Added max30101, working, got FIFO working on lsm6dsv16

code/l452_code/imu_grapher.py

@@ -0,0 +1,44 @@
+import serial
+import matplotlib.pyplot as plt
+import numpy as np
+
+ser = serial.Serial(port='/dev/ttyACM1', timeout = 1)
+ser.flush()
+ser.reset_input_buffer()
+
+gyros = []
+accs = []
+
+fig, axs = plt.subplots(2)
+i = 0
+
+while(1):
+    x = [int(e, 16) for e in ser.readline()[1:-1].split(b" ")]
+    imu_reading_type = x[0] >> 3
+    imu_reading_tag_cnt = (x[0] >> 1) & 3
+    #print(imu_reading_type, imu_reading_tag_cnt)
+    reading_xyz = [int.from_bytes(x[1:3], byteorder = 'little', signed = True),
+                   int.from_bytes(x[3:5], byteorder = 'little', signed = True),
+                   int.from_bytes(x[5:7], byteorder = 'little', signed = True)]
+    i += 1
+    if imu_reading_type == 1:
+        gyros.append([250 * e / (1 << 16) for e in reading_xyz])
+    elif imu_reading_type == 2:
+        accs.append([4 * e / (1<<16) for e in reading_xyz])
+
+        if len(gyros) > 50 and (i % 10) == 0:
+            gyros = gyros[-100:]
+            accs = accs[-100:]
+            a = np.array(accs)
+            g = np.array(gyros)
+            a -= np.mean(a, axis = 0).reshape(1, 3)
+            g -= np.mean(g, axis = 0).reshape(1, 3)
+            axs[0].cla()
+            axs[0].plot(g[:,0])
+            axs[0].plot(g[:,1])
+            axs[0].plot(g[:,2])
+            axs[1].cla()
+            axs[1].plot(a[:,0])
+            axs[1].plot(a[:,1])
+            axs[1].plot(a[:,2])
+            plt.pause(0.0001)