example4_spi.ino

Go to the documentation of this file.

/*
  example4-spi
 
  This example shows the basic settings and functions for retrieving accelerometer
    and gyroscopic data but using the SPI interface. Everything other than that is 
    identical to the "basic" example.
 
    Please refer to the header file for more possible settings, found here:
    ..\SparkFun_6DoF_ISM330DHCX_Arduino_Library\src\sfe_ism330dhcx_defs.h
 
  Written by Elias Santistevan @ SparkFun Electronics, August 2022
 
    Products:
 
        6DoF: https://www.sparkfun.com/products/19764
        9DoF: https://www.sparkfun.com/products/19895
 
  Repository:
 
        https://github.com/sparkfun/SparkFun_6DoF_ISM330DHCX_Arduino_Library
 
  SparkFun code, firmware, and software is released under the MIT 
    License (http://opensource.org/licenses/MIT).
*/
 
#include <SPI.h>
#include "STAR_ISM330DH.h"
 
// SPI instance class call
ISM330DH_SPI myISM; 
 
// Structs for X,Y,Z data
sfe_ism_data_t accelData; 
sfe_ism_data_t gyroData; 
 
// Set your chip select pin according to your setup. 
byte chipSelect = 1;
 
void setup(){
 
    SPI.begin();
 
    Serial.begin(115200);
    pinMode(chipSelect, OUTPUT);
    digitalWrite(chipSelect, HIGH);
 
 
    if( !myISM.begin(chipSelect) ){
        Serial.println("Did not begin.");
      while(1);
    }
 
    // Reset the device to default settings. This if helpful is you're doing multiple
    // uploads testing different settings. 
    myISM.deviceReset();
 
    // Wait for it to finish reseting
    while( !myISM.getDeviceReset() ){ 
        delay(1);
    } 
 
    Serial.println("Reset.");
    Serial.println("Applying settings.");
    delay(100);
    
    myISM.setDeviceConfig();
    myISM.setBlockDataUpdate();
    
    // Set the output data rate and precision of the accelerometer
    myISM.setAccelDataRate(ISM_XL_ODR_104Hz);
    myISM.setAccelFullScale(ISM_4g); 
 
    // Set the output data rate and precision of the gyroscope
    myISM.setGyroDataRate(ISM_GY_ODR_104Hz);
    myISM.setGyroFullScale(ISM_500dps); 
 
    // Turn on the accelerometer's filter and apply settings. 
    myISM.setAccelFilterLP2();
    myISM.setAccelSlopeFilter(ISM_LP_ODR_DIV_100);
 
    // Turn on the gyroscope's filter and apply settings. 
    myISM.setGyroFilterLP1();
    myISM.setGyroLP1Bandwidth(ISM_MEDIUM);
 
 
 
}
 
void loop(){
 
    // Check if both gyroscope and accelerometer data is available.
    if( myISM.checkStatus() ){
        myISM.getAccel(&accelData);
        myISM.getGyro(&gyroData);
        Serial.print("Accelerometer: ");
        Serial.print("X: ");
        Serial.print(accelData.xData);
        Serial.print(" ");
        Serial.print("Y: ");
        Serial.print(accelData.yData);
        Serial.print(" ");
        Serial.print("Z: ");
        Serial.print(accelData.zData);
        Serial.println(" ");
        Serial.print("Gyroscope: ");
        Serial.print("X: ");
        Serial.print(gyroData.xData);
        Serial.print(" ");
        Serial.print("Y: ");
        Serial.print(gyroData.yData);
        Serial.print(" ");
        Serial.print("Z: ");
        Serial.print(gyroData.zData);
        Serial.println(" ");
    }
 
    delay(100);
}