From 5ff786d60fde44566f1bd3e8b699f09b1ad00239 Mon Sep 17 00:00:00 2001
From: Carlo PARATA <carlo.parata@st.com>
Date: Fri, 18 Nov 2022 10:27:19 +0100
Subject: [PATCH] Improve FIFO examples

---
 .../LSM6DSOX_FIFO_Interrupt.ino                   | 12 +++++++++---
 .../LSM6DSOX_FIFO_Polling.ino                     | 15 ++++++++++-----
 library.properties                                |  2 +-
 3 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/examples/LSM6DSOX_FIFO_Interrupt/LSM6DSOX_FIFO_Interrupt.ino b/examples/LSM6DSOX_FIFO_Interrupt/LSM6DSOX_FIFO_Interrupt.ino
index 70362a8..e909a32 100644
--- a/examples/LSM6DSOX_FIFO_Interrupt/LSM6DSOX_FIFO_Interrupt.ino
+++ b/examples/LSM6DSOX_FIFO_Interrupt/LSM6DSOX_FIFO_Interrupt.ino
@@ -45,8 +45,8 @@
 
 #include "LSM6DSOXSensor.h"
 
-#define SR 417.0f // Sample rate. Options are: 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333 and 6667 Hz
-#define WTM_LV 102 // Watermark threshold level. Max samples in this FIFO configuration is 512 (accel and gyro only).
+#define SR 104.0f // Sample rate. Options are: 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333 and 6667 Hz
+#define WTM_LV 199 // Watermark threshold level. Max samples in this FIFO configuration is 512 (accel and gyro only).
 
 // Define interrupt pins according to MCU board and sensor wiring.
 #define INT1_pin A0 // MCU input pin connected to sensor INT1 output pin
@@ -150,6 +150,7 @@ void loop() {
   lsm6dsoxSensor.Get_FIFO_Num_Samples(&numSamples);
   Serial.print("Samples in FIFO: ");
   Serial.println(numSamples);
+  Serial.flush();
 
   // Check if FIFO threshold level was reached.
   if (fullFlag != 0) {
@@ -159,11 +160,13 @@ void loop() {
 
     if(fullStatus) {
       Serial.println("-- FIFO Watermark level reached!, fetching data.");
+      Serial.flush();
 
       lsm6dsoxSensor.Get_FIFO_Num_Samples(&numSamples);
 
       Serial.print("numSamples=");
       Serial.println(numSamples);
+      Serial.flush();
 
       // fetch data from FIFO
       for (uint16_t i = 0; i < numSamples; i++) {
@@ -179,6 +182,7 @@ void loop() {
           Serial.print(", "); Serial.print(rotation[1]); 
           Serial.print(", "); Serial.print(rotation[2]); 
           Serial.println();
+          Serial.flush();
           #endif
         } 
       
@@ -191,6 +195,7 @@ void loop() {
           Serial.print(", "); Serial.print(acceleration[1]); 
           Serial.print(", "); Serial.print(acceleration[2]); 
           Serial.println();
+          Serial.flush();
           #endif
         }
 
@@ -206,6 +211,7 @@ void loop() {
       Serial.println(count_gyro_samples);
       Serial.print("Dummy Samples: ");
       Serial.println(count_dummy_samples);
+      Serial.flush();
     }
   }
-}
\ No newline at end of file
+}
diff --git a/examples/LSM6DSOX_FIFO_Polling/LSM6DSOX_FIFO_Polling.ino b/examples/LSM6DSOX_FIFO_Polling/LSM6DSOX_FIFO_Polling.ino
index e1832bb..cebc063 100644
--- a/examples/LSM6DSOX_FIFO_Polling/LSM6DSOX_FIFO_Polling.ino
+++ b/examples/LSM6DSOX_FIFO_Polling/LSM6DSOX_FIFO_Polling.ino
@@ -44,8 +44,8 @@
 
 #include "LSM6DSOXSensor.h"
 
-#define SR 417 // Sample rate. Options are: 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333 and 6667 Hz.
-#define WTM_LV 500 // Watermark threshold level. Max samples in this FIFO configuration is 512 (accel and gyro only).
+#define SR 104 // Sample rate. Options are: 12.5, 26, 52, 104, 208, 417, 833, 1667, 3333 and 6667 Hz.
+#define WTM_LV 199 // Watermark threshold level. Max samples in this FIFO configuration is 512 (accel and gyro only).
 
 /** LSM6DSOX i2c address:
  * LSM6DSOX_I2C_ADD_L: 0x6A (default)
@@ -55,7 +55,7 @@ LSM6DSOXSensor lsm6dsoxSensor = LSM6DSOXSensor(&Wire, LSM6DSOX_I2C_ADD_L);
 
 void setup() {
 
-  Serial.begin(115200);
+  Serial.begin(921600);
   // Comment this line to skip waiting for serial:
   while(!Serial) delay(10);
   
@@ -127,12 +127,14 @@ void loop() {
   // Get number of samples in buffer
   lsm6dsoxSensor.Get_FIFO_Num_Samples(&numSamples);
   Serial.print("Samples in FIFO: "); Serial.println(numSamples);
+  Serial.flush();
 
   // Check if FIFO threshold level was reached.
   lsm6dsoxSensor.Get_FIFO_Watermark_Status(&wtmStatus);
 
   if (wtmStatus != 0) {
     Serial.println("-- FIFO Watermark level reached!, fetching data.");
+    Serial.flush();
 
     // fetch data from FIFO
     for (uint16_t i = 0; i < WTM_LV; i++) {
@@ -142,22 +144,24 @@ void loop() {
       // Get gyroscope data
       if (Tag == 1) { 
         lsm6dsoxSensor.Get_FIFO_G_Axes(rotation);
-        #if 0 // set to 1 for printing values
+        #if 1 // set to 1 for printing values
         Serial.print("mdps: "); Serial.print(rotation[0]); 
         Serial.print(", "); Serial.print(rotation[1]); 
         Serial.print(", "); Serial.print(rotation[2]); 
         Serial.println();
+        Serial.flush();
         #endif
       } 
       
       // Get accelerometer data
       else if (Tag == 2) {
         lsm6dsoxSensor.Get_FIFO_X_Axes(acceleration); 
-        #if 0 // set to 1 for printing values
+        #if 1 // set to 1 for printing values
         Serial.print("mG: "); Serial.print(acceleration[0]); 
         Serial.print(", "); Serial.print(acceleration[1]); 
         Serial.print(", "); Serial.print(acceleration[2]); 
         Serial.println();
+        Serial.flush();
         #endif
       }
     }
@@ -168,6 +172,7 @@ void loop() {
 
   if (fullStatus != 0) {
     Serial.println("-- FIFO is full!, consider reducing Watermark Level or Buffer Data Rate.\nFlushing data from FIFO.");
+    Serial.flush();
     lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_BYPASS_MODE); // flush FIFO data
     lsm6dsoxSensor.Set_FIFO_Mode(LSM6DSOX_STREAM_MODE); // continue batching
   }
diff --git a/library.properties b/library.properties
index 60acbfc..6146808 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=STM32duino LSM6DSOX
-version=2.3.1
+version=2.3.2
 author=SRA
 maintainer=stm32duino
 sentence=Ultra Low Power inertial measurement unit.