Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

Naeem Maroof — Thu, 15 Aug 2024 09:53:07 GMT

The function i2c_burst_read_dt that you are using in the mpu_read_n_reg function is a synchronous call, that would return when all of the bytes have been read out, and therefore is a blocking call.

You may have a look at this ticket which suggests to use the nrfx driver directly (nrfx sample code is link there). non-blocking-i2c-zephyr-example

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

mjguo — Tue, 13 Aug 2024 16:19:50 GMT

you can download my code from: https://github.com/gmj22362/NRF52840.The project name is ble_mpu6050.

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

Naeem Maroof — Tue, 13 Aug 2024 15:13:08 GMT

I am sorry but I could not compile the project you have sent. It is missing definitions.

What is ble_init()? Is this custom function? I see bt_enalbe() is not used.

Please send a minimal but complete project as a zip file that could be compiled in ncs 2.6.1.

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

mjguo — Tue, 06 Aug 2024 15:16:19 GMT

I use nrf connect sdk v2.6.1. when I delete the mpu_read_n_reg() in mpu6050_thread, the ble can be connected.

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

mjguo — Tue, 06 Aug 2024 15:11:50 GMT

app.overlay

/ {
    chosen {
        nordic,nus-uart = &uart0;
    };
};

&i2c1 {
    status = "okay";
    // clock-frequency = <400000>;
    mpu6050: mpu6050@68 {
        compatible = "invensense,mpu6050";
        reg = <0x68>; // I2C 地址
        int-gpios = <&gpio0 12 GPIO_ACTIVE_LOW>;
    };
};
 
//配置i2c1
&i2c1_default {
    group1 {
        psels = <NRF_PSEL(TWIM_SDA, 0, 31)>, <NRF_PSEL(TWIM_SCL, 0, 30)>;
    };
};

main.c


int main(void)
{
    int blink_status = 0;
    int err = 0;

    configure_gpio();

    uart_init();

    ble_init();

    mpu6050_init();

    for (;;) {
        dk_set_led(RUN_STATUS_LED, (++blink_status) % 2);
        k_sleep(K_MSEC(RUN_LED_BLINK_INTERVAL));
    }
}

void ble_write_thread(void)
{
    static uint8_t tmp[5] = "1234";
    k_sem_take(&ble_init_ok, K_FOREVER);
   
    for (;;) {
        if(current_conn){
            // indicate_send(current_conn, tmp, 5);
            bt_custom_send(current_conn, (uint8_t*)&mpu6050_dev.sensor_data.temp, 2);
        }
        tmp[0] ++;
        k_sleep(K_MSEC(RUN_LED_BLINK_INTERVAL));
    }
}

K_THREAD_DEFINE(ble_write_thread_id, BT_THREAD_STACKSIZE, ble_write_thread, NULL, NULL,
        NULL, BT_THREAD_PRIORITY, 0, 0);

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

mjguo — Tue, 06 Aug 2024 15:07:01 GMT

mpu6050.c

static const uint8_t mpu6050_init_cmd[11][2] = {
    {PWR_MGMT_1, 0x80}, // PWR_MGMT_1, DEVICE_RESET  
    // need wait
    {PWR_MGMT_1, 0x00}, // cleat SLEEP
    {GYRO_CONFIG, 0x18}, // Gyroscope Full Scale Range = ± 2000 °/s
    {ACCEL_CONFIG, 0x00}, // Accelerometer Full Scale Range = ± 2g
    {INT_ENABLE, 0x01}, // Interrupt Enable.  DATA_RDY_EN
    {USER_CTRL, 0x00}, // User Control.auxiliary I2C are logically driven by the primary I2C bus
    {FIFO_EN, 0x00}, // FIFO Enable.disenable  
    {SMPLRT_DIV, 99}, // Sample Rate Divider.Sample Rate = 1KHz / (1 + 9)  
    {CONFIG, 0x23}, // EXT_SYNC_SET = GYRO_ZOUT_L[0]; Bandwidth = 3
    {PWR_MGMT_1, 0x01}, // Power Management 1.PLL with X axis gyroscope reference
    {PWR_MGMT_2, 0x00}  // Power Management 2
};
 
mpu6050_info_t mpu6050_dev = {
    .i2c = I2C_DT_SPEC_GET(DT_NODELABEL(mpu6050)),  
    .int_gpio = GPIO_DT_SPEC_GET(DT_NODELABEL(mpu6050), int_gpios),
};

static void mpu6050_gpio_callback(const struct device *dev,
                  struct gpio_callback *cb, uint32_t pins)
{
    mpu6050_info_t *info = CONTAINER_OF(cb, mpu6050_info_t, gpio_cb);
 
    ARG_UNUSED(pins);
    gpio_pin_interrupt_configure_dt(&info->int_gpio, GPIO_INT_DISABLE);
    k_sem_give(&info->gpio_sem);

}

void mpu_read_reg(mpu6050_info_t *dev, uint8_t reg_addr, uint8_t *data)
{
    i2c_reg_read_byte_dt(&dev->i2c, reg_addr, data);
}
 

void mpu_write_reg(mpu6050_info_t *dev, uint8_t reg_addr, uint8_t data)
{
    i2c_reg_write_byte_dt(&dev->i2c, reg_addr, data);
}
 
void mpu_read_n_reg(mpu6050_info_t *dev, uint8_t start_reg, uint8_t* data, uint32_t len)
{
    i2c_burst_read_dt(&dev->i2c, start_reg, data, len);
}

int mpu6050_init_interrupt(mpu6050_info_t *info)
{
    if (!gpio_is_ready_dt(&info->int_gpio)) {
        LOG_ERR("GPIO device not ready");
        return -ENODEV;
    }
 
    gpio_pin_configure_dt(&info->int_gpio, GPIO_INPUT);
 
    gpio_init_callback(&info->gpio_cb,
               mpu6050_gpio_callback,
               BIT(info->int_gpio.pin));
 
    if (gpio_add_callback(info->int_gpio.port, &info->gpio_cb) < 0) {
        LOG_ERR("Failed to set gpio callback");
        return -EIO;
    }
 
#if defined(MPU6050_TRIGGER_OWN_THREAD)
    k_sem_init(&info->gpio_sem, 0, K_SEM_MAX_LIMIT);
 
    k_thread_create(&info->thread, info->thread_stack,
            MPU6050_THREAD_STACK_SIZE,
            mpu6050_thread, &mpu6050_dev,
            NULL, NULL, K_PRIO_COOP(MPU6050_THREAD_PRIORITY),
            0, K_NO_WAIT);
#elif defined(MPU6050_TRIGGER_GLOBAL_THREAD)
    info->work.handler = mpu6050_work_cb;
#endif
 
    gpio_pin_interrupt_configure_dt(&info->int_gpio,
                    GPIO_INT_EDGE_FALLING);
 
    return 0;
}

static void mpu6050_thread(void *p1, void *p2, void *p3)
{
    ARG_UNUSED(p2);
    ARG_UNUSED(p3);
 
    uint16_t tmp[7];
    mpu6050_info_t *info = p1;
    // struct sensor_value val[7];
 
    while (1) {
        //等待接收
        k_sem_take(&info->gpio_sem, K_FOREVER);
 
        //读取数据
        mpu_read_n_reg(info, ACCEL_XOUT_H, (uint8_t*)tmp, 14);
       
        //开中断
        gpio_pin_interrupt_configure_dt(&info->int_gpio,
            GPIO_INT_EDGE_FALLING);
 
        info->sensor_data.accel_x = sys_be16_to_cpu(tmp[0]);
        info->sensor_data.accel_y = sys_be16_to_cpu(tmp[1]);
        info->sensor_data.accel_z = sys_be16_to_cpu(tmp[2]);
        info->sensor_data.temp = sys_be16_to_cpu(tmp[3]);
        info->sensor_data.gyro_x = sys_be16_to_cpu(tmp[4]);
        info->sensor_data.gyro_y = sys_be16_to_cpu(tmp[5]);
        info->sensor_data.gyro_z = sys_be16_to_cpu(tmp[6]);
 
        //for(int i=0; i<7; i++) printk("%x ", tmp[i]);
        //printk("\r\n");
        // k_sleep(K_MSEC(100));
    }
}

int mpu6050_init(void)
{
    int ret;
    int i=0;
    uint8_t tmp, id;
 
    mpu6050_dev.sensor_data.accel_sensitivity_shift = 14;   // 14 - bit(4,3)
    mpu6050_dev.sensor_data.gyro_sensitivity_x10 = mpu6050_gyro_sensitivity_x10[3];
   
    if (!device_is_ready(mpu6050_dev.i2c.bus)) {
        LOG_ERR("Bus device is not ready");
        return -ENODEV;
    }
   
    /* check chip ID */
    if (i2c_reg_read_byte_dt(&mpu6050_dev.i2c, MPU6050_REG_CHIP_ID, &id) < 0) {
        LOG_ERR("Failed to read chip ID.");
        return -EIO;
    }

    if ((id != MPU6050_CHIP_ID) && (id != MPU9250_CHIP_ID) && (id != MPU6880_CHIP_ID)) {
        LOG_ERR("Invalid chip ID.");
        return -EINVAL;
    }


#ifdef  MPU6050_INT_ENABLE
    ret = mpu6050_init_interrupt(&mpu6050_dev);
    if(ret) LOG_ERR("mpu6050_init_interrupt ERROR %X", ret);
#endif
 
    for (i=0; i < 11; i++){
        mpu_write_reg(&mpu6050_dev, mpu6050_init_cmd[i][0], mpu6050_init_cmd[i][1]);
        if (i == 0)
            k_sleep(K_MSEC(500));
    }
   
    for(i=0; i<11; i++){
        mpu_read_reg(&mpu6050_dev, mpu6050_init_cmd[i][0], &tmp);
        printk("tmp %02X\n\r", tmp);
    }

    return 0;
}

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

Naeem Maroof — Mon, 05 Aug 2024 15:25:28 GMT

can you send your project to see what is blocking you from doing so?

please mentions specifics like the ncs version you or using, or any sensor / overlay etc.

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

mjguo — Tue, 23 Jul 2024 15:19:45 GMT

hello, I have tried all methods, but still cannot interrupt the reading of MPU6050 data while using Bluetooth to transmit sensor data to the app.I can't find the corresponding routine in the routine you sent me. Have you ever encountered a similar situation or someone successfully achieved Bluetooth transmission + interrupt reading sensor.

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

Naeem Maroof — Tue, 09 Jul 2024 10:27:11 GMT

I hope you will find this lesson on I2C and connecting / reading from a sensor useful:

I2C Exercise1

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

mjguo — Mon, 08 Jul 2024 14:20:43 GMT

No, I'm still stuck in this place. Can you provide some routines for reading I2C through interrupt.

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

Naeem Maroof — Mon, 08 Jul 2024 13:40:27 GMT

My apologies as I missed on ticket.

Is there an update on your end?

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

mjguo — Fri, 28 Jun 2024 15:34:22 GMT

void mpu_read_n_reg(mpu6050_info_t *dev, uint8_t reg_addr, uint8_t* data, uint32_t len)
{
i2c_burst_read_dt(&dev->i2c_drv, reg_addr, data, len);
}

you can find i2c_burst_read_dt in v2.6.1\zephyr\include\zephyr\drivers\i2c.h

RE: Reading MPU6050 via Interrupts on NRF52840 and Bluetooth Connectivity Issue

Naeem Maroof — Fri, 28 Jun 2024 14:45:06 GMT

Where is this mpu_read_n_reg() function defined?

Is this a blocking call?