Hi, I just want to read accel and gyro data from the on-board BMI270 IMU on the Thingy 53. I'm using the sample code from zephyr and I've modified the dts and overlay file and successfully built with no critical errors. I had to modify the sample since it was using i2C when the on-board uses SPI by default from what I have read.
Before I further enter the debugging rabbit hole, I was hoping someone could clear all my problems with a fast solution. I have a feeling the solution is something basic I've completely overlooked like enabling something based on the code I am running.
prj.conf:
CONFIG_CONSOLE=y CONFIG_UART_CONSOLE=y CONFIG_STDOUT_CONSOLE=y CONFIG_PRINTK=y CONFIG_SPI=y CONFIG_SENSOR=y CONFIG_BMI270=y
overlay:
&spi_fwd {
status = "okay";
};
&bmi270 {
status = "okay";
};
Just for reference, the code in the sample is:
/*
* Copyright (c) 2021 Bosch Sensortec GmbH
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr/kernel.h>
#include <zephyr/device.h>
#include <zephyr/drivers/sensor.h>
#include <stdio.h>
int main(void)
{
const struct device *const dev = DEVICE_DT_GET(DT_NODELABEL(bmi270));
struct sensor_value acc[3], gyr[3];
struct sensor_value full_scale, sampling_freq, oversampling;
if (!device_is_ready(dev)) {
printf("Device %s is not ready\n", dev->name);
return 0;
}
printf("Device %p name is %s\n", dev, dev->name);
/* Setting scale in G, due to loss of precision if the SI unit m/s^2
* is used
*/
full_scale.val1 = 2; /* G */
full_scale.val2 = 0;
sampling_freq.val1 = 100; /* Hz. Performance mode */
sampling_freq.val2 = 0;
oversampling.val1 = 1; /* Normal mode */
oversampling.val2 = 0;
sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_FULL_SCALE,
&full_scale);
sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ, SENSOR_ATTR_OVERSAMPLING,
&oversampling);
/* Set sampling frequency last as this also sets the appropriate
* power mode. If already sampling, change to 0.0Hz before changing
* other attributes
*/
sensor_attr_set(dev, SENSOR_CHAN_ACCEL_XYZ,
SENSOR_ATTR_SAMPLING_FREQUENCY,
&sampling_freq);
/* Setting scale in degrees/s to match the sensor scale */
full_scale.val1 = 500; /* dps */
full_scale.val2 = 0;
sampling_freq.val1 = 100; /* Hz. Performance mode */
sampling_freq.val2 = 0;
oversampling.val1 = 1; /* Normal mode */
oversampling.val2 = 0;
sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_FULL_SCALE,
&full_scale);
sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ, SENSOR_ATTR_OVERSAMPLING,
&oversampling);
/* Set sampling frequency last as this also sets the appropriate
* power mode. If already sampling, change sampling frequency to
* 0.0Hz before changing other attributes
*/
sensor_attr_set(dev, SENSOR_CHAN_GYRO_XYZ,
SENSOR_ATTR_SAMPLING_FREQUENCY,
&sampling_freq);
while (1) {
/* 10ms period, 100Hz Sampling frequency */
k_sleep(K_MSEC(10));
sensor_sample_fetch(dev);
sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ, acc);
sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ, gyr);
printf("AX: %d.%06d; AY: %d.%06d; AZ: %d.%06d; "
"GX: %d.%06d; GY: %d.%06d; GZ: %d.%06d;\n",
acc[0].val1, acc[0].val2,
acc[1].val1, acc[1].val2,
acc[2].val1, acc[2].val2,
gyr[0].val1, gyr[0].val2,
gyr[1].val1, gyr[1].val2,
gyr[2].val1, gyr[2].val2);
}
return 0;
}
