| DK45686 eMD examples User Guide 2.1.0 Documentation of the DK45686 eMD examples

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adv_read_fifo

This application demonstrates how to retrieve data from the FIFO using the advanced driver. FIFO threshold is set to 1 packet and configured on INT1. Accel and gyro ODR are set to 50 Hz.

# Command interface

This application allows the following command to be sent through UART:

- `s`: to toggle print data in SI unit (defaults to enable).
- `l`: to toggle print data in LSB (defaults to disable).
- `a`: to toggle enable/disable accel (defaults to enable).
- `g`: to toggle enable/disable gyro (defaults to enable).
- `i`: to toggle enable/disable FIFO high-resolution mode (defaults to disable).
- `p`: to select low-noise or low-power sensor mode, common to accel and gyro (defaults to low-noise).
- `c`: to print current configuration.
- `h`: to print help 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> 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 fired.
- `<raw_acc_x|y|z>`: Raw accel value.
- `<acc_x|y|z>`: Raw accel value converted in g.
- `<raw_gyr_x|y|z>`: Raw gyro value.
- `<gyr_x|y|z>`: Raw gyro value converted in dps.
- `<raw_temp>`: Raw temp value.
- `<temp>`: Raw temp value converted in °C.
- `<fifo_time>`: 16-bit timestamp field in us as read in FIFO.

## Example of output

[I] ###
[I] ### Example Read FIFO (using advanced API)
[I] ###
[I] SI 7346 us Accel: - - - Gyro: - - - Temp: 27.50 degC FIFO Time: 1718 us
[I] SI 27245 us Accel: -0.02 0.01 1.02 g Gyro: - - - Temp: 27.50 degC FIFO Time: 21718 us
[I] SI 47128 us Accel: -0.02 0.01 1.01 g Gyro: - - - Temp: 27.50 degC FIFO Time: 41718 us
[I] SI 67012 us Accel: -0.02 0.01 1.01 g Gyro: - - - Temp: 27.00 degC FIFO Time: 61718 us
[I] SI 86896 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 16182 us
[I] SI 106779 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 -0.06 0.06 dps Temp: 27.50 degC FIFO Time: 36182 us
[I] SI 126663 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.12 dps Temp: 27.50 degC FIFO Time: 56182 us
[I] SI 146547 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 -0.06 0.12 dps Temp: 27.50 degC FIFO Time: 10646 us
[I] SI 166430 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 30646 us
[I] SI 186314 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.00 degC FIFO Time: 50646 us
[I] SI 206198 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 5110 us
[I] SI 226081 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.12 dps Temp: 27.50 degC FIFO Time: 25110 us
[I] SI 245965 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 45110 us
[I] SI 265849 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 65110 us
[I] SI 285733 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.06 dps Temp: 27.50 degC FIFO Time: 19574 us
[I] SI 305616 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 -0.06 0.12 dps Temp: 27.50 degC FIFO Time: 39574 us
[I] SI 325500 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 59574 us
[I] SI 345384 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.00 degC FIFO Time: 14038 us
[I] SI 365267 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 34038 us
[I] SI 385151 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 54038 us
[I] SI 405035 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.50 degC FIFO Time: 8502 us
[I] SI 424918 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.12 dps Temp: 27.50 degC FIFO Time: 28502 us
[I] Disabling SI print.
[I] Enabling LSB print.
[I] LSB 2751309 us Accel: -149 51 8308 Gyro: -36 0 2 Temp: 4 FIFO Time: 9206 us
[I] LSB 2771193 us Accel: -150 55 8310 Gyro: -36 2 2 Temp: 4 FIFO Time: 29206 us
[I] LSB 2791077 us Accel: -147 56 8314 Gyro: -37 -1 2 Temp: 5 FIFO Time: 49206 us
[I] LSB 2810960 us Accel: -155 57 8308 Gyro: -37 -3 2 Temp: 5 FIFO Time: 3670 us
[I] LSB 2830844 us Accel: -150 55 8304 Gyro: -37 0 1 Temp: 5 FIFO Time: 23670 us
[I] LSB 2850728 us Accel: -143 51 8304 Gyro: -37 1 1 Temp: 5 FIFO Time: 43670 us
[I] LSB 2870611 us Accel: -149 49 8305 Gyro: -37 0 2 Temp: 5 FIFO Time: 63670 us
[I] LSB 2890495 us Accel: -150 50 8308 Gyro: -37 -2 2 Temp: 4 FIFO Time: 18134 us
[I] LSB 2910379 us Accel: -155 55 8306 Gyro: -37 -1 2 Temp: 5 FIFO Time: 38134 us
[I] LSB 2930263 us Accel: -155 58 8307 Gyro: -37 0 2 Temp: 5 FIFO Time: 58134 us
[I] LSB 2950146 us Accel: -152 55 8306 Gyro: -37 0 1 Temp: 5 FIFO Time: 12598 us
[I] LSB 2970030 us Accel: -153 52 8307 Gyro: -36 1 1 Temp: 5 FIFO Time: 32598 us
[I] LSB 2989914 us Accel: -149 51 8309 Gyro: -36 0 2 Temp: 5 FIFO Time: 52598 us
[I] LSB 3009797 us Accel: -145 51 8310 Gyro: -37 -1 2 Temp: 5 FIFO Time: 7062 us
[I] LSB 3029681 us Accel: -153 51 8310 Gyro: -37 0 2 Temp: 5 FIFO Time: 27062 us
[I] LSB 3049565 us Accel: -155 51 8310 Gyro: -37 1 2 Temp: 5 FIFO Time: 47062 us
[I] LSB 3069448 us Accel: -150 53 8309 Gyro: -37 0 2 Temp: 5 FIFO Time: 1526 us