SDK15 Invensense MPU9250

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Wed, 15 May 2019 16:36:51 GMT

The DMP hardware is used but no using the Invensense driver of the 9250. The ICM-20948 still uses the Invensense driver for now. You can find the implementations via the links bellow. It is full object oriented design. It is decided into 2 part. The raw sensor part is the low level sensor access and the IMU part is the also level where the DMP is used. The IMU can also be implemented as pure host software and use the raw part to access the sensor level. The design is independent of processor used so you can use it with other MCU than the nRF if you like.

main library https://github.com/IOsonata/IOsonata

implementation raw sensor https://github.com/IOsonata/IOsonata/tree/master/src/sensors

implementation of IMU https://github.com/IOsonata/IOsonata/tree/master/src/imu

RE: SDK15 Invensense MPU9250

Cy — Wed, 15 May 2019 15:59:18 GMT

Nguyen,

Also if not activating the DMP driver then I assume the internal motion processing is not used?

RE: SDK15 Invensense MPU9250

Cy — Wed, 15 May 2019 15:52:29 GMT

Nguyen,

Could you point out the web location for the MPU-9250 and the ICM-20948 implementation, thank you?

RE: SDK15 Invensense MPU9250

cyberluke — Wed, 15 May 2019 08:03:15 GMT

I'm in Da Nang now. I had wedding on 12.05.2019 :-) I will be back in June and will check it. Thank you for information!

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 14 May 2019 20:06:53 GMT

cyberluke you should get the latest update. The MPU-9250 is implemented now without requiring to download the Invensense DMP driver. The ICM-20948 is implemented using the invn driver for now. The Thingy example now works with both devices.

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 14 May 2019 16:53:10 GMT

Yes,

Nguyen Hoan Hoang and his project E-Hal solved it and since that time I'm using it and helping with it. Try it out!

RE: SDK15 Invensense MPU9250

Cy — Tue, 14 May 2019 16:39:49 GMT

CyberLuke,

Did you get this worked out? I have a solution for SDK 15.0 which was fashioned by the application notes and also by an earlier example SDK 12.0 from Tindie a Pesky product. Yes, the mpu9250 is coming to its demise but I have not gotten the ICM20948 hardware up and running yet.

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 20:23:59 GMT

I didn't mean the pins. I mean characteristics UUID. This should be set.

#ifdef NORDIC_NUS_SERVICE
#define BLE_UART_UUID_BASE			NUS_BASE_UUID

#define BLE_UART_UUID_SERVICE		BLE_UUID_NUS_SERVICE			/**< The UUID of the Nordic UART Service. */
#define BLE_UART_UUID_TX_CHAR		BLE_UUID_NUS_RX_CHARACTERISTIC	
#define BLE_UART_UUID_RX_CHAR		BLE_UUID_NUS_TX_CHARACTERISTIC

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 20:19:53 GMT

I knew about it and I fixed it already:

// BlueIO breakout board
#define UART_RX_PORT		BLUEIO_UART_RX_PORT
#define UART_RX_PIN			BLUEIO_UART_RX_PIN
#define UART_RX_PINOP		BLUEIO_UART_RX_PINOP
#define UART_TX_PORT		BLUEIO_UART_TX_PORT
#define UART_TX_PIN			BLUEIO_UART_TX_PIN
#define UART_TX_PINOP		BLUEIO_UART_TX_PINOP

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 20:14:30 GMT

in fact I mistakenly reverse the characteristics RX and TX so NRFTooltkit could not enable notification but you should be able to connect to it. Can you check the NRFToolkit log ?

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 20:10:44 GMT

Now it behaves like your hex file. Can be discovered, but NRF Toolkit cannot connect, but that does not mean serious problem. And of course I have #define NORDIC_NUS_SERVICE. But this is something else. I use your sdk_config.h. So maybe just complete other pin configuration. I think I need to rewrite all pins, not just the ones I use in current example (led, uart).

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 20:08:47 GMT

You were right!!! It was the pins! When I compile with blank blueio_board.h, the discovery works. Now I see my UARTDemo3 device.

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 19:55:04 GMT

Yes, but I have full DK with everything and it is Arduino shield compatible and NRF5 Segger Embedded Studio example works out of the box with UART also other stuff. So the board is ok and I need to use this board. I give it time till the end of the week and if some problem, I will have to look for something else.

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 19:53:29 GMT

The UartBleDemo can also be compiled for nRF51.

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 18:58:13 GMT

Not NRF52840. Only NRF51 from Seeed Studio and some NXP LXxxx with NRF51 as well I think. Then some other boards like MBED NXP, Bluetooth HM-11, LinkIt Smart 7688 (MediaTek). Then a couple of Atmel/ARM with Arduino compatible API, but none of them Bluetooth. Also ESP32.

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 18:42:49 GMT

I don't think the sdk_config is the cause. There must be something else. It works here on a different boards. Do you have any other boards than the uBlox ?

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 17:52:44 GMT

Yes, but I suspect EHAL sdk config is the source of the problem. Im running diff over every file from sdk example to find the root cause.

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 16:54:44 GMT

The base custom uuid of the blueio is

00000000-287c-11e4-ab74-0002a5d5c51b

The Nordic NUS uuid is the one showing is your ublox. See my picture on the Android tablet. It is the UartBleDemo compiled with NUS uuid

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 16:49:08 GMT

The sdk_config.h for the EHAL is in \EHAL\ARM\Nordic\nRF52840\EHAL\include\ already. I moved from src to include recently. check if you have duplicates.

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 16:45:12 GMT

Well, it is UBlox on their devkit. So their Ublox bluetooth app shows services, listed as unknown:

6e400001-b5a3-f393-e0a9-e50e24dcca9e

6e400002-b5a3-f393-e0a9-e50e24dcca9e

6e400003-b5a3-f393-e0a9-e50e24dcca9e

Generic attribute:

00001801-0000-1000-8000-00805f9b34fb

This is what I get from your hex file, yet NRF not working.

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 16:43:09 GMT

This one from NRF5 SDK works perfectly:

\external\nRF5_SDK\examples\ble_peripheral\ble_app_uart\pca10056\s140\config\sdk_config.h

Can I copy 1:1 to

\EHAL\ARM\Nordic\nRF52840\EHAL\include\ ?

Because this would probably solve all the problems.

But now, when trying to compile EHAL, I get this:

In file included from C:/Users/Lukas/eclipse-workspace/SatinSensor/EHAL/ARM/Nordic/src/ble_app_nrf52.cpp:68:
../../../../../../external/nRF5_SDK/components/ble/nrf_ble_scan/nrf_ble_scan.h:306:49: error: 'NRF_BLE_SCAN_BUFFER' was not declared in this scope
     uint8_t                    scan_buffer_data[NRF_BLE_SCAN_BUFFER]; /**< Buffer where advertising reports will be stored by the SoftDevice. */

Sometimes I had also problem with BLE Central example (tried when I was too bored with the first one) and the sdk_config.h here caused something with nrf_sdh library and it did not like there is defined extern twice:

extern "C" void SD_EVT_IRQHandler(void) in ble_app_nrf52.cpp in EHAL

I believe, when I get the right sdk_config.h from NRF5 SDK Ble Uart official example working for Ble Peripherial, it will be ok.

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 16:31:42 GMT

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 15:46:11 GMT

I just tried to connect with nRFToolbox fine. Works with booth nRFConnect and Toolbox with Nordic DK though. The code does not advertise the service uuid. To change it, go to the s_BleAppCfg and change .pAdcUuids = s_AdvUuids, .NbAdvUuid = 1,

Just found something. My bad. I inverted to characteristics, RX and TX in the NUS UUID. Just switch them like this

#define BLE_UART_UUID_TX_CHAR BLE_UUID_NUS_RX_CHARACTERISTIC

#define BLE_UART_UUID_RX_CHAR BLE_UUID_NUS_TX_CHARACTERISTIC

RE: SDK15 Invensense MPU9250

cyberluke — Tue, 29 Jan 2019 15:39:45 GMT

Then I don't know, where is the problem. Here also SDK15.2. The only board pins used in project are LED, UART. I do not import blueio_board.h anywhere (except usage inside EHAL project maybe).

Both programmed succesfully:

C:/Users/Lukas/Documents/s140nrf52611/s140_nrf52_6.1.1_softdevice.hex

C:/Users/Lukas/Downloads/5775.UartBleDemo.hex

NrfGo Studio shows memory divided correctly (152kb softdevice, 872kb app starting at 0x26000)

I can discover, but Nrf Tools not working. I have also NRF UART 2.0 Android app. NRF Connect does not find this device as well.

It will list UARTDemo device in Bluetooth settings (Android) and in NRF Tools. You cannot pair it with the phone, of course. But even cannot debug using NRF Connect to see service id. So maybe it does not broadcast any service id at all.

Another Android app: Bluetooth LE Tool shows:

MAC: DF:A2:3C:0F:ED:44

Tx power: Not supported

Flags:

Limited discoverable: True

General discoverable: False

Legacy supported: False

Manufacturer ID: 0x177

Name: I-SYST inc.

Physical information - bytes:

02 01 05 0B FF 77 01 00 00 00 00 00 00 00 00 09 09
55 41 52 54 44 65 6D 6F 03 FF 77 01 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
00 00 00 00 00 00 00 00 00 00 00

RE: SDK15 Invensense MPU9250

Nguyen Hoan Hoang — Tue, 29 Jan 2019 15:12:23 GMT

Master branch is on SDK15.2 for nRF52 series, SDK12.x for nRF51. The hex I sent, does not contain Softdevice. You need to flash it first or use mergehex to combine them. Do you have a nordic DK to try the hex file on ? I am curious why it doesn't work on the ublox. Can you also try nRFConnect ?