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

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basic_read_registers

This application demonstrates how to retrieve data from the ICM sensor data registers using the basic driver. DRDY interrupt is 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).
- `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
- 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>

With:

- `<timestamp>`: Time in microsecond read from MCU clock when latest INT1 was fired
- `<raw_acc_x|y|z>`: Raw accelerometer value
- `<acc_x|y|z>`: Raw accelerometer value converted in g
- `<raw_gyr_x|y|z>`: Raw gyroscope value
- `<gyr_x|y|z>`: Raw gyroscope value converted in dps
- `<raw_temp>`: Raw temperature value
- `<temp>`: Raw temperature value converted in °C

## Example of output

[I] ###
[I] ### Example Read registers (using basic API)
[I] ###
[I] SI 7116 us Accel: -0.02 0.00 1.02 g Gyro: - - - Temp: 27.63 degC
[I] SI 27014 us Accel: -0.02 0.00 1.02 g Gyro: -2.20 0.12 0.37 dps Temp: 27.31 degC
[I] SI 46898 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.06 0.24 dps Temp: 27.50 degC
[I] SI 66781 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.12 dps Temp: 27.63 degC
[I] SI 86665 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.50 degC
[I] SI 106549 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.69 degC
[I] SI 126432 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 -0.06 0.12 dps Temp: 27.56 degC
[I] SI 146316 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.69 degC
[I] SI 166200 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.44 degC
[I] SI 186084 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.12 dps Temp: 27.50 degC
[I] SI 205967 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.56 degC
[I] SI 225851 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.06 dps Temp: 27.63 degC
[I] SI 245735 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.06 dps Temp: 27.44 degC
[I] SI 265618 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.44 degC
[I] SI 285502 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.56 degC
[I] SI 305386 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.56 degC
[I] SI 325269 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.63 degC
[I] SI 345153 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.75 degC
[I] SI 365037 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.69 degC
[I] SI 384921 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.50 degC
[I] SI 404804 us Accel: -0.02 0.01 1.01 g Gyro: -2.20 0.00 0.12 dps Temp: 27.63 degC
[I] SI 424688 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 -0.06 0.06 dps Temp: 27.56 degC
[I] SI 444572 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.81 degC
[I] SI 464455 us Accel: -0.02 0.01 1.01 g Gyro: -2.26 0.00 0.12 dps Temp: 27.56 degC
[I] LSB 1438757 us Accel: -157 47 8307 Gyro: -37 -1 2 Temp: 344
[I] LSB 1458641 us Accel: -159 54 8306 Gyro: -36 1 2 Temp: 328
[I] LSB 1478524 us Accel: -136 62 8312 Gyro: -37 0 2 Temp: 328
[I] LSB 1498408 us Accel: -148 57 8306 Gyro: -37 -3 2 Temp: 360
[I] LSB 1518292 us Accel: -160 53 8303 Gyro: -36 1 2 Temp: 336
[I] LSB 1538175 us Accel: -148 48 8309 Gyro: -36 0 2 Temp: 344
[I] LSB 1558059 us Accel: -150 53 8304 Gyro: -37 -1 2 Temp: 328
[I] LSB 1577943 us Accel: -144 55 8306 Gyro: -36 1 2 Temp: 352
[I] LSB 1597826 us Accel: -143 55 8310 Gyro: -36 -1 2 Temp: 336
[I] LSB 1617710 us Accel: -152 51 8309 Gyro: -36 -2 2 Temp: 328
[I] LSB 1637594 us Accel: -151 55 8307 Gyro: -36 0 2 Temp: 336
[I] LSB 1657478 us Accel: -146 54 8307 Gyro: -36 0 2 Temp: 288
[I] LSB 1677361 us Accel: -148 48 8306 Gyro: -36 -1 2 Temp: 328
[I] LSB 1697245 us Accel: -154 50 8309 Gyro: -37 0 2 Temp: 320
[I] LSB 1717129 us Accel: -151 54 8308 Gyro: -37 -1 2 Temp: 328
[I] LSB 1737012 us Accel: -147 54 8308 Gyro: -37 -1 1 Temp: 344
[I] LSB 1756896 us Accel: -146 55 8311 Gyro: -37 0 2 Temp: 336
[I] LSB 1776780 us Accel: -148 54 8308 Gyro: -37 0 2 Temp: 344