[SPI] not device ready

[Robotics Gun]

Hi there,

SPI device is not ready.

What's wrong?

NCS version: v2.6.1

Fullscreen

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

&spi1 {

compatible = "nordic,nrf-spi";

status = "okay";

pinctrl-0 = <&spi1_default>;

pinctrl-names = "default";

max-frequency = <DT_FREQ_M(24)>;

cs-gpios = <&gpio0 15 GPIO_ACTIVE_LOW>;

icm42670p: icm42670p@0 {

compatible = "invensense,icm42670";

reg = <0>;

spi-max-frequency = <DT_FREQ_M(24)>;

accel-hz = <1600>;

accel-fs = <16>;

gyro-hz = <1600>;

gyro-fs = <2000>;

};

};

&pinctrl {

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

&spi1 {
    compatible = "nordic,nrf-spi";
    status = "okay";
    pinctrl-0 = <&spi1_default>;
    pinctrl-names = "default";
    max-frequency = <DT_FREQ_M(24)>;
    cs-gpios = <&gpio0 15 GPIO_ACTIVE_LOW>;
    
    icm42670p: icm42670p@0 {
        compatible = "invensense,icm42670";
        reg = <0>;
        spi-max-frequency = <DT_FREQ_M(24)>;
        accel-hz = <1600>;
        accel-fs = <16>;
        gyro-hz = <1600>;
        gyro-fs = <2000>;
    };
};


&pinctrl {
	uart0_default: uart0_default {
		group1 {
			psels = <NRF_PSEL(UART_TX, 0, 6)>, <NRF_PSEL(UART_RX, 0, 8)>;
		};
	};

	i2c0_default: i2c0_default {

		group1 {
			psels = <NRF_PSEL(TWIM_SCL, 0, 17)>, <NRF_PSEL(TWIM_SDA, 0, 18)>;
			nordic,invert;
			bias-pull-up;
		};
	};

	spi1_default: spi1_default {
		group1 {
			psels = <NRF_PSEL(SPIM_SCK, 0, 14)>,
					<NRF_PSEL(SPIM_MOSI, 0, 13)>,
					<NRF_PSEL(SPIM_MISO, 0, 12)>;
		};
	};
};

Fullscreen

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

#include <zephyr/kernel.h>

#include <zephyr/sys/printk.h>

#include <zephyr/devicetree.h>

#include <zephyr/drivers/spi.h>

// #include <zephyr/drivers/gpio.h>

// #include <zephyr/logging/log.h>

// #include <zephyr/device.h>

// #include <zephyr/drivers/uart/cdc_acm.h>

// #include <zephyr/drivers/uart.h>

#include <zephyr/bluetooth/bluetooth.h>

#include <zephyr/bluetooth/hci.h>

#include <zephyr/settings/settings.h>

#include "lib/bluetooth_manager/bluetooth_manager.h"

#include "lib/gpio/gpio.h"

#include "lib/magneto/magneto.h"

#define ICM42670P_NODE DT_NODELABEL(icm42670p)

const struct device *icm42670p_spec = DEVICE_DT_GET(ICM42670P_NODE);

XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX

#include <zephyr/kernel.h>
#include <zephyr/sys/printk.h>
#include <zephyr/devicetree.h>
#include <zephyr/drivers/spi.h>

// #include <zephyr/drivers/gpio.h>
// #include <zephyr/logging/log.h>
// #include <zephyr/device.h>
// #include <zephyr/drivers/uart/cdc_acm.h>
// #include <zephyr/drivers/uart.h>

#include <zephyr/bluetooth/bluetooth.h>
#include <zephyr/bluetooth/hci.h>
#include <zephyr/settings/settings.h>

#include "lib/bluetooth_manager/bluetooth_manager.h"
#include "lib/gpio/gpio.h"
#include "lib/magneto/magneto.h"

#define ICM42670P_NODE DT_NODELABEL(icm42670p)
const struct device *icm42670p_spec = DEVICE_DT_GET(ICM42670P_NODE);

struct spi_config spi_cfg = {
    .frequency = DT_PROP(ICM42670P_NODE, spi_max_frequency),
    .operation = SPI_WORD_SET(8) | SPI_TRANSFER_MSB | SPI_MODE_CPOL | SPI_MODE_CPHA,
    .slave = DT_REG_ADDR(ICM42670P_NODE),
    .cs = NULL,
};

#define ICM42670P_WHO_AM_I_REG 0x75

void read_icm42670p_who_am_i(void)
{
    uint8_t tx_buffer[2] = {ICM42670P_WHO_AM_I_REG | 0x80, 0x00}; // 0x80 to set the read bit
    uint8_t rx_buffer[2] = {0};

    struct spi_buf tx_buf = {
        .buf = tx_buffer,
        .len = sizeof(tx_buffer),
    };
    struct spi_buf rx_buf = {
        .buf = rx_buffer,
        .len = sizeof(rx_buffer),
    };
    struct spi_buf_set tx = {
        .buffers = &tx_buf,
        .count = 1,
    };
    struct spi_buf_set rx = {
        .buffers = &rx_buf,
        .count = 1,
    };

    int ret = spi_transceive(icm42670p_spec, &spi_cfg, &tx, &rx);
    if (ret < 0)
    {
        printk("SPI transaction failed: %d\n", ret);
    }
    else
    {
        printk("ICM42670P WHO_AM_I: 0x%02x\n", rx_buffer[1]);
    }
}

int main(void) {
    int err;

    // Initialize the Bluetooth Subsystem
    err = bt_enable(NULL);
    if (err) {
        printk("Bluetooth init failed (err %d)\n", err);
        return 0;
    }

    printk("Bluetooth initialized\n");

    if (IS_ENABLED(CONFIG_SETTINGS)) {
        settings_load();
    }

    // Start advertising
    err = start_bluetooth_advertise();
    if (err) {
        printk("Advertising failed to start (err %d)\n", err);
        return 0;
    }

    printk("Advertising successfully started\n");

    // Check if the ICM42670P device is ready
    if (!device_is_ready(icm42670p_spec)) {
        printk("ICM42670P device not ready\n");
        return 0;
    }

    // Read WHO_AM_I register
    read_icm42670p_who_am_i();

    return 0;
}