nRF Connect SDKを用いたseed-xiao nRF52840 Sense PlusのIMU値取得方法
状況
VSCodeでnRF Connect SDKを用いてxiao nRF52840 Sense Plusの6軸ジャイロセンサの値を取得したいと思っています。
VSCodeのGUIを用いて、拡張機能によって追加されたアイコン「nRF Connect」からWELCOMEタブの「Create a new application」から「LSM6DSL accelerometer and gyrometer sensor」サンプルを選択しアプリケーションを作成しました。選択したSDKバージョンはv3.3.0です。
build configurationを画像のように設定したあと、ビルドして生成された.UF2ファイルをブートモードにしたxiaoに書き込み、xiaoが再起動したのですがシリアルモニタに何の文字も表示されません。
HelloWorldやBulinky程度しか動作させておらず全く使い慣れていないので、どのよう問題があるのか見通しが立てられずにいます。足りない情報があれば追記いたします。アドバイス、よろしくお願いいたします。
※画像：Build Configuration, 設定したのはSDK,Toolchain, Board targetの三項目のみで、あとはデフォルトの設定。
また、#include <zephyr/drivers/sensor.h>について次のような警告が出ています。
↓main.c src
The sensor drivers must be enabled by CONFIG_SENSOR to be included in the build
↓main.c src
The active build context 'build' does not use this file.
バージョン等
nRF Connect SDK : v3.3.0
nRF Connect SDK Toolchain : v3.3.0
xiao : Seeed Studio XIAO nRF52840 Sense Plus（6 DOF IMU LSM6DS3TR-C内臓）
シリアルモニタ : Tera Term 5
該当するソースコード
main.c
/*
* Copyright (c) 2018 STMicroelectronics
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <stdio.h>
#include <zephyr/sys/util.h>
static int print_samples;
static int lsm6dsl_trig_cnt;
static struct sensor_value accel_x_out, accel_y_out, accel_z_out;
static struct sensor_value gyro_x_out, gyro_y_out, gyro_z_out;
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
static struct sensor_value magn_x_out, magn_y_out, magn_z_out;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
static struct sensor_value press_out, temp_out;
#endif
#ifdef CONFIG_LSM6DSL_TRIGGER
static void lsm6dsl_trigger_handler(const struct device *dev,
const struct sensor_trigger *trig)
{
static struct sensor_value accel_x, accel_y, accel_z;
static struct sensor_value gyro_x, gyro_y, gyro_z;
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
static struct sensor_value magn_x, magn_y, magn_z;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
static struct sensor_value press, temp;
#endif
lsm6dsl_trig_cnt++;
sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
sensor_channel_get(dev, SENSOR_CHAN_ACCEL_X, &accel_x);
sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Y, &accel_y);
sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Z, &accel_z);
/* lsm6dsl gyro */
sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
sensor_channel_get(dev, SENSOR_CHAN_GYRO_X, &gyro_x);
sensor_channel_get(dev, SENSOR_CHAN_GYRO_Y, &gyro_y);
sensor_channel_get(dev, SENSOR_CHAN_GYRO_Z, &gyro_z);
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
/* lsm6dsl external magn */
sensor_sample_fetch_chan(dev, SENSOR_CHAN_MAGN_XYZ);
sensor_channel_get(dev, SENSOR_CHAN_MAGN_X, &magn_x);
sensor_channel_get(dev, SENSOR_CHAN_MAGN_Y, &magn_y);
sensor_channel_get(dev, SENSOR_CHAN_MAGN_Z, &magn_z);
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
/* lsm6dsl external press/temp */
sensor_sample_fetch_chan(dev, SENSOR_CHAN_PRESS);
sensor_channel_get(dev, SENSOR_CHAN_PRESS, &press);
sensor_sample_fetch_chan(dev, SENSOR_CHAN_AMBIENT_TEMP);
sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP, &temp);
#endif
if (print_samples) {
print_samples = 0;
accel_x_out = accel_x;
accel_y_out = accel_y;
accel_z_out = accel_z;
gyro_x_out = gyro_x;
gyro_y_out = gyro_y;
gyro_z_out = gyro_z;
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
magn_x_out = magn_x;
magn_y_out = magn_y;
magn_z_out = magn_z;
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
press_out = press;
temp_out = temp;
#endif
}
}
#endif
int main(void)
{
int cnt = 0;
char out_str[64];
struct sensor_value odr_attr;
const struct device *const lsm6dsl_dev = DEVICE_DT_GET_ONE(st_lsm6dsl);
if (!device_is_ready(lsm6dsl_dev)) {
printk("sensor: device not ready.\n");
return 0;
}
/* set accel/gyro sampling frequency to 104 Hz */
odr_attr.val1 = 104;
odr_attr.val2 = 0;
if (sensor_attr_set(lsm6dsl_dev, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
printk("Cannot set sampling frequency for accelerometer.\n");
return 0;
}
if (sensor_attr_set(lsm6dsl_dev, SENSOR_CHAN_GYRO_XYZ,
SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr) < 0) {
printk("Cannot set sampling frequency for gyro.\n");
return 0;
}
#ifdef CONFIG_LSM6DSL_TRIGGER
struct sensor_trigger trig;
trig.type = SENSOR_TRIG_DATA_READY;
trig.chan = SENSOR_CHAN_ACCEL_XYZ;
if (sensor_trigger_set(lsm6dsl_dev, &trig, lsm6dsl_trigger_handler) != 0) {
printk("Could not set sensor type and channel\n");
return 0;
}
#endif
if (sensor_sample_fetch(lsm6dsl_dev) < 0) {
printk("Sensor sample update error\n");
return 0;
}
while (1) {
/* Erase previous */
printk("\0033\014");
printf("LSM6DSL sensor samples:\n\n");
/* lsm6dsl accel */
sprintf(out_str, "accel x:%f ms/2 y:%f ms/2 z:%f ms/2",
sensor_value_to_double(&accel_x_out),
sensor_value_to_double(&accel_y_out),
sensor_value_to_double(&accel_z_out));
printk("%s\n", out_str);
/* lsm6dsl gyro */
sprintf(out_str, "gyro x:%f dps y:%f dps z:%f dps",
sensor_value_to_double(&gyro_x_out),
sensor_value_to_double(&gyro_y_out),
sensor_value_to_double(&gyro_z_out));
printk("%s\n", out_str);
#if defined(CONFIG_LSM6DSL_EXT0_LIS2MDL)
/* lsm6dsl external magn */
sprintf(out_str, "magn x:%f gauss y:%f gauss z:%f gauss",
sensor_value_to_double(&magn_x_out),
sensor_value_to_double(&magn_y_out),
sensor_value_to_double(&magn_z_out));
printk("%s\n", out_str);
#endif
#if defined(CONFIG_LSM6DSL_EXT0_LPS22HB)
/* lsm6dsl external press/temp */
sprintf(out_str, "press: %f kPa - temp: %f deg",
sensor_value_to_double(&press_out), sensor_value_to_double(&temp_out));
printk("%s\n", out_str);
#endif
printk("loop:%d trig_cnt:%d\n\n", ++cnt, lsm6dsl_trig_cnt);
print_samples = 1;
k_sleep(K_MSEC(2000));
}
}
prj.conf
CONFIG_STDOUT_CONSOLE=y
CONFIG_I2C=y
CONFIG_SPI=y
CONFIG_SENSOR=y
CONFIG_LSM6DSL_TRIGGER_GLOBAL_THREAD=y
CONFIG_CBPRINTF_FP_SUPPORT=y
0 likes