tinyCore/Software/Arduino/Examples/LSM6-IMU/IMUPlotting/IMUPlotting.ino

#include <Adafruit_LSM6DSOX.h>

Adafruit_LSM6DSOX lsm6ds3trc;
unsigned long lastSampleTime = 0;
const unsigned long SAMPLE_INTERVAL = 25; // Sample every 25ms

void setup() {
  Serial.begin(115200);
  while (!Serial) {
    delay(10);
  }
  
  // Initialize IMU-related pins
  pinMode(6, OUTPUT);
  digitalWrite(6, HIGH);
  
  // Initialize I2C
  Wire.begin(3, 4);
  delay(100);

  Serial.println("Scanning for I2C devices...");
  for (byte address = 1; address < 127; address++) {
    Wire.beginTransmission(address);
    byte error = Wire.endTransmission();
    if (error == 0) {
      Serial.print("I2C device found at address 0x");
      if (address < 16) {
        Serial.print("0");
      }
      Serial.println(address, HEX);
      
      // If this is our LSM6DS3TR-C address, try reading WHO_AM_I register
      if (address == 0x6A) {
        Wire.beginTransmission(0x6A);
        Wire.write(0x0F);  // WHO_AM_I register address
        Wire.endTransmission(false);
        Wire.requestFrom(0x6A, 1);
        if (Wire.available()) {
          byte whoAmI = Wire.read();
          Serial.print("WHO_AM_I register value: 0x");
          Serial.println(whoAmI, HEX);
          // Should be 0x6A for LSM6DS3TR-C
        }
      }
    }
  }

  Serial.println("Attempting to initialize LSM6DS3TR-C...");
  if (!lsm6ds3trc.begin_I2C()) {
    Serial.println("Failed to find LSM6DS3TR-C chip");
    Serial.println("Check your wiring!");
    while (1) {
      delay(10);
    }
  }

  Serial.println("LSM6DS3TR-C Found!");

  // Configure IMU settings
  lsm6ds3trc.setAccelRange(LSM6DS_ACCEL_RANGE_2_G);
  lsm6ds3trc.setGyroRange(LSM6DS_GYRO_RANGE_250_DPS);
  lsm6ds3trc.setAccelDataRate(LSM6DS_RATE_104_HZ);
  lsm6ds3trc.setGyroDataRate(LSM6DS_RATE_104_HZ);
  
  // Print labels for Serial Plotter
  Serial.println("AccelX:AccelY:AccelZ:GyroX:GyroY:GyroZ:Temp");
}

void sampleIMUData() {
  sensors_event_t accel;
  sensors_event_t gyro;
  sensors_event_t temp;
  lsm6ds3trc.getEvent(&accel, &gyro, &temp);
  
  // Format data for serial plotter (label:value:label:value format)
  Serial.print("AccelX:");
  Serial.print(accel.acceleration.x);
  Serial.print(",");
  Serial.print("AccelY:");
  Serial.print(accel.acceleration.y);
  Serial.print(",");
  Serial.print("AccelZ:");
  Serial.print(accel.acceleration.z);
  Serial.print(",");
  Serial.print("GyroX:");
  Serial.print(gyro.gyro.x);
  Serial.print(",");
  Serial.print("GyroY:");
  Serial.print(gyro.gyro.y);
  Serial.print(",");
  Serial.print("GyroZ:");
  Serial.print(gyro.gyro.z);
  Serial.print(",");
  Serial.println(temp.temperature);
}

void loop() {
  unsigned long currentTime = millis();
  
  // Sample data at specified interval
  if (currentTime - lastSampleTime >= SAMPLE_INTERVAL) {
    sampleIMUData();
    lastSampleTime = currentTime;
  }
}