raw
This application demonstrates how to retrieve accel and gyro data. ODR is configured at 50 Hz.
Command interface
This application allows the following command to be sent through UART:
s: to toggle print data in SI unit (enabled/disabled, enabled by default).l: to toggle print data in LSB (enabled/disabled, disabled by default).f: to toggle FIFO usage (enabled/disabled, enabled by default). Data will be read from sensor registers if FIFO is disabled.i: to toggle FIFO highres mode usage (enabled/disabled, enabled by default). Only apply if FIFO is enabled.p: to toggle selected power-mode (low-noise/low-power, low-noise by default).c: to print current configuration.h: to print helps screen.
Terminal output
Data format
Data are printed on the terminal as follow:
- When print in SI unit is enabled:
SI <timestamp> us Accel: <acc_x> <acc_y> <acc_z> g Gyro: <gyr_x> <gyr_y> <gyr_z> dps Temp: <temp> degC FIFO time: <fifo_time> us
- When print in LSB is enabled:
LSB <timestamp> us Accel: <raw_acc_x> <raw_acc_y> <raw_acc_z> Gyro: <raw_gyr_x> <raw_gyr_y> <raw_gyr_z> Temp: <raw_temp> FIFO time: <fifo_time> us
With:
timestamp: Time in microsecond read from MCU clock when latest INT1 was firedraw_acc_x|y|z: Raw accel valueacc_x|y|z: Accel value converted in graw_gyr_x|y|z: Raw gyro valuegyr_x|y|z: Gyro value converted in dpsraw_temp: Raw temperature valuetemp: Temperature value converted in °Cfifo_time: 16-bit timestamp field from FIFO.
Example of output
[I] ###
[I] ### Example Raw
[I] ###
[I] SI 9363 us Accel: - - - Gyro: - - - Temp: 21.63 degC FIFO Time: 3232 us
[I] SI 29425 us Accel: 0.07 -1.00 0.03 g Gyro: - - - Temp: 21.59 degC FIFO Time: 23232 us
[I] SI 49423 us Accel: 0.07 -1.00 0.03 g Gyro: - - - Temp: 21.72 degC FIFO Time: 43232 us
[I] SI 69420 us Accel: 0.07 -1.00 0.03 g Gyro: - - - Temp: 21.74 degC FIFO Time: 63232 us
[I] SI 89417 us Accel: 0.07 -1.00 0.03 g Gyro: -0.32 -0.06 -0.03 dps Temp: 21.74 degC FIFO Time: 83232 us
[I] SI 109414 us Accel: 0.07 -1.00 0.03 g Gyro: -0.34 -0.09 0.02 dps Temp: 21.72 degC FIFO Time: 103232 us
[I] SI 129412 us Accel: 0.07 -1.00 0.03 g Gyro: -0.31 -0.05 0.02 dps Temp: 21.74 degC FIFO Time: 123232 us
[I] SI 149409 us Accel: 0.07 -1.00 0.03 g Gyro: -0.34 -0.05 -0.02 dps Temp: 21.76 degC FIFO Time: 143232 us
[I] SI 169406 us Accel: 0.07 -1.00 0.03 g Gyro: -0.34 -0.05 -0.05 dps Temp: 21.73 degC FIFO Time: 163232 us
[I] SI 189403 us Accel: 0.07 -1.00 0.03 g Gyro: -0.34 -0.02 0.03 dps Temp: 21.74 degC FIFO Time: 183232 us
[I] SI 209401 us Accel: 0.07 -1.00 0.03 g Gyro: -0.31 -0.05 0.02 dps Temp: 21.75 degC FIFO Time: 203232 us
[I] SI 229398 us Accel: 0.07 -1.00 0.03 g Gyro: -0.34 -0.05 0.05 dps Temp: 21.74 degC FIFO Time: 223232 us
[I] SI 249395 us Accel: 0.07 -1.00 0.02 g Gyro: -0.35 -0.05 0.05 dps Temp: 21.72 degC FIFO Time: 243232 us
[I] SI 269392 us Accel: 0.07 -1.00 0.03 g Gyro: -0.35 -0.05 0.09 dps Temp: 21.73 degC FIFO Time: 263232 us
[I] SI 289390 us Accel: 0.07 -1.00 0.02 g Gyro: -0.31 -0.03 0.05 dps Temp: 21.71 degC FIFO Time: 283232 us
[I] SI 309387 us Accel: 0.07 -1.00 0.03 g Gyro: -0.34 -0.02 0.05 dps Temp: 21.76 degC FIFO Time: 303232 us
[I] SI 329384 us Accel: 0.07 -1.00 0.03 g Gyro: -0.34 -0.06 0.02 dps Temp: 21.76 degC FIFO Time: 323232 us
[I] SI 349381 us Accel: 0.07 -1.00 0.03 g Gyro: -0.32 -0.06 0.02 dps Temp: 21.73 degC FIFO Time: 343232 us
[I] SI 369379 us Accel: 0.07 -1.00 0.03 g Gyro: -0.37 -0.09 0.02 dps Temp: 21.73 degC FIFO Time: 363232 us
[I] SI 389376 us Accel: 0.07 -1.00 0.03 g Gyro: -0.35 -0.03 0.02 dps Temp: 21.78 degC FIFO Time: 383232 us
[I] SI 409373 us Accel: 0.07 -1.00 0.03 g Gyro: -0.35 0.00 0.05 dps Temp: 21.75 degC FIFO Time: 403232 us
[I] SI 429370 us Accel: 0.07 -1.00 0.03 g Gyro: -0.35 0.00 0.00 dps Temp: 21.74 degC FIFO Time: 423232 us
[I] SI 449367 us Accel: 0.07 -1.00 0.03 g Gyro: -0.32 -0.03 0.06 dps Temp: 21.78 degC FIFO Time: 443232 us
[I] SI 469365 us Accel: 0.07 -1.00 0.03 g Gyro: -0.35 -0.03 0.06 dps Temp: 21.75 degC FIFO Time: 463232 us