Update ixm42xxx fifo test

modm-io · Jul 14, 2023 · 1c581ec · 1c581ec
1 parent 0df6ad4
commit 1c581ec
Showing 1 changed file with 8 additions and 14 deletions.
diff --git a/examples/nucleo_g474re/ixm42xxx_fifo/main.cpp b/examples/nucleo_g474re/ixm42xxx_fifo/main.cpp
@@ -20,8 +20,6 @@ namespace
     volatile bool interrupt = false;
 }
 
-using namespace Board;
-
 using SpiMaster = modm::platform::SpiMaster1;
 using Mosi = GpioA7;
 using Miso = GpioA6;
@@ -65,7 +63,7 @@ class ImuThread : public modm::pt::Protothread, public modm::ixm42xxx
 
         /// Configure FIFO
         PT_CALL(imu.updateRegister(Register::FIFO_CONFIG, FifoMode_t(FifoMode::StopOnFull)));
-        PT_CALL(imu.updateRegister(Register::FIFO_CONFIG1, FifoConfig1::FIFO_TEMP_EN | FifoConfig1::FIFO_GYRO_EN | FifoConfig1::FIFO_ACCEL_EN));
+        PT_CALL(imu.updateRegister(Register::FIFO_CONFIG1, FifoConfig1::FIFO_HIRES_EN | FifoConfig1::FIFO_TEMP_EN | FifoConfig1::FIFO_GYRO_EN | FifoConfig1::FIFO_ACCEL_EN));
         PT_CALL(imu.writeFifoWatermark(1024));
 
         /// Configure interrupt
@@ -99,18 +97,18 @@ class ImuThread : public modm::pt::Protothread, public modm::ixm42xxx
                         count++;
                     }
 
-                    int16_t temp;
-                    modm::Vector3li accel;
-                    modm::Vector3li gyro;
+                    float temp;
+                    modm::Vector3f accel;
+                    modm::Vector3f gyro;
 
                     fifoPacket.getTemp(temp);
                     fifoPacket.getAccel(accel);
                     fifoPacket.getGyro(gyro);
 
-                    MODM_LOG_INFO.printf("Temp: %d\n", temp);
-                    MODM_LOG_INFO.printf("Accel: (%li, %li, %li)\n", accel.x, accel.y, accel.z);
-                    MODM_LOG_INFO.printf("Gyro: (%li, %li, %li)\n", gyro.x, gyro.y, gyro.z);
-                    MODM_LOG_INFO.printf("FIFO packet count: %d\n", count);
+                    MODM_LOG_INFO.printf("Temp: %f\n", temp);
+                    MODM_LOG_INFO.printf("Accel: (%f, %f, %f)\n", accel.x, accel.y, accel.z);
+                    MODM_LOG_INFO.printf("Gyro: (%f, %f, %f)\n", gyro.x, gyro.y, gyro.z);
+                    MODM_LOG_INFO.printf("FIFO packet count: %u\n", count);
                 }
                 intStatus.reset(IntStatus::FIFO_FULL_INT | IntStatus::FIFO_THS_INT);
             }
@@ -133,10 +131,6 @@ int
 main()
 {
     Board::initialize();
-    Cs::setOutput(modm::Gpio::High);
-
-    SpiMaster::connect<Miso::Miso, Sck::Sck>();
-    SpiMaster::initialize<Board::SystemClock, 21.5_MHz>();
 
     MODM_LOG_INFO       << "==========IXM-42xxx Test==========" << modm::endl;
     MODM_LOG_DEBUG      << "Debug logging here" << modm::endl;