Issue with LSM6DS3TR-C on Seeed Studio XIAO BLE Sense (nRF SDK 2.9.0)

[massimoklk]

Hello everyone!

I’m working with the Seeed Studio XIAO BLE Sense to acquire data from its integrated IMU (LSM6DS3TR-C).

I found that the Zephyr SDK (nRF Connect 2.9.0) already includes a sample for the LSM6DSL sensor at:

•  samples/sensor/lsm6dsl

Additionally, the board definition for the XIAO BLE Sense is located in:

•  xiao_ble/nrf52840/sense

The build completes successfully, but when I try to debug, the initialization of lsm6dsl_dev fails, returning:

• sensor: device not ready

I am using the sample code as-is, which I have attached below:

/*
 * 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));
	}
}

Additionally, I noticed a potential issue with the regulator in the Device Tree Source (DTS):

/dts-v1/;
#include "xiao_ble_common.dtsi"
#include <zephyr/dt-bindings/i2c/i2c.h>
#include <zephyr/dt-bindings/gpio/nordic-nrf-gpio.h>

/ {
	model = "Seeed XIAO BLE Sense";
	compatible = "seeed,xiao-ble", "seeed,xiao-ble-sense";

	msm261d3526hicpm-c-en {
		compatible = "regulator-fixed";
		enable-gpios = <&gpio1 10 (NRF_GPIO_DRIVE_S0H1 | GPIO_ACTIVE_HIGH)>;
		regulator-name = "MSM261D3526HICPM-C-EN";
	};

	lsm6ds3tr-c-en {
		compatible = "regulator-fixed-sync", "regulator-fixed";
		enable-gpios = <&gpio1 8 (NRF_GPIO_DRIVE_S0H1 | GPIO_ACTIVE_HIGH)>;
		regulator-name = "LSM6DS3TR_C_EN";
		regulator-boot-on;
		startup-delay-us = <3000>;
	};
};

Questions

1. Is the LSM6DSL sample compatible with the XIAO BLE Sense board?

2. Why is the sensor not ready?

3. Do I need to modify anything in the device tree or driver?

Since the IMU on the XIAO BLE Sense is LSM6DS3TR-C, but the sample refers to LSM6DSL, could this be causing the issue?

Any insights or suggestions would be greatly appreciated!

Thanks in advance!

[Priyanka]

Hi,

You issue seems similar to a previous ticket. Please take a look at it's solutions:  RE: Running the LSM6DLS (IMU) zephyr example with nrf52840 based Xiao BLE Sense 

Regards,

Priyanka 

[massimoklk]

Hi!

yes, I read that thread, however the accepted solution is not a good choice. I would like to use library inside zephyr repository rather than 3 parties.

[Priyanka]

Hi,

Is the LSM6DSL sample compatible with the XIAO BLE Sense board?

Since the LSM6DS3TR-C is pin-to-pin compatible, I should think it's possible to use the sample, but it looks like there might be some issues with that particular Zephyr sample, based on various other discussions. So I would suggest you to contact Zephyr forum for the same since it's their sample. 

On a side note, have you tried with any other SDK versions, say, the v2.5.0, or v2.5.2? Could you check this and tell me if it works?

Regards,

Priyanka

[massimoklk]

okey, thanks. 
i will talk with zephyr and also, i will try what you suggested.