gauteh · stianvikanes · Jul 12, 2023 · Jul 19, 2023 · Jul 26, 2023
diff --git a/sfy-buoy/Cargo.lock b/sfy-buoy/Cargo.lock
diff --git a/sfy-buoy/Cargo.toml b/sfy-buoy/Cargo.toml
@@ -24,7 +24,8 @@ serde-json-core = { version = "0.4", optional = true }
 serde_json = { version = "1", optional = true }
 embedded-hal = "0.2.6"
 cortex-m = "*"
-ism330dhcx = "0.4.0"
+ism330dhcx = { git = "https://github.com/stianvikanes/ism330dhcx", branch = "CTRL10-register-trying" }
+#ism330dhcx = "0.4.0"
 static_assertions = "1"
 chrono = { version = "0.4.19", default-features = false }
 micromath = { version = "2", features = [ "quaternion", "vector" ] }
@@ -54,7 +55,7 @@ build-bin = [ "fir", "storage", "raw", "anyhow", "argh", "serde-json-core/std",
 
 
 [patch.crates-io]
-ism330dhcx = { git = "https://github.com/gauteh/ism330dhcx", branch = "52hz" }
+ism330dhcx = { git = "https://github.com/stianvikanes/ism330dhcx", branch = "CTRL10-register-trying" }
 # ism330dhcx = { path = "../../../../dev/embedded/imu/ism330dhcx" }
 cmsis_dsp = { git = "https://github.com/samcrow/cmsis_dsp.rs" }
 # embedded-sdmmc = { git = "https://github.com/rust-embedded-community/embedded-sdmmc-rs", branch = "develop" }

diff --git a/sfy-buoy/sfy-artemis/src/main.rs b/sfy-buoy/sfy-artemis/src/main.rs
@@ -35,7 +35,7 @@ use embedded_hal::blocking::{
 };
 
 #[cfg(feature = "storage")]
-use embedded_hal::spi::MODE_0; 
+use embedded_hal::spi::MODE_0;
 #[cfg(feature = "storage")]
 use hal::spi::{Freq, Spi};
 

diff --git a/sfy-buoy/src/fir.rs b/sfy-buoy/src/fir.rs
@@ -2,7 +2,7 @@ use core::simd::{f32x4, SimdFloat};
 use heapless::Deque;
 
 /// Sample rate.
-pub const FREQ: f32 = 208.0;
+pub const FREQ: f32 = 104.0;
 
 pub mod hz50 {
     /// Filter order, length or number of taps.

diff --git a/sfy-buoy/src/firwin.10_52_coeff b/sfy-buoy/src/firwin.10_52_coeff
diff --git a/sfy-buoy/src/firwin.25_52_coeff b/sfy-buoy/src/firwin.25_52_coeff
diff --git a/sfy-buoy/src/make_firwin.py b/sfy-buoy/src/make_firwin.py
@@ -1,6 +1,6 @@
 import scipy as sc
 
-FREQ = 208.     # Input frequency
+FREQ = 104.     # Input frequency
 
 # 50 Hz
 NTAP = 129      # Length of filter

diff --git a/sfy-buoy/src/waves/mod.rs b/sfy-buoy/src/waves/mod.rs
@@ -6,7 +6,7 @@ use embedded_hal::blocking::{
     delay::DelayMs,
     i2c::{Write, WriteRead},
 };
-use ism330dhcx::{ctrl1xl, ctrl2g, fifo, fifoctrl, Ism330Dhcx};
+use ism330dhcx::{ctrl10c, ctrl1xl, ctrl2g, fifo, fifoctrl, freqfine, Ism330Dhcx};
 
 #[cfg(feature = "fir")]
 use static_assertions as sa;
@@ -28,7 +28,7 @@ pub type AxlPacketT = (AxlPacket, VecRawAxl);
 #[cfg(not(feature = "raw"))]
 pub type AxlPacketT = (AxlPacket,);
 
-pub const FREQ: Freq = Freq::Hz208;
+pub const FREQ: Freq = Freq::Hz104;
 
 #[cfg(all(feature = "20Hz", not(feature = "fir")))]
 compile_error!("Feature 20Hz requires feature fir");
@@ -161,7 +161,7 @@ impl<E: Debug> From<E> for ImuError<E> {
     }
 }
 
-impl<E: Debug, I2C: WriteRead<Error = E> + Write<Error = E>> Waves<I2C> {
+impl<E: Debug + defmt::Format, I2C: WriteRead<Error = E> + Write<Error = E>> Waves<I2C> {
     pub fn new(mut i2c: I2C) -> Result<Waves<I2C>, E> {
         defmt::debug!("setting up imu driver..");
         let imu = Ism330Dhcx::new_with_address(&mut i2c, 0x6a)?;
@@ -270,6 +270,9 @@ impl<E: Debug, I2C: WriteRead<Error = E> + Write<Error = E>> Waves<I2C> {
         // Gyro: LPF2 at 66.8 Hz when ODR = 208 Hz (not configurable)
         // Accel: default is ODR/2 => 104 Hz.
 
+        //CTRL10_C
+        sensor.ctrl10c.enable_timestamp(i2c, true)?; // Enable timestamp (for the ODR_actual)
+
         Ok(())
     }
 
@@ -298,6 +301,8 @@ impl<E: Debug, I2C: WriteRead<Error = E> + Write<Error = E>> Waves<I2C> {
         // Start FIFO. The FIFO will fill up and stop if it is not emptied fast enough.
         self.imu.fifoctrl.mode(i2c, fifoctrl::FifoMode::FifoMode)?;
 
+        let actual: f32 = self.imu.freqfine.read_freq(i2c)?.into();
+        defmt::debug!("actual frequency: {}", actual);
         Ok(())
     }