How to get accelerometer value of Thingy:91?

RE: How to get accelerometer value of Thingy:91?

Dheeraj — Tue, 12 Nov 2019 14:18:15 GMT

Hi Didrik,

I hope you are doing good..!!

Yes. She is trying to help me. But looks like this is pretty much a critical issue.

Please suggest me, if you have some solution as it completely blocked my work.

I hope you might have remembered, as we are NOT able to flash the nRF52840 on thingy91 (PCA20035) device using " mcumgr " (MCUBoot driver issue on Windows 10),

[ https://devzone.nordicsemi.com/f/nordic-q-a/53730/nrf-connect-v3-2-0-issue-for-nfr9160 ]

I have bought this nRF9160 DK (10090), but unfortunately, it is NOT working as expected.

I am wondering nRF9160 DK (10090) is NOT working with pre-compiled Images provided by Nordic as well.

Thank you.

RE: How to get accelerometer value of Thingy:91?

Didrik Rokhaug — Tue, 12 Nov 2019 14:07:22 GMT

Hi, Dheeraj.

I looked at the ticket you have, where Heidi is helping you.

She is waiting for a reply to her latest comment. Could you try to work with her to solve your problem?

Best regards,

Didrik

RE: How to get accelerometer value of Thingy:91?

Dheeraj — Tue, 12 Nov 2019 12:27:41 GMT

Hi Yusuke,

I am facing the same rebooting issue as above on nRF9160 DK (PCA10090).

Actually, I bought the new nRF9160 DK (PCA10090) and trying to connect it, but unfortunately, its getting reboot automatically (Logs similar as above).

I have tried to flash the latest Nordic's pre-compiled Image from nRF9160 DK ==> Downloads [ nrf9160dk_asset_tracker_09-10-2019_c9c833b1.hex ], but no luck.

I have tried to compile manually with v1.1.0 branch code, no use.

Could you please help me with this issue.

Refer me, how you had overcome with this issue.

This is a roadblock for me.

Thank you.

RE: How to get accelerometer value of Thingy:91?

MJD093 — Mon, 30 Sep 2019 14:03:39 GMT

Didrik Rokhaug

Hi Didrik, if I'm honest, last week I was all over the SPI comunication trying different configurations to reduce the inaccuracies. I don't know if the build I sent in .hex form was the same build as the results above as it was a build from the next day but most likely they were different builds.

The build I am using at the moment is more stable than the last ones but it still spikes on my end with movement above 250mg while stationary. I find the initial boot up is generally fine but after one sleep cycle followed by another motion detected cycle, when the device next goes to sleep you can see spiking results that are a little too close to the threshold for my liking. The problem of demonstrating this is that the device loves to change it's response with every flash. Sometimes it works amazing and then others it self reacts and you need to increase the thresholds.

Last week 250mg was perfect, today I need 300mg to prevent false positives which requires a decent shove. Unfortunately, if I set INT1 to be only for Activity and Inactivity Interrupts, the callback on INT1's pin will read two instances of the INT1 pin going low, it never reads a HIGH response on the edge detection, just LOW when it reads the pin.

I might have to change how the whole thing works to run Linked mode and impliment a status reg reader that can tell what interrupt spawned it and set INT1 on the nRF91 to Rising HIGH detection only. Problem with that is that an interrupt callback will hang if a function is called inside it (even a small one, which I would need to read the register quickly) so I'll have to figure out a way to implement this so that the ISRs actually get read in my main application as a simple pin HIGH/LOW was much simpler.

EDIT: Realised I haven't actually been flashing the ACTIVITY TIME register. Might be able to silence the spikes now with that.

RE: How to get accelerometer value of Thingy:91?

Didrik Rokhaug — Fri, 27 Sep 2019 13:47:01 GMT

Hi.

I just tested your hex file provided to yusuke and did not see the same inaccuracy on the Z-axis.

devzone.nordicsemi.com/.../log.txt

The PCB was not in its enclosure, so it is not lying perfectly flat and was moved a bit (especially in the beginning).

yusuke, do you see similar behavior?

Best regards,

Didrik

RE: How to get accelerometer value of Thingy:91?

Didrik Rokhaug — Fri, 27 Sep 2019 09:24:34 GMT

I agree with MJD093 in that it looked like a missing erase command. To rule out any issues with your code, can you try to program your code using the programmer application?

RE: How to get accelerometer value of Thingy:91?

MJD093 — Fri, 27 Sep 2019 07:21:04 GMT

Not sure to be honest, it should have been simple for the code sample I posted to work. All I needed was the code, a prj.conf and a generic CMakeList.txt.

It really did look like your Thingy:91 was acting like it had been reflashed without an erase command.

RE: How to get accelerometer value of Thingy:91?

Yusuke — Fri, 27 Sep 2019 00:09:26 GMT

Great! It works out!

What's wrong with my code.....

RE: How to get accelerometer value of Thingy:91?

MJD093 — Thu, 26 Sep 2019 09:41:46 GMT

That's weird, have you had success flashing applications to your Thingy:91 in the past?

Try flashing this to your Thingy:91 with the nRF Connect Programmer app
It should configure your ADXL362 and print XYZ data to the terminal.

The main functionality of this sample is 30 second online (green LED flashing) when motion is detected.

It will start up in online mode and sleep after 30seconds of no activity. Shake it to wake it up. It's not very sensitive atm due to this issues I'm having with the Z axis so shake it reasonably or flip the orientation.

devzone.nordicsemi.com/.../1325.merged.hex

I still don't know why the DevZone adds that number at the start of the file, do rename it to just merged.hex to avoid any computer issues.

RE: How to get accelerometer value of Thingy:91?

Yusuke — Thu, 26 Sep 2019 04:26:12 GMT

Thank you, guys, to help me:)

It doesn't fix the issue with no luck.

- install nrfjprog tool
- run nrfjprog -e
- build and run on SES

RE: How to get accelerometer value of Thingy:91?

MJD093 — Wed, 25 Sep 2019 13:04:15 GMT

It seems to be just the Z-axis, all axis fluxuate somewhat but the Z axis while flat is definitely the worst of the fluxuations.

This above was when it was configured in Wake Mode, I have placed it into Measurement mode without Wake Mode set and it seems more stable in the results from XYZ but it is having a hard time understanding motion from no motion.

It will pass inactive threshold checks, drive the interrupt low but then it will detect "movement" over the activity threshold and bring the interrupt pin back to high. The Activity threshold is set higher than the inactivity threshold so that alone is very strange.

Here are some results from measurement mode with the device on it's side so X is the axis experiencing -1g. Z will still bounce around a bit but it's more reasonable than registering drops of 400mg.

X_INT X_INT   : -991  | Y_INT : 0127  | Z_INT : -123   (mg) X_INT   : -903  | Y_INT : 0000  | Z_INT : -054   (mg) X_INT   : -911  | Y_INT : 0062  | Z_INT : -095   (mg) X_INT   : -928  | Y_INT : 0016  | Z_INT : -095   (mg) X_INT   : -984  | Y_INT : 0024  | Z_INT : -071   (mg) X_INT   : -1020  | Y_INT : -031  | Z_INT : 0072   (mg) X_INT   : -899  | Y_INT : 0032  | Z_INT : -023   (mg) X_INT   : -927  | Y_INT : 0047  | Z_INT : -123   (mg) X_INT   : -960  | Y_INT : -031  | Z_INT : 0032   (mg) X_INT   : -1015  | Y_INT : -086  | Z_INT : 0124   (mg) X_INT   : -960  | Y_INT : 0040  | Z_INT : -087   (mg) X_INT   : -887  | Y_INT : -031  | Z_INT : -008   (mg) X_INT   : -896  | Y_INT : 0016  | Z_INT : -047   (mg) X_INT   : -911  | Y_INT : -047  | Z_INT : -094   (mg) X_INT   : -948  | Y_INT : 0048  | Z_INT : 0096   (mg) X_INT   : -927  | Y_INT : -031  | Z_INT : -046   (mg) X_INT   : -960  | Y_INT : 0000  | Z_INT : 0032   (mg) X_INT   : -944  | Y_INT : 0048  | Z_INT : -043   (mg) X_INT   : -960  | Y_INT : 0072  | Z_INT : 0004   (mg) X_INT   : -992  | Y_INT : 0048  | Z_INT : -087   (mg) X_INT   : -895  | Y_INT : 0031  | Z_INT : -127   (mg) X_INT   : -960  | Y_INT : 0024  | Z_INT : 0000   (mg) X_INT   : -895  | Y_INT : 0008  | Z_INT : -092   (mg) X_INT   : -903  | Y_INT : 0032  | Z_INT : 0000   (mg) X_INT   : -960  | Y_INT : 0032  | Z_INT : 0024   (mg) X_INT   : -959  | Y_INT : 0127  | Z_INT : -079   (mg) X_INT   : -928  | Y_INT : 0036  | Z_INT : -087   (mg) X_INT   : -839  | Y_INT : -055  | Z_INT : 0201   (mg) X_INT   : -943  | Y_INT : 0081  | Z_INT : -048   (mg) X_INT   : -944  | Y_INT : 0036  | Z_INT : 0048   (mg) X_INT   : -1000  | Y_INT : 0032  | Z_INT : -095   (mg) X_INT   : -983  | Y_INT : -068  | Z_INT : 0200   (mg) X_INT   : -984  | Y_INT : 0064  | Z_INT : -023   (mg) X_INT   : -960  | Y_INT : -031  | Z_INT : 0000   (mg) X_INT   : -863  | Y_INT : 0015  | Z_INT : -015   (mg) X_INT   : -896  | Y_INT : 0064  | Z_INT : 0048   (mg) X_INT   : -975  | Y_INT : 0032  | Z_INT : -076   (mg) X_INT   : -991  | Y_INT : -064  | Z_INT : 0144   (mg) X_INT   : -960  | Y_INT : -011  | Z_INT : 0016   (mg) X_INT   : -968  | Y_INT : 0032  | Z_INT : 0032   (mg) X_INT   : -864  | Y_INT : -063  | Z_INT : -031   (mg) X_INT   : -911  | Y_INT : -015  | Z_INT : 0000   (mg) X_INT   : -944  | Y_INT : 0032  | Z_INT : 0000   (mg) X_INT   : -960  | Y_INT : -031  | Z_INT : 0064   (mg) X_INT   : -879  | Y_INT : -048  | Z_INT : 0024   (mg) X_INT   : -895  | Y_INT : 0048  | Z_INT : -036   (mg) X_INT   : -880  | Y_INT : -039  | Z_INT : -031   (mg) X_INT   : -924  | Y_INT : 0016  | Z_INT : -031   (mg) X_INT   : -896  | Y_INT : -031  | Z_INT : 0000   (mg) X_INT   : -879  | Y_INT : -047  | Z_INT : 0031   (mg) X_INT   : -992  | Y_INT : 0064  | Z_INT : -063

: -991  | Y_INT : 0003  | Z_INT : -063   (mg)

(mg)

Z = 1g:

X_INT   : 0097  | Y_INT : 0000  | Z_INT : 0904   (mg)                           
X_INT   : 0039  | Y_INT : 0124  | Z_INT : 0832   (mg)                           
X_INT   : 0097  | Y_INT : -016  | Z_INT : 0904   (mg)                           
X_INT   : 0104  | Y_INT : -007  | Z_INT : 0864   (mg)                           
X_INT   : 0015  | Y_INT : 0152  | Z_INT : 0792   (mg)                           
X_INT   : 0112  | Y_INT : 0032  | Z_INT : 0903   (mg)                           
X_INT   : -079  | Y_INT : -048  | Z_INT : 1220   (mg)                           
X_INT   : 0127  | Y_INT : -007  | Z_INT : 0884   (mg)                           
X_INT   : 0073  | Y_INT : 0000  | Z_INT : 0884   (mg)                           
X_INT   : -047  | Y_INT : 0032  | Z_INT : 0975   (mg)                           
X_INT   : -056  | Y_INT : 0000  | Z_INT : 1001   (mg)                           
X_INT   : 0049  | Y_INT : 0024  | Z_INT : 0928   (mg)                           
X_INT   : -031  | Y_INT : 0056  | Z_INT : 0969   (mg)                           
X_INT   : -007  | Y_INT : -032  | Z_INT : 1112   (mg)                           
X_INT   : 0065  | Y_INT : -064  | Z_INT : 1074   (mg)                           
X_INT   : -063  | Y_INT : 0000  | Z_INT : 1111   (mg)                           
X_INT   : 0064  | Y_INT : 0015  | Z_INT : 0836   (mg)                           
X_INT   : -095  | Y_INT : -048  | Z_INT : 0984   (mg)                           
X_INT   : 0000  | Y_INT : -023  | Z_INT : 1009   (mg)                           
X_INT   : -084  | Y_INT : 0031  | Z_INT : 1000   (mg)                           
X_INT   : -048  | Y_INT : 0016  | Z_INT : 0956   (mg)                           
X_INT   : -062  | Y_INT : -048  | Z_INT : 1010   (mg)                           
X_INT   : 0024  | Y_INT : -007  | Z_INT : 1057   (mg)                           
X_INT   : -047  | Y_INT : 0159  | Z_INT : 0848   (mg)                           
X_INT   : -039  | Y_INT : 0016  | Z_INT : 0969   (mg)                           
X_INT   : -003  | Y_INT : 0080  | Z_INT : 0972   (mg)                           
X_INT   : 0032  | Y_INT : 0000  | Z_INT : 1093   (mg)                           
X_INT   : -031  | Y_INT : 0100  | Z_INT : 0880   (mg)                           
X_INT   : -080  | Y_INT : 0000  | Z_INT : 1068   (mg)

Z = -1g

X_INT   : -064  | Y_INT : 0080  | Z_INT : -927   (mg)                           
X_INT   : -064  | Y_INT : -087  | Z_INT : -767   (mg)                           
X_INT   : 0113  | Y_INT : -048  | Z_INT : -1007   (mg)                          
X_INT   : -064  | Y_INT : -047  | Z_INT : -831   (mg)                           
X_INT   : 0032  | Y_INT : 0036  | Z_INT : -958   (mg)                           
X_INT   : -016  | Y_INT : -023  | Z_INT : -863   (mg)                           
X_INT   : -064  | Y_INT : 0128  | Z_INT : -1055   (mg)                          
X_INT   : -023  | Y_INT : 0132  | Z_INT : -1118   (mg)                          
X_INT   : 0000  | Y_INT : 0017  | Z_INT : -984   (mg)                           
X_INT   : -031  | Y_INT : 0096  | Z_INT : -1054   (mg)                          
X_INT   : -065  | Y_INT : -063  | Z_INT : -687   (mg)                           
X_INT   : 0112  | Y_INT : -063  | Z_INT : -928   (mg)                           
X_INT   : -023  | Y_INT : 0088  | Z_INT : -1023   (mg)                          
X_INT   : -064  | Y_INT : 0032  | Z_INT : -943   (mg)                           
X_INT   : -030  | Y_INT : 0160  | Z_INT : -1031   (mg)                          
X_INT   : 0096  | Y_INT : -094  | Z_INT : -928   (mg)                           
X_INT   : 0053  | Y_INT : 0015  | Z_INT : -1039   (mg)                          
X_INT   : -028  | Y_INT : -064  | Z_INT : -671   (mg)                           
X_INT   : 0055  | Y_INT : 0064  | Z_INT : -1087   (mg)                          
X_INT   : -015  | Y_INT : 0128  | Z_INT : -1055   (mg)                          
X_INT   : -001  | Y_INT : 0048  | Z_INT : -1096   (mg)                          
X_INT   : 0048  | Y_INT : -031  | Z_INT : -888   (mg)                           
X_INT   : -003  | Y_INT : 0001  | Z_INT : -1008   (mg)                          
X_INT   : 0000  | Y_INT : -110  | Z_INT : -784   (mg)                           
X_INT   : -039  | Y_INT : -063  | Z_INT : -880   (mg)                           
X_INT   : -048  | Y_INT : 0176  | Z_INT : -895   (mg)                           
X_INT   : -063  | Y_INT : -062  | Z_INT : -800   (mg)                           
X_INT   : -032  | Y_INT : 0064  | Z_INT : -927   (mg)

Configuration currently sent to the device to make the above results

#define ACC_POWER_CTRL_STANDBY        0x00 /* Standby */
#define ACC_POWER_CTRL_WAKE		        0x12 /* Measure, Low Noise Mode */
#define ACC_FILTER_CTRL               0x03 /* 2g, 1/2 BW, 100Hz */
#define ACC_SOFT_RESET                0x52 /* Reset Key */
#define ACC_ACTIVITY_TIME             0x64 /* 100 Samples */
#define ACC_ACTIVITY_THRESHOLD_MSB    0x02 /* See Act Thresh LSB */
#define ACC_ACTIVITY_THRESHOLD_LSB    0xBC /* 700mg @ 2g */
#define ACC_INACTIVITY_THRESHOLD_MSB  0x01 /* See Inact Thesh LSB */
#define ACC_INACTIVITY_THRESHOLD_LSB  0x90 /* 400mg @ 2g */
#define ACC_INACTIVITY_TIME_MSB       0x46 /* See Inact Time LSB */
#define ACC_INACTIVITY_TIME_LSB       0x50 /* 18000 Samples */
#define ACC_ACT_INACT_CTRL            0x3F /* Loop Mode, Inact Ref & EN, Act Ref & EN */
#define ACC_INT1_MAP                  0x40 /* Active High, Map Awake */
#define ACC_INT2_MAP                  0x00 /* Active High, Map Nothing */

RE: How to get accelerometer value of Thingy:91?

Didrik Rokhaug — Wed, 25 Sep 2019 11:38:33 GMT

Hi. I was unable to find any internal information about this.

Is it always the Z-axis, or does it depend on the orientation of the device?

RE: How to get accelerometer value of Thingy:91?

MJD093 — Wed, 25 Sep 2019 08:14:49 GMT

That would be my thought as well, are you sure you have erased the SiP before flashing that sample code?

RE: How to get accelerometer value of Thingy:91?

Didrik Rokhaug — Wed, 25 Sep 2019 08:07:27 GMT

Hi, please try to run nrfjprog -e before programming the device.

RE: How to get accelerometer value of Thingy:91?

Yusuke — Wed, 25 Sep 2019 03:51:20 GMT

sorry for late reply.

Sadly, it doesn't work. It always reset itself.

SRAM region             Domain          Permissions
00 0x00000 0x02000      Secure          rwxl
01 0x02000 0x04000      Secure          rwxl
02 0x04000 0x06000      Secure          rwxl
03 0x06000 0x08000      Secure          rwxl
04 0x08000 0x0a000      Secure          rwxl
05 0x0a000 0x0c000      Secure          rwxl
06 0x0c000 0x0e000      Secure          rwxl
07 0x0e000 0x10000      Secure          rwxl
08 0x10000 0x12000      Non-Secure      rwxl
09 0x12000 0x14000      Non-Secure      rwxl
10 0x14000 0x16000      Non-Secure      rwxl
11 0x16000 0x18000      Non-Secure      rwxl
12 0x18000 0x1a000      Non-Secure      rwxl
13 0x1a000 0x1c000      Non-Secure      rwxl
14 0x1c000 0x1e000      Non-Secure      rwxl
15 0x1e000 0x20000      Non-Secure      rwxl
16 0x20000 0x22000      Non-Secure      rwxl
17 0x22000 0x24000      Non-Secure      rwxl
18 0x24000 0x26000      Non-Secure      rwxl
19 0x26000 0x28000      Non-Secure      rwxl
20 0x28000 0x2a000      Non-Secure      rwxl
21 0x2a000 0x2c000      Non-Secure      rwxl
22 0x2c000 0x2e000      Non-Secure      rwxl
23 0x2e000 0x30000      Non-Secure      rwxl
24 0x30000 0x32000      Non-Secure      rwxl
25 0x32000 0x34000      Non-Secure      rwxl
26 0x34000 0x36000      Non-Secure      rwxl
27 0x36000 0x38000      Non-Secure      rwxl
28 0x38000 0x3a000      Non-Secure      rwxl
29 0x3a000 0x3c000      Non-Secure      rwxl
30 0x3c000 0x3e000      Non-Secure      rwxl
31 0x3e000 0x40000      Non-Secure      rwxl

Peripheral              Domain          Status
00 NRF_P0               Non-Secure      OK
01 NRF_CLOCK            Non-Secure      OK
02 NRF_RTC1             Non-Secure      OK
03 NRF_NVMC             Non-Secure      OK
04 NRF_UARTE1           Non-Secure      OK
05 NRF_UARTE2           Secure          SKIP
06 NRF_TWIM2            Non-Secure      OK
07 NRF_SPIM3            Non-Secure      OK
08 NRF_TIMER0           Non-Secure      OK
09 NRF_TIMER1           Non-Secure      OK
10 NRF_TIMER2           Non-Secure      OK
11 NRF_SAADC            Non-Secure      OK
12 NRF_PWM0             Non-Secure      OK
13 NRF_PWM1             Non-Secure      OK
14 NRF_PWM2             Non-Secure      OK
15 NRF_PWM3             Non-Secure      OK
16 NRF_IPC              Non-Secure      OK
17 NRF_VMC              Non-Secure      OK
18 NRF_FPU              Non-Secure      OK
19 NRF_EGU1             Non-Secure      OK
20 NRF_EGU2             Non-Secure      OK
21 NRF_GPIOTE1          Non-Secure      OK

SPM: NS image at 0xc000
SPM: NS MSP at 0x20003f60
SPM: NS reset vector at 0xe22d
SPM: prepare to jump to Non-Secure image.
***** Booting Zephyr OS v1.14.99-ncs2 *****
Flash region            Domain          Permissions
00 0x00000 0x08000      Secure          rwxl
01 0x08000 0x10000      Non-Secure      rwxl
02 0x10000 0x18000      Non-Secure      rwxl
03 0x18000 0x20000      Non-Secure      rwxl
04 0x20000 0x28000      Non-Secure      rwxl
05 0x28000 0x30000      Non-Secure      rwxl
06 0x30000 0x38000      Non-Secure      rwxl
07 0x38000 0x40000      Non-Secure      rwxl
08 0x40000 0x48000      Non-Secure      rwxl
09 0x48000 0x50000      Non-Secure      rwxl
10 0x50000 0x58000      Non-Secure      rwxl
11 0x58000 0x60000      Non-Secure      rwxl
12 0x60000 0x68000      Non-Secure      rwxl
13 0x68000 0x70000      Non-Secure      rwxl
14 0x70000 0x78000      Non-Secure      rwxl
15 0x78000 0x80000      Non-Secure      rwxl
16 0x80000 0x88000      Non-Secure      rwxl
17 0x88000 0x90000      Non-Secure      rwxl
18 0x90000 0x98000      Non-Secure      rwxl
19 0x98000 0xa0000      Non-Secure      rwxl
20 0xa0000 0xa8000      Non-Secure      rwxl
21 0xa8000 0xb0000      Non-Secure      rwxl
22 0xb0000 0xb8000      Non-Secure      rwxl
23 0xb8000 0xc0000      Non-Secure      rwxl
24 0xc0000 0xc8000      Non-Secure      rwxl
25 0xc8000 0xd0000      Non-Secure      rwxl
26 0xd0000 0xd8000      Non-Secure      rwxl
27 0xd8000 0xe0000      Non-Secure      rwxl
28 0xe0000 0xe8000      Non-Secure      rwxl
29 0xe8000 0xf0000      Non-Secure      rwxl
30 0xf0000 0xf8000      Non-Secure      rwxl
31 0xf8000 0x100000     Non-Secure      rwxl
Non-secure callable region 0 placed in flash region 0 with size 32.


SRAM region             Domain          Permissions
00 0x00000 0x02000      Secure          rwxl
01 0x02000 0x04000      Secure          rwxl
02 0x04000 0x06000      Secure          rwxl
03 0x06000 0x08000      Secure          rwxl
04 0x08000 0x0a000      Secure          rwxl
05 0x0a000 0x0c000      Secure          rwxl
06 0x0c000 0x0e000      Secure          rwxl
07 0x0e000 0x10000      Secure          rwxl
08 0x10000 0x12000      Non-Secure      rwxl
09 0x12000 0x14000      Non-Secure      rwxl
10 0x14000 0x16000      Non-Secure      rwxl
11 0x16000 0x18000      Non-Secure      rwxl
12 0x18000 0x1a000      Non-Secure      rwxl
13 0x1a000 0x1c000      Non-Secure      rwxl

RE: How to get accelerometer value of Thingy:91?

MJD093 — Tue, 24 Sep 2019 12:00:07 GMT

Didrik Rokhaug

Not sure about Yusuke, but I have gotten the AXDL362 fully configured. I have one question though. I have placed the accelerometer into a ultra low noise state to try and control some of the values I'm getting in the Z direction when the device is upright and stationary (where Z should be -1g). Is there a reason the Z direction is unstable, X and Y seem reasonably stable (they still flick about by 150mg± when the device is on it's side) as the Z values flick up and down by 400mg± centered around 850mg.

I can compensate for this by making my interrupt thresholds less sensitive but seems odd to be getting large changes in XYZ data while not moving. I would like to make my thresholds a bit more sensitive though if the Z direction can be filtered some more.

X_HEX   : 0x040 | Y_HEX : 0x007 | Z_HEX : 0x274                                 
X_INT   : -64     | Y_INT : -7     | Z_INT : -628   (mg)                        
X_HEX   : 0x03f | Y_HEX : 0x010 | Z_HEX : 0x2f0                                 
X_INT   : -63     | Y_INT : 16     | Z_INT : -752   (mg)                        
X_HEX   : 0x02f | Y_HEX : 0x050 | Z_HEX : 0x27f                                 
X_INT   : -47     | Y_INT : -80     | Z_INT : -639   (mg)                       
X_HEX   : 0x020 | Y_HEX : 0x057 | Z_HEX : 0x2a8                                 
X_INT   : -32     | Y_INT : -87     | Z_INT : -680   (mg)                       
X_HEX   : 0x040 | Y_HEX : 0x01f | Z_HEX : 0x2b0                                 
X_INT   : -64     | Y_INT : -31     | Z_INT : -688   (mg)                       
X_HEX   : 0x001 | Y_HEX : 0x060 | Z_HEX : 0x2ff                                 
X_INT   : 1     | Y_INT : 96     | Z_INT : -767   (mg)                          
X_HEX   : 0x047 | Y_HEX : 0x000 | Z_HEX : 0x3b0                                 
X_INT   : -71     | Y_INT : 0     | Z_INT : -944   (mg)                         
X_HEX   : 0x03f | Y_HEX : 0x041 | Z_HEX : 0x2b7                                 
X_INT   : -63     | Y_INT : -65     | Z_INT : -695   (mg)                       
X_HEX   : 0x000 | Y_HEX : 0x0fc | Z_HEX : 0x33e                                 
X_INT   : 0     | Y_INT : 252     | Z_INT : -830   (mg)                         
X_HEX   : 0x043 | Y_HEX : 0x044 | Z_HEX : 0x2f8                                 
X_INT   : -67     | Y_INT : 68     | Z_INT : -760   (mg)                        
X_HEX   : 0x017 | Y_HEX : 0x01f | Z_HEX : 0x3bf                                 
X_INT   : 23     | Y_INT : -31     | Z_INT : -959   (mg)                        
X_HEX   : 0x030 | Y_HEX : 0x040 | Z_HEX : 0x397                                 
X_INT   : 48     | Y_INT : -64     | Z_INT : -919   (mg)                        
X_HEX   : 0x031 | Y_HEX : 0x043 | Z_HEX : 0x3d7                                 
X_INT   : 49     | Y_INT : -67     | Z_INT : -983   (mg)                        
X_HEX   : 0x070 | Y_HEX : 0x00f | Z_HEX : 0x3e0                                 
X_INT   : 112     | Y_INT : -15     | Z_INT : -992   (mg)                       
X_HEX   : 0x063 | Y_HEX : 0x03f | Z_HEX : 0x35a                                 
X_INT   : 99     | Y_INT : -63     | Z_INT : -858   (mg)                        
X_HEX   : 0x02c | Y_HEX : 0x050 | Z_HEX : 0x2df                                 
X_INT   : -44     | Y_INT : 80     | Z_INT : -735   (mg)                        
X_HEX   : 0x030 | Y_HEX : 0x020 | Z_HEX : 0x2cf                                 
X_INT   : 48     | Y_INT : 32     | Z_INT : -719   (mg)                         
X_HEX   : 0x043 | Y_HEX : 0x067 | Z_HEX : 0x3b7                                 
X_INT   : 67     | Y_INT : -103     | Z_INT : -951   (mg)                       
X_HEX   : 0x05a | Y_HEX : 0x024 | Z_HEX : 0x33f                                 
X_INT   : -90     | Y_INT : 36     | Z_INT : -831   (mg)

RE: How to get accelerometer value of Thingy:91?

Didrik Rokhaug — Tue, 24 Sep 2019 10:53:24 GMT

Hi.

Were you able to find a solution to your problems, or do you still have any questions?

Best regards,

Didrik

RE: How to get accelerometer value of Thingy:91?

MJD093 — Thu, 19 Sep 2019 09:45:51 GMT

Ah found my mistake, needed to initialise the gpio CS for the ADXL362. I can now read the ADXL part ID.

Yusuke,

Try this for reading a register from the ADXL362 on the PCA20035 device

main.c:

/*
* Copyright (c) 2012-2014 Wind River Systems, Inc.
*
* SPDX-License-Identifier: Apache-2.0
*/

#include <zephyr.h>
#include <misc/printk.h>
#include <spi.h>
#include <gpio.h>

#define cs_controller DT_NORDIC_NRF_SPI_SPI_3_CS_GPIOS_CONTROLLER_0
#define cd_pin  DT_NORDIC_NRF_SPI_0_CS_GPIOS_PIN_0

static const struct spi_config spi_cfg = {
	.operation = SPI_WORD_SET(8) | SPI_TRANSFER_MSB,
	.frequency = 8000000,
	.slave = 0,
};

struct device * spi_dev;
struct device * cs_gpio;

static void spi_init(void)
{
	const char* const spiName = "SPI_3";
	spi_dev = device_get_binding(spiName);

	if (spi_dev == NULL) {
		printk("Could not get %s device\n", spiName);
		return;
	}
}

void spi_test_send(void)
{
	int err;
	static u8_t tx_buffer[1];
	static u8_t rx_buffer[1];

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

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

	err = spi_transceive(spi_dev, &spi_cfg, &tx, &rx);
	if (err) {
		printk("SPI error: %d\n", err);
	} else {
		/* Connect MISO to MOSI for loopback */
		printk("TX sent: %x\n", tx_buffer[0]);
		printk("RX recv: %x\n", rx_buffer[0]);
		tx_buffer[0]++;
	}
}

void spi_read_reg(void)
{
  u8_t cmd =      0x0B;
  u8_t reg_addr = 0x02;
  u8_t value = 0x00;
  void *data = &value;
  int length = 1;
	u8_t access[2] = { cmd, reg_addr };

  gpio_pin_write(cs_gpio, cd_pin, 0);

	const struct spi_buf buf[2] = {
		{
			.buf = access,
			.len = 2
		},
		{
			.buf = data,
			.len = length
		}
	};
	struct spi_buf_set tx = {
		.buffers = buf,
	};


	const struct spi_buf_set rx = {
		.buffers = buf,
		.count = 2
	};

	tx.count = 1;

	int spi_result = spi_transceive(spi_dev, &spi_cfg, &tx, &rx);

  printk("SPI result: %d\n",spi_result);
  printk("Value: 0x%02X\n", value);

  gpio_pin_write(cs_gpio, cd_pin, 1);

}

void cs_setup(void)
{

  cs_gpio = device_get_binding(cs_controller);

  if (cs_gpio == NULL) {
    printk("Could not get gpio device\n");
    return;
  }

  /* Set cs pin as output */
  gpio_pin_configure(cs_gpio, cd_pin, GPIO_DIR_OUT);

  gpio_pin_write(cs_gpio, cd_pin, 1);

}

void main(void)
{
	printk("SPIM Example\n");
  cs_setup();
	spi_init();

	while (1) {
		//spi_test_send();
    spi_read_reg();
		k_sleep(1000);
	}
}

prj.conf:

CONFIG_SERIAL=y
CONFIG_TRUSTED_EXECUTION_NONSECURE=y
CONFIG_UART_INTERRUPT_DRIVEN=y
CONFIG_UART_0_NRF_UARTE=y

# LTE link control
CONFIG_LTE_LINK_CONTROL=n
CONFIG_LTE_AUTO_INIT_AND_CONNECT=n

# BSD library
CONFIG_BSD_LIBRARY=y
CONFIG_BSD_LIBRARY_TRACE_ENABLED=n

# network
CONFIG_TEST_RANDOM_GENERATOR=y
CONFIG_NETWORKING=y
CONFIG_NET_BUF_USER_DATA_SIZE=1
CONFIG_NET_SOCKETS_OFFLOAD=y
CONFIG_NET_SOCKETS=y
CONFIG_NET_SOCKETS_POSIX_NAMES=y
CONFIG_NET_RAW_MODE=y
CONFIG_HEAP_MEM_POOL_SIZE=1024

# SPI
CONFIG_SPI=y
CONFIG_SPI_3=y
CONFIG_SPI_3_NRF_SPIM=y
CONFIG_SPI_3=y
CONFIG_SPI_NRFX=y
CONFIG_MAIN_STACK_SIZE=4096

#CONFIG_SENSOR=y
#CONFIG_ADXL362=y

You should get:

SPM: NS image at 0xc000                                                         
SPM: NS MSP at 0x20023f98                                                       
SPM: NS reset vector at 0xe7b1                                                  
SPM: prepare to jump to Non-Secure image.                                       
***** Booting Zephyr OS v1.14.99-ncs2 *****                                     
SPIM Example                                                                    
SPI result: 0                                                                   
Value: 0xf2

RE: How to get accelerometer value of Thingy:91?

MJD093 — Thu, 19 Sep 2019 08:16:06 GMT

To be honest, I would like to know this too. I have no experience with SPI and spi_transceive() didn't seem to fail (returned 0) but I haven't a clue how to read the response.

RE: How to get accelerometer value of Thingy:91?

Yusuke — Thu, 19 Sep 2019 06:08:45 GMT

May I ask one more related question?

I want to configure motion detection function of ADXL362 and let it output H level when it detects movement. This is a simple function.

How can I achieve this?

To do so, you need to write value in a certain register through SPI.

However, there is no writing and even reading functions in sensor.h.

I added the above spi_test_send function to /path/to/ncs/zephyr/samples/sensor/adxl362 program but it returns -35 error code. Any help?

RE: How to get accelerometer value of Thingy:91?

Yusuke — Thu, 19 Sep 2019 01:41:36 GMT

Thank you guys!

It works!

<prj.conf>

CONFIG_STDOUT_CONSOLE=y
CONFIG_SPI=y
CONFIG_SENSOR=y
CONFIG_ADXL362=y
CONFIG_ADXL362_TRIGGER_GLOBAL_THREAD=y
CONFIG_ADXL362_INTERRUPT_MODE=1
CONFIG_ADXL362_ABS_REF_MODE=1

###########ADD BELOW###########################
# CONFIG_SPI=y
CONFIG_SPI_3=y
CONFIG_SPI_3_NRF_SPIM=y
CONFIG_SPI_3=y 
CONFIG_SPI_NRFX=y
CONFIG_MAIN_STACK_SIZE=4096

RE: How to get accelerometer value of Thingy:91?

MJD093 — Wed, 18 Sep 2019 15:50:25 GMT

I am trying to do the same thing, Zephyr do have a sensor example for the ADXL362.

/path/to/ncs/zephyr/samples/sensor/adxl362

As Didrik says, this example uses the sensor.h API library. Don't ask me how to get it to work though, it straight up refused to get the device for 2 hours then randomly started working and I didn't change the example code apart from enabling SPI in the prj.conf 😅.

RE: How to get accelerometer value of Thingy:91?

Didrik Rokhaug — Wed, 18 Sep 2019 14:33:11 GMT

Hi.

There is a driver for the ADXL362 in Zephyr that implements Zephyr sensor API. The easiest approach is to use that.

The Thingy:91 source code is present in the master branch, where you can see an example of how to use that driver, or you can use the layer the Thingy firmware has built on top of the driver.

Best regards,

Didrik