Hi Eleon, to sync I m using Sensor hub trigger signal setting lsm6dsox_sh_syncro_mode_set(&dev,LSM6DSOX_XL_GY_DRDY); and setting the sh_data_rate to 100hz, and I m setting the output data rate from all sensors to 100hz. Here are my settings:
while(LSM6DSOX_ID!=whoamI)
{
whoamI = 0;
lsm6dsox_device_id_get(&lsm6dsox, &whoamI);
printf("LSM6DSOX_ID %x=%x\n", LSM6DSOX_ID, whoamI);
}
/* Restore default configuration. */
lsm6dsox_reset_set(&lsm6dsox, PROPERTY_ENABLE);
do
{
lsm6dsox_reset_get(&lsm6dsox, &rst);
} while(rst);
/* Disable I3C interface. */
lsm6dsox_i3c_disable_set(&lsm6dsox, LSM6DSOX_I3C_DISABLE);
while(whoamI != LSM303AGR_ID_XL)
{
lsm303agr_xl_device_id_get(&lsm303agr_acc, &whoamI);
printf("LSM303AGR_ID_ACCELOMETER %x=%x\n", LSM303AGR_ID_XL,
whoamI);
}
while(whoamI != LSM303AGR_ID_MG)
{
lsm303agr_mag_device_id_get(&lsm303agr_mag, &whoamI);
printf("LSM303AGR_ID_MAGNETOMETER %x=%x\n", LSM303AGR_ID_MG,
whoamI);
}
/*Configure Full scale xl and gy*/
lsm6dsox_xl_full_scale_set(&lsm6dsox, LSM6DSOX_2g);
lsm6dsox_gy_full_scale_set(&lsm6dsox, LSM6DSOX_2000dps);
/*lsm303agr mag Set BDU,data rate,fullscale,operating mode,Sensor Hub Slave0*/
lsm303agr_mag_block_data_update_set(&lsm303agr_mag, PROPERTY_ENABLE);
lsm303agr_mag_data_rate_set(&lsm303agr_mag, LSM303AGR_MG_ODR_100Hz);
lsm303agr_mag_set_rst_mode_set(&lsm303agr_mag,
LSM303AGR_SENS_OFF_CANC_EVERY_ODR);
lsm303agr_mag_operating_mode_set(&lsm303agr_mag,LSM303AGR_CONTINUOUS_MODE);
lsm6dsox_sh_slv0_cfg_read(&lsm6dsox, &mag_conf);
/*lsm303agr xl Set BDU,data rate,fullscale,operating mode,Sensor Hub Slave1*/
lsm303agr_xl_block_data_update_set(&lsm303agr_acc, PROPERTY_ENABLE);
lsm303agr_xl_data_rate_set(&lsm303agr_acc, LSM303AGR_XL_ODR_100Hz);
lsm303agr_xl_full_scale_set(&lsm303agr_acc, LSM303AGR_2g);
lsm303agr_xl_operating_mode_set(&lsm303agr_acc, LSM303AGR_LP_8bit);
lsm6dsox_sh_slv1_cfg_read(&lsm6dsox, &acc_conf);
/*lsm6dsox enable Master and set BDU,ODR,number of slaves,Sensor hub trigger signal*/
lsm6dsox_sh_master_set(&lsm6dsox, PROPERTY_ENABLE);
lsm6dsox_xl_data_rate_set(&lsm6dsox, LSM6DSOX_XL_ODR_104Hz);
lsm6dsox_gy_data_rate_set(&lsm6dsox, LSM6DSOX_XL_ODR_104Hz);
lsm6dsox_sh_data_rate_set(&lsm6dsox, LSM6DSOX_SH_ODR_104Hz);
lsm6dsox_sh_slave_connected_set(&lsm6dsox, LSM6DSOX_SLV_0_1);
lsm6dsox_block_data_update_set(&lsm6dsox, PROPERTY_ENABLE);
lsm6dsox_sh_syncro_mode_set(&lsm6dsox,LSM6DSOX_XL_GY_DRDY);
/*After this I m reading the status flags and raw data and multple it with numbers according to datasheet */
lsm6dsox_xl_flag_data_ready_get(&lsm6dsox, &drdy); and the reading the raw data
lsm6dsox_acceleration_raw_get(&lsm6dsox, data_raw.u8bit);
lsm6dsox_sh_read_data_raw_get(&lsm6dsox, (uint8_t*)&emb_sh,18);
/*and for gyro*/
lsm6dsox_gy_flag_data_ready_get(&lsm6dsox, &drdy);
lsm6dsox_angular_rate_raw_get(&lsm6dsox, data_raw.u8bit);
I have a question?
according to the datasheet:
"When this bit is set to 0, the accelerometer/gyroscope sensor has to be active (not in Power-Down mode) and the sensor hub trigger signal is the accelerometer/gyroscope data-ready signal.
When this bit is set to 1, at least one sensor between the accelerometer and the gyroscope has to be active and the sensor hub trigger signal is the INT2 pin."
In lsm6dsox_reg.h file
typedef enum {
LSM6DSOX_EXT_ON_INT2_PIN = 0,
LSM6DSOX_XL_GY_DRDY = 1,
} lsm6dsox_start_config_t;
Shouldn't it be the opposite way?
LSM6DSOX_EXT_ON_INT2_PIN = 1
LSM6DSOX_XL_GY_DRDY = 0
