samples/sensor/stream_fifo/README.rst

.. zephyr:code-sample:: stream_fifo
   :name: Generic device FIFO streaming
   :relevant-api: sensor_interface

   Get accelerometer/gyroscope/temperature FIFO data frames from a sensor using
   SENSOR_TRIG_FIFO_WATERMARK as a trigger.

Overview
********

This sample application demonstrates how to stream FIFO data using the
:ref:`RTIO framework <rtio>` based :ref:`Read and Decode method <sensor-read-and-decode>`.

The streaming is started using the sensor_stream() API and it is self-sustained by the
SENSOR_TRIG_FIFO_WATERMARK trigger.

Currently the sample gets/prints data for the following sensor channels:

- SENSOR_CHAN_ACCEL_XYZ
- SENSOR_CHAN_GYRO_XYZ
- SENSOR_CHAN_DIE_TEMP
- SENSOR_CHAN_GAME_ROTATION_VECTOR
- SENSOR_CHAN_GRAVITY_VECTOR
- SENSOR_CHAN_GBIAS_XYZ

Building and Running
********************

This sample supports up to 10 FIFO streaming devices. Each device needs
to be aliased as :samp:`stream{N}` where ``N`` goes from ``0`` to ``9``. For example:

.. code-block:: devicetree

  / {
      aliases {
                   stream0 = &lsm6dsv16x_6b_x_nucleo_iks4a1;
              };
      };

.. note::
    Note that NUM_SENSORS defined in main.c must match ``N`` and should be set accordingly.

Example devicetree overlays and configurations are already available for sensortile_box_pro,
nucleo_f401re and nucleo_h503rb in the boards directory:

- :zephyr_file:`samples/sensor/stream_fifo/boards/sensortile_box_pro.overlay`

  DT overlay file for the sensortile_box_pro board.

- :zephyr_file:`samples/sensor/stream_fifo/boards/sensortile_box_pro.conf`

  Configuration file for the sensortile_box_pro board.

- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_f401re.overlay`

  DT overlay file for the nucleo_f401re board.

- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_f401re.conf`

  Configuration file for the nucleo_f401re board.

- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_h503rb.overlay`

  DT overlay file for the nucleo_h503rb board.

- :zephyr_file:`samples/sensor/stream_fifo/boards/nucleo_h503rb.conf`

  Configuration file for the nucleo_h503rb board.

For example, build and run sample for nucleo_h503rb with:

.. zephyr-app-commands::
   :zephyr-app: samples/sensor/stream_fifo
   :board: nucleo_h503rb
   :goals: build flash
   :compact:

Sample Output
=============

The following example output is for lsm6dsv16x IMU device with accelerometer, gyroscope
and temperature sensor including also the Sensor Fusion Low Power (SFLP) information.
The FIFO watermark is set to 64. The board used is a nucleo_h503rb
equipped with a :ref:`x-nucleo-iks4a1` shield.

.. code-block:: console

       FIFO count - 64
       XL data for lsm6dsv16x@6b 1680572433340ns (0.373229, -0.009569, 9.909734)
       XL data for lsm6dsv16x@6b 1680639100006ns (0.354089, -0.023924, 9.909734)
       XL data for lsm6dsv16x@6b 1680705766672ns (0.368444, 0.000000, 9.933659)
       XL data for lsm6dsv16x@6b 1680772433338ns (0.373229, 0.000000, 9.924089)
       XL data for lsm6dsv16x@6b 1680839100004ns (0.368444, -0.004784, 9.924089)
       XL data for lsm6dsv16x@6b 1680905766670ns (0.363659, -0.009569, 9.924089)
       XL data for lsm6dsv16x@6b 1680972433336ns (0.358874, -0.004784, 9.928874)
       XL data for lsm6dsv16x@6b 1681039100002ns (0.363659, 0.004784, 9.928874)
       GY data for lsm6dsv16x@6b 1680572433340ns (0.001524, -0.000609, 0.004269)
       GY data for lsm6dsv16x@6b 1680639100006ns (-0.001219, 0.002134, 0.004879)
       GY data for lsm6dsv16x@6b 1680705766672ns (0.001219, -0.001219, 0.004879)
       GY data for lsm6dsv16x@6b 1680772433338ns (-0.000914, 0.001219, 0.003964)
       GY data for lsm6dsv16x@6b 1680839100004ns (0.000914, -0.001219, 0.004574)
       GY data for lsm6dsv16x@6b 1680905766670ns (0.001829, 0.000914, 0.005489)
       GY data for lsm6dsv16x@6b 1680972433336ns (-0.000609, 0.000304, 0.004574)
       GY data for lsm6dsv16x@6b 1681039100002ns (0.001829, 0.000304, 0.004879)
       TP data for lsm6dsv16x@6b 1680572433340ns 24.347656 °C
       TP data for lsm6dsv16x@6b 1680639100006ns 24.324218 °C
       TP data for lsm6dsv16x@6b 1680705766672ns 24.316406 °C
       TP data for lsm6dsv16x@6b 1680772433338ns 24.296875 °C
       ROT data for lsm6dsv16x@6b 1680639100006ns (-0.000008, -0.018661, 0.021575, 0.999593)
       ROT data for lsm6dsv16x@6b 1680705766672ns (-0.000139, -0.018524, 0.021606, 0.999594)
       ROT data for lsm6dsv16x@6b 1680772433338ns (-0.000055, -0.018569, 0.021621, 0.999593)
       ROT data for lsm6dsv16x@6b 1680839100004ns (-0.000050, -0.018539, 0.021606, 0.999594)
       ROT data for lsm6dsv16x@6b 1680905766670ns (-0.000003, -0.018569, 0.021621, 0.999593)
       ROT data for lsm6dsv16x@6b 1680972433336ns (0.000044, -0.018493, 0.021667, 0.999594)
       ROT data for lsm6dsv16x@6b 1681039100002ns (0.000013, -0.018432, 0.021667, 0.999595)
       ROT data for lsm6dsv16x@6b 1681105766668ns (0.000113, -0.018402, 0.021682, 0.999595)
       GV data for lsm6dsv16x@6b 1680639100006ns (37.270999, -0.792999, 998.447998)
       GV data for lsm6dsv16x@6b 1680705766672ns (36.965999, -1.037000, 998.447998)
       GV data for lsm6dsv16x@6b 1680772433338ns (37.088001, -0.854000, 998.447998)
       GV data for lsm6dsv16x@6b 1680839100004ns (37.027000, -0.854000, 998.447998)
       GV data for lsm6dsv16x@6b 1680905766670ns (37.088001, -0.792999, 998.447998)
       GV data for lsm6dsv16x@6b 1680972433336ns (36.904998, -0.670999, 998.447998)
       GV data for lsm6dsv16x@6b 1681039100002ns (36.783000, -0.732000, 998.447998)
       GV data for lsm6dsv16x@6b 1681105766668ns (36.722000, -0.548999, 998.447998)
       GY GBIAS data for lsm6dsv16x@6b 1680572433340ns (0.000303, -0.000151, 0.004179)
       GY GBIAS data for lsm6dsv16x@6b 1680639100006ns (0.000303, 0.000000, 0.004179)
       GY GBIAS data for lsm6dsv16x@6b 1680705766672ns (0.000303, -0.000075, 0.004179)
       GY GBIAS data for lsm6dsv16x@6b 1680772433338ns (0.000227, 0.000000, 0.004179)
       GY GBIAS data for lsm6dsv16x@6b 1680839100004ns (0.000303, -0.000075, 0.004179)
       GY GBIAS data for lsm6dsv16x@6b 1680905766670ns (0.000303, 0.000000, 0.004255)
       GY GBIAS data for lsm6dsv16x@6b 1680972433336ns (0.000303, 0.000000, 0.004255)
       GY GBIAS data for lsm6dsv16x@6b 1681039100002ns (0.000379, 0.000000, 0.004255)
       XL data for lsm6dsv16x@6b 1681105766668ns (0.358874, -0.019139, 9.928874)
       XL data for lsm6dsv16x@6b 1681172433334ns (0.382799, -0.004784, 9.962369)
       XL data for lsm6dsv16x@6b 1681239100000ns (0.354089, 0.000000, 9.914519)
       GY data for lsm6dsv16x@6b 1681105766668ns (0.000304, 0.002134, 0.004574)
       GY data for lsm6dsv16x@6b 1681172433334ns (-0.000914, 0.000914, 0.004574)
       GY data for lsm6dsv16x@6b 1681239100000ns (0.002744, -0.002439, 0.004879)
       TP data for lsm6dsv16x@6b 1680839100004ns 24.339843 °C
       TP data for lsm6dsv16x@6b 1680905766670ns 24.339843 °C
       TP data for lsm6dsv16x@6b 1680972433336ns 24.289062 °C
       TP data for lsm6dsv16x@6b 1681039100002ns 24.296875 °C
       ROT data for lsm6dsv16x@6b 1681172433334ns (0.000049, -0.018310, 0.021697, 0.999596)
       ROT data for lsm6dsv16x@6b 1681239100000ns (0.000020, -0.018371, 0.021697, 0.999595)
       GV data for lsm6dsv16x@6b 1681172433334ns (36.539001, -0.670999, 998.447998)
       GV data for lsm6dsv16x@6b 1681239100000ns (36.660999, -0.732000, 998.447998)
       GY GBIAS data for lsm6dsv16x@6b 1681105766668ns (0.000379, 0.000000, 0.004331)
       GY GBIAS data for lsm6dsv16x@6b 1681172433334ns (0.000303, 0.000075, 0.004331)
       GY GBIAS data for lsm6dsv16x@6b 1681239100000ns (0.000379, 0.000000, 0.004331)
       TP data for lsm6dsv16x@6b 1681105766668ns 24.289062 °C
       TP data for lsm6dsv16x@6b 1681172433334ns 24.324218 °C
       TP data for lsm6dsv16x@6b 1681239100000ns 24.281250 °C