0b9b2fbb5e
It reports IMU 6-axis accelerometer and gyroscope data using DRDY interrupt. Signed-off-by: Aurelie Fontaine <aurelie.fontaine@tdk.com>
57 lines
1.9 KiB
ReStructuredText
57 lines
1.9 KiB
ReStructuredText
.. zephyr:code-sample:: 6dof_motion_drdy
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:name: Generic 6DOF Motion Dataready
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:relevant-api: sensor_interface
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Get 6-Axis accelerometer and gyroscope data from a sensor (data ready interrupt mode).
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Overview
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********
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This sample application periodically (100 Hz) measures the 6-axis IMU sensor with
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temperature, acceleration, and angular velocity, displaying the
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values on the console along with a timestamp since startup.
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Trigger options could be configured through KConfig.
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Wiring
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******
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This sample uses an external breakout for the sensor. A devicetree
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overlay must be provided to identify the 6-axis motion sensor, the SPI or I2C bus interface and the interrupt
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sensor GPIO.
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Building and Running
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********************
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This sample supports up to 6-Axis IMU devices. Each device needs
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to be aliased as ``6dof-motion-drdyN`` where ``N`` goes from ``0`` to ``9``. For example:
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.. code-block:: devicetree
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/ {
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aliases {
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6dof-motion-drdy0 = &icm42670p;
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};
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};
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Make sure the aliases are in devicetree, then build and run with:
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.. zephyr-app-commands::
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:zephyr-app: samples/sensor/6dof_motion_drdy
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:board: nrf52dk/nrf52832
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:goals: build flash
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Sample Output
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=============
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.. code-block:: console
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Found device "icm42670p@68", getting sensor data
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[0:00:01.716]: temp 23.00 Cel accel 0.150839 -0.140065 9.994899 m/s/s gyro -0.001597 0.005859 0.001597 rad/s
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[0:00:01.726]: temp 23.00 Cel accel 0.140065 -0.146050 9.988914 m/s/s gyro -0.002663 0.005859 0.003195 rad/s
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[0:00:01.736]: temp 23.50 Cel accel 0.146050 -0.130487 9.988914 m/s/s gyro -0.001597 0.006391 0.003195 rad/s
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[0:00:01.746]: temp 23.00 Cel accel 0.149642 -0.136473 9.990111 m/s/s gyro -0.002663 0.004261 0.002663 rad/s
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[0:00:01.756]: temp 23.00 Cel accel 0.146050 -0.136473 9.979337 m/s/s gyro -0.002130 0.005326 0.001597 rad/s
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[0:00:01.766]: temp 23.00 Cel accel 0.136473 -0.147247 9.986519 m/s/s gyro -0.001065 0.005859 0.002663 rad/s
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<repeats endlessly>
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