From 9c5cd659785b74ab3d36abd56ec28e5afe57bb56 Mon Sep 17 00:00:00 2001
From: jeanr <jeanr@met.no>
Date: Tue, 20 Jan 2026 10:04:31 +0100
Subject: [PATCH] Add methods to read raw ACC and GYR data from FIFO

---
 library.properties       |  2 +-
 src/ISM330DHCXSensor.cpp | 40 ++++++++++++++++++++++++++++++++++++++++
 src/ISM330DHCXSensor.h   |  2 ++
 3 files changed, 43 insertions(+), 1 deletion(-)

diff --git a/library.properties b/library.properties
index f6dc0b8..c9ec34d 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=STM32duino ISM330DHCX
-version=2.1.1
+version=2.1.2
 author=SRA
 maintainer=stm32duino
 sentence=High-Performance 3D digital accelerometer and 3D digital gyroscope.
diff --git a/src/ISM330DHCXSensor.cpp b/src/ISM330DHCXSensor.cpp
index 16b4b72..7b14855 100644
--- a/src/ISM330DHCXSensor.cpp
+++ b/src/ISM330DHCXSensor.cpp
@@ -2177,6 +2177,26 @@ ISM330DHCXStatusTypeDef ISM330DHCXSensor::FIFO_ACC_Get_Axes(int32_t *Acceleratio
   return ISM330DHCX_OK;
 }
 
+/**
+ * @brief  Get the ISM330DHCX FIFO accelero single sample (16-bit data per 3 axes) raw data
+ * @param  Acceleration FIFO accelerometer raw axes reading
+ * @retval 0 in case of success, an error code otherwise
+ */
+ISM330DHCXStatusTypeDef ISM330DHCXSensor::FIFO_ACC_Get_AxesRaw(int16_t *AccelerationRaw)
+{
+  uint8_t data[6];
+
+  if (FIFO_Get_Data(data) != ISM330DHCX_OK) {
+    return ISM330DHCX_ERROR;
+  }
+
+  AccelerationRaw[0] = ((int16_t)data[1] << 8) | data[0];
+  AccelerationRaw[1] = ((int16_t)data[3] << 8) | data[2];
+  AccelerationRaw[2] = ((int16_t)data[5] << 8) | data[4];
+
+  return ISM330DHCX_OK;
+}
+
 /**
  * @brief  Get the ISM330DHCX FIFO gyro single sample (16-bit data per 3 axes) and calculate angular velocity [mDPS]
  * @param  AngularVelocity FIFO gyroscope axes [mDPS]
@@ -2212,6 +2232,26 @@ ISM330DHCXStatusTypeDef ISM330DHCXSensor::FIFO_GYRO_Get_Axes(int32_t *AngularVel
   return ISM330DHCX_OK;
 }
 
+/**
+ * @brief  Get the ISM330DHCX FIFO gyro single sample (16-bit data per 3 axes) raw data
+ * @param  AngularVelocity FIFO gyroscope raw axes reading
+ * @retval 0 in case of success, an error code otherwise
+ */
+ISM330DHCXStatusTypeDef ISM330DHCXSensor::FIFO_GYRO_Get_AxesRaw(int16_t *AngularVelocityRaw)
+{
+  uint8_t data[6];
+
+  if (FIFO_Get_Data(data) != ISM330DHCX_OK) {
+    return ISM330DHCX_ERROR;
+  }
+
+  AngularVelocityRaw[0] = ((int16_t)data[1] << 8) | data[0];
+  AngularVelocityRaw[1] = ((int16_t)data[3] << 8) | data[2];
+  AngularVelocityRaw[2] = ((int16_t)data[5] << 8) | data[4];
+
+  return ISM330DHCX_OK;
+}
+
 /**
  * @brief  Enable ISM330DHCX accelerometer DRDY interrupt on INT1
  * @retval 0 in case of success, an error code otherwise
diff --git a/src/ISM330DHCXSensor.h b/src/ISM330DHCXSensor.h
index c210881..0df3834 100644
--- a/src/ISM330DHCXSensor.h
+++ b/src/ISM330DHCXSensor.h
@@ -152,7 +152,9 @@ class ISM330DHCXSensor {
     ISM330DHCXStatusTypeDef FIFO_Get_Tag(uint8_t *Tag);
     ISM330DHCXStatusTypeDef FIFO_Get_Data(uint8_t *Data);
     ISM330DHCXStatusTypeDef FIFO_ACC_Get_Axes(int32_t *Acceleration);
+    ISM330DHCXStatusTypeDef FIFO_ACC_Get_AxesRaw(int16_t *AccelerationRaw);
     ISM330DHCXStatusTypeDef FIFO_GYRO_Get_Axes(int32_t *AngularVelocity);
+    ISM330DHCXStatusTypeDef FIFO_GYRO_Get_AxesRaw(int16_t *AngularVelocityRaw);
 
     ISM330DHCXStatusTypeDef ACC_Enable_DRDY_On_INT1();
     ISM330DHCXStatusTypeDef ACC_Disable_DRDY_On_INT1();