RE: Interfacing IMU Sensor (LSM6DSL) with i2c

Kazi Afroza Sultana — Wed, 31 Jul 2024 15:55:26 GMT

Hello,

Can you please open a new case for this roll and pitch angle calculation?

RE: Interfacing IMU Sensor (LSM6DSL) with i2c

rania amara — Wed, 15 May 2024 10:56:31 GMT

hi i solved the earlier issue by replacing the tigger code by the pooling code in the main.c.But now i'm trying to calculate the roll and pitch angles using accx,accy and accz ,here is main.c code:

/*
 * Copyright (c) 2020 Yestin Sun
 *
 * SPDX-License-Identifier: Apache-2.0
 */

#include <stdio.h>
#include <zephyr.h>
#include <device.h>
#include <drivers/sensor.h>
#include <math.h> // Include math library for trigonometric functions


#define LSM6DSO DT_INST(0, st_lsm6dso)

#if DT_NODE_HAS_STATUS(LSM6DSO, okay)
#define LSM6DSO_LABEL DT_LABEL(LSM6DSO)
#else
#error Your devicetree has no enabled nodes with compatible "st,lsm6dso"
#define LSM6DSO_LABEL "<none>"
#endif
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif


static inline float out_ev(struct sensor_value *val)
{
	return (val->val1 + (float)val->val2 / 1000000);
}

static void fetch_and_display(const struct device *dev)
{
	struct sensor_value x, y, z;
	static int trig_cnt;

	trig_cnt++;

	/* lsm6dso accel */
	sensor_sample_fetch_chan(dev, SENSOR_CHAN_ACCEL_XYZ);
	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_X, &x);
	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Y, &y);
	sensor_channel_get(dev, SENSOR_CHAN_ACCEL_Z, &z);
	
	// Calculate Roll angle in degrees
    float AccX = out_ev(&x);
    float AccY = out_ev(&y);
    float AccZ = out_ev(&z);
	printf("AccX = %.2f, AccY = %.2f, AccZ = %.2f\n", AccX, AccY, AccZ);
    float Roll = atan2( AccY, sqrt(AccX * AccX + AccZ * AccZ)) * 180 / M_PI;

    // Calculate Pitch angle in degrees
    float Pitch = atan2(-AccX, sqrt(AccY * AccY + AccZ * AccZ)) * 180 / M_PI;

    printf("Roll = %.2f degrees; Pitch = %.2f degrees\n", Roll, Pitch);



	/* lsm6dso gyro */
	sensor_sample_fetch_chan(dev, SENSOR_CHAN_GYRO_XYZ);
	sensor_channel_get(dev, SENSOR_CHAN_GYRO_X, &x);
	sensor_channel_get(dev, SENSOR_CHAN_GYRO_Y, &y);
	sensor_channel_get(dev, SENSOR_CHAN_GYRO_Z, &z);

	printf("gyro x:%f dps y:%f dps z:%f dps\n",
			out_ev(&x), out_ev(&y), out_ev(&z));

	printf("trig_cnt:%d\n\n", trig_cnt);
}

static int set_sampling_freq(const struct device *dev)
{
	int ret = 0;
	struct sensor_value odr_attr;

	/* set accel/gyro sampling frequency to 12.5 Hz */
	odr_attr.val1 = 12.5;
	odr_attr.val2 = 0;

	ret = sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
			SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr);
	if (ret != 0) {
		printf("Cannot set sampling frequency for accelerometer.\n");
		return ret;
	}

	ret = sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ,
			SENSOR_ATTR_SAMPLING_FREQUENCY, &odr_attr);
	if (ret != 0) {
		printf("Cannot set sampling frequency for gyro.\n");
		return ret;
	}

	return 0;
}

#ifdef CONFIG_LSM6DSO_TRIGGER



	static void test_polling_mode(const struct device *dev)
{
	if (set_sampling_freq(dev) != 0)
		return;

	while (1) {
		fetch_and_display(dev);
		k_sleep(K_MSEC(1000));
	}
}


#else
static void trigger_handler(const struct device *dev,
			    const struct sensor_trigger *trig)
{
	fetch_and_display(dev);
}
static void test_trigger_mode(const struct device *dev)
{
	struct sensor_trigger trig;

	if (set_sampling_freq(dev) != 0)
		return;

	trig.type = SENSOR_TRIG_DATA_READY;
	trig.chan = SENSOR_CHAN_ACCEL_XYZ;

	if (sensor_trigger_set(dev, &trig, trigger_handler) != 0) {
		printf("Could not set sensor type and channel\n");
		return;
	}
#endif

void main(void)
{
	const struct device *dev = device_get_binding(LSM6DSO_LABEL);

	if (dev == NULL) {
		printf("No device \"%s\" found.\n", LSM6DSO_LABEL);
		return;
	}

#ifdef CONFIG_LSM6DSO_TRIGGER
printf("Testing LSM6DSO sensor in polling mode.\n\n");
	test_polling_mode(dev);
	
#else
	printf("Testing LSM6DSO sensor in trigger mode.\n\n");
	test_trigger_mode(dev);
#endif
}

and here is the prj.conf file

CONFIG_STDOUT_CONSOLE=y
CONFIG_I2C=y
CONFIG_SENSOR=y
CONFIG_LSM6DSO=y
CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD=y
CONFIG_CBPRINTF_FP_SUPPORT=y
CONFIG_NEWLIB_LIBC=y

the probleme is when i run this code is not outputing the values :


AccX = , AccY = , AccZ = 
Roll =  degrees; Pitch =  degrees
gyro x: dps y: dps z: dps
trig_cnt:9

AccX = , AccY = , AccZ = 
Roll =  degrees; Pitch =  degrees
gyro x: dps y: dps z: dps
trig_cnt:10

and when i searched about it i found out that i should includes proper settings for floating-point CONFIG_ARM_FPU=y

but when i do it' s unkown symbol so i guess Floating Point Unit) if available on your target device which is nrf52840dk

.so i stuck in this problem

RE: Interfacing IMU Sensor (LSM6DSL) with i2c

Kazi Afroza Sultana — Tue, 14 May 2024 15:03:48 GMT

Hello Rania,

Could you please share your project file so Ican look at the overlay file and the relevant code in the main.c file?

RE: Interfacing IMU Sensor (LSM6DSL) with i2c

rania amara — Sun, 12 May 2024 18:40:59 GMT

i don't know if i'm right but i think the probleme have to do with the interrupt pin ,but i don't know how exactly please correct me if i'm wrong

RE: Interfacing IMU Sensor (LSM6DSL) with i2c

rania amara — Wed, 08 May 2024 16:09:27 GMT

yes i'm sure that I2C pins are working fine but still i'm facing the same problem

RE: Interfacing IMU Sensor (LSM6DSL) with i2c

Kazi Afroza Sultana — Fri, 03 May 2024 13:32:09 GMT

Hello,

Have you seen any activity on the I2C pins? Did you use any logic analyzer or oscilloscope to see any activity on the I2C pins?

You may try to use other I2C pin to check if that works?