So this is a broad question, but I have been combing through the LSM6DSO datasheet all day, and I know that the sensor returns its own timestamp data. Beyond that, however, I am struggling to access this data. (My acceleration and gyro values are returned just fine.) I tried using the readRegister() function, and I tried seeing what values I get from printing (TIMESTAMP_EN).
I am working in the Arduino IDE, and using the SparkFun board of the LSM6DSO, connected to an ESP32 Thing Plus C via the Qwiic connection, so there's no guesswork about the wiring. Here is my code:
#include "SparkFunLSM6DSO.h"
#include "Arduino.h"
#include "Wire.h"
#define TIMESTAMP0_REG 1
LSM6DSO myIMU; //Default constructor is I2C, addr 0x6B
float t0, t, dt, t_total, f = 0;
int cycles = 0;
void setup() {
Serial.begin(115200);
while(!Serial);
//Wire.setSDA(0);
//Wire.setSCL(1);
Wire.begin();
//Wire.setClock(100000);
delay(10);
if(myIMU.begin()) {
Serial.println("Ready.");
} else {
Serial.println("Could not connect to IMU.");
Serial.println("Freezing");
}
if(myIMU.initialize(BASIC_SETTINGS))
Serial.println("Loaded Settings.");
delay(2000);
}
void loop() {
float x, y, z, gx, gy, gz, tempF;
t0 = millis();
x = myIMU.readFloatAccelX();
y = myIMU.readFloatAccelY();
z = myIMU.readFloatAccelZ();
gx = myIMU.readFloatGyroX();
gy = myIMU.readFloatGyroY();
gz = myIMU.readFloatGyroZ();
// tempF = myIMU.readTempF();
Serial.println();
Serial.print("X = ");
Serial.print(x, 3);
Serial.print("\tY = ");
Serial.print(y, 3);
Serial.print("\tZ = ");
Serial.print(z, 3);
Serial.print("\tGX = ");
Serial.print(gx, 3);
Serial.print("\tGY = ");
Serial.print(gy, 3);
Serial.print("\tGZ = ");
Serial.print(gz, 3);
//Serial.print("\tTEMP_F = ");
//Serial.print(tempF, 3);
Serial.println();
t = millis();
dt = t - t0;
t_total += dt;
cycles++;
f = 1000 * float(cycles) / t_total;
Serial.print("cycle #");
Serial.print(cycles);
Serial.print("\tt = ");
Serial.print(t_total/1000, 2);
Serial.print("\tdt = ");
Serial.print(dt/1000, 3);
Serial.print("\tavg freq = ");
Serial.print(f, 2);
Serial.println("Hz");
Serial.print(myIMU.readRegister(0x40));
Serial.print("\t");
Serial.println(t_total);
if(t_total > 60000) {
Serial.println("bruh");
while(1);
}
}
