From 377dc48c7f68f460ec278ed78136ee144361e65c Mon Sep 17 00:00:00 2001
From: Andrea Milluzzo <andrea.milluzzo@skywarder.eu>
Date: Thu, 28 May 2020 14:33:16 +0200
Subject: [PATCH] [LSM9DS1] timestamp problem not fixed. for more than
fifo_watermark samples for each fifo sampling.
---
src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.cpp | 2 +-
src/tests/drivers/test-lsm9ds1-fifo.cpp | 13 +++++++------
2 files changed, 8 insertions(+), 7 deletions(-)
diff --git a/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.cpp b/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.cpp
index 6ff0b898f..6ef5aa228 100644
--- a/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.cpp
+++ b/src/shared/sensors/LSM9DS1/LSM9DS1_AxelGyro.cpp
@@ -236,7 +236,7 @@ bool LSM9DS1_XLG::onSimpleUpdate()
}
// compute delta time for each sample
- uint64_t dt = delta / fifo_watermark;
+ uint64_t dt = delta / last_fifo_level;
fifo_num++;
// convert & store
diff --git a/src/tests/drivers/test-lsm9ds1-fifo.cpp b/src/tests/drivers/test-lsm9ds1-fifo.cpp
index 26e2f0979..3457b84e3 100644
--- a/src/tests/drivers/test-lsm9ds1-fifo.cpp
+++ b/src/tests/drivers/test-lsm9ds1-fifo.cpp
@@ -62,7 +62,7 @@ static const uint8_t FIFO_WATERMARK = 12;
static const uint16_t FIFO_SAMPLES = 1000;
static const uint8_t TEMP_DIV_FREQ = 20;
static const uint16_t MAG_SAMPLING_PERIOD = 10; // 100Hz
-static const uint16_t FIFO_SAMPLING_PERIOD = 25.5 * 1000 / 476.0f;
+static const uint16_t FIFO_SAMPLING_PERIOD = 84;
// High Resolution hardware timer using TIM5
HardwareTimer<uint32_t> hrclock(
@@ -124,7 +124,7 @@ int main()
lsm9ds1_xlg = new LSM9DS1_XLG(bus, cs_XLG, LSM9DS1_XLG::AxelFSR::FS_8,
LSM9DS1_XLG::GyroFSR::FS_245,
- LSM9DS1_XLG::ODR::ODR_952, TEMP_DIV_FREQ);
+ LSM9DS1_XLG::ODR::ODR_238, TEMP_DIV_FREQ);
lsm9ds1_m = new LSM9DS1_M(bus, cs_M, LSM9DS1_M::MagFSR::FS_8,
LSM9DS1_M::ODR::ODR_80);
@@ -150,10 +150,11 @@ int main()
// an interrupt is set: time to dump the FIFO
//if (miosix::getTick() - lastFifotick >= FIFO_SAMPLING_PERIOD)
- if (flagSPIReadRequest)
+ //if (flagSPIReadRequest)
+ if ((miosix::getTick() - lastFifotick >= FIFO_SAMPLING_PERIOD) && flagSPIReadRequest == true)
{
flagSPIReadRequest = false;
- //lastFifotick = miosix::getTick();
+ lastFifotick = miosix::getTick();
// dump the fifo
lsm9ds1_xlg->onSimpleUpdate();
@@ -165,8 +166,8 @@ int main()
logger.log(XLGsample);
LED2.low();
}
- //lsm9ds1debug debugstats = lsm9ds1_xlg->getFIFOStats();
- //logger.log(debugstats);
+ lsm9ds1debug debugstats = lsm9ds1_xlg->getFIFOStats();
+ logger.log(debugstats);
if (lastTempcount == TEMP_DIV_FREQ)
{
--
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