_ms(10);
/* Restore default configuration */
lsm6dsox_reset_set(&lsm_ctx, PROPERTY_ENABLE);
do {
lsm6dsox_reset_get(&lsm_ctx, &rst);
} while (rst);
/* Disable I3C interface */
lsm6dsox_i3c_disable_set(&lsm_ctx, LSM6DSOX_I3C_DISABLE);
lis3mdl_device_id_get(&lis_ctx, &whoamI);
while (whoamI != LIS3MDL_ID)
nrf_delay_ms(10);
/* Enable Block Data Update */
lis3mdl_block_data_update_set(&lis_ctx, PROPERTY_ENABLE);
/* Set device in continuos mode */
lis3mdl_operating_mode_set(&lis_ctx, LIS3MDL_CONTINUOUS_MODE);
/* Set Output Data Rate */
lis3mdl_data_rate_set(&lis_ctx, LIS3MDL_LP_1kHz);// 1/1kHz*(1000msec/1sec) = 1msec
/* Set full scale */
lis3mdl_full_scale_set(&lis_ctx, LIS3MDL_16_GAUSS);
/*
* Configure LSM6DSOX FIFO.
*
*
* Set FIFO watermark (number of unread sensor data TAG + 6 bytes
* stored in FIFO) to 15 samples. 5 * (Acc + Gyro + Mag)
*/
lsm6dsox_fifo_watermark_set(&lsm_ctx, 15);
/* Set FIFO mode to Stream mode (aka Continuous Mode). */
lsm6dsox_fifo_mode_set(&lsm_ctx, LSM6DSOX_STREAM_MODE);
/*
* Enable FIFO batching of Slave0.
*/
lsm6dsox_sh_batch_slave_0_set(&lsm_ctx, PROPERTY_ENABLE);
lsm6dsox_sh_data_rate_set(&lsm_ctx, LSM6DSOX_SH_ODR_104Hz);
/* Set FIFO batch XL/Gyro ODR to 12.5Hz. */
lsm6dsox_fifo_xl_batch_set(&lsm_ctx, LSM6DSOX_GY_BATCHED_AT_1667Hz);
lsm6dsox_fifo_gy_batch_set(&lsm_ctx, LSM6DSOX_GY_BATCHED_AT_1667Hz);
/*
* Prepare sensor hub to read data from external Slave0 continuously
* in order to store data in FIFO.
*/
lsm6dsox_sh_cfg_read_t sh_cfg_read;
sh_cfg_read.slv_add = LIS3MDLTR_ADDR;
sh_cfg_read.slv_subadd = LIS3MDL_OUT_X_L;
sh_cfg_read.slv_len = 6;
lsm6dsox_sh_slv0_cfg_read(&lsm_ctx, &sh_cfg_read);
/* Configure Sensor Hub to read one slave. */
lsm6dsox_sh_slave_connected_set(&lsm_ctx, LSM6DSOX_SLV_0);
/* Enable I2C Master. */
lsm6dsox_sh_master_set(&lsm_ctx, PROPERTY_ENABLE);
/* Configure LSM6DSOX. */
lsm6dsox_xl_full_scale_set(&lsm_ctx, LSM6DSOX_16g);
lsm6dsox_gy_full_scale_set(&lsm_ctx, LSM6DSOX_2000dps);
lsm6dsox_block_data_update_set(&lsm_ctx, PROPERTY_ENABLE);
lsm6dsox_xl_data_rate_set(&lsm_ctx, LSM6DSOX_XL_ODR_1667Hz);
lsm6dsox_gy_data_rate_set(&lsm_ctx, LSM6DSOX_XL_ODR_1667Hz);
/* Configure gpiote for the sensors data ready interrupt. */
if (!nrf_drv_gpiote_is_init())
{
err_code = nrf_drv_gpiote_init();
APP_ERROR_CHECK(err_code);
}