I used the mpu6050 sensor and did it according to 1.2 of this blog.
The driver of this sensor is in the ncs\zephyr\drivers\sensor\mpu6050 directory.Error after compiling the project:
i2c_nrfx_twim: Error 195952641 occurred for message 0
Both ncs1.3.0 and ncs1.4.0 only use I2C_1 and this error occurs, while other I2C The interface communicates normally.
prj.confg:
CONFIG_STDOUT_CONSOLE=y CONFIG_LOG=y CONFIG_LOG_DEFAULT_LEVEL=3 CONFIG_I2C=y CONFIG_SENSOR=y CONFIG_MPU6050=y CONFIG_MPU6050_TRIGGER_NONE=y CONFIG_SENSOR_LOG_LEVEL_WRN=y CONFIG_I2C_1=y
nrf9160dk_nrf9160ns:
&i2c2 {
status = "disabled";
};
&i2c1 {
compatible = "nordic,nrf-twim";
status = "okay";
sda-pin = <0>;
scl-pin = <1>;
clock-frequency = <100000>;
mpu6050@68 {
compatible = "invensense,mpu6050";
reg = <0x68>;
status = "okay";
label = "MPU6050";
int-gpios = <&gpio0 11 GPIO_ACTIVE_HIGH>;
};
};
&uart1 {
status = "disabled";
};
main.c:
/*
* Copyright (c) 2019 Nordic Semiconductor ASA
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <zephyr.h>
#include <device.h>
#include <drivers/sensor.h>
#include <stdio.h>
static const char *now_str(void)
{
static char buf[16]; /* ...HH:MM:SS.MMM */
u32_t now = k_uptime_get_32();
unsigned int ms = now % MSEC_PER_SEC;
unsigned int s;
unsigned int min;
unsigned int h;
now /= MSEC_PER_SEC;
s = now % 60U;
now /= 60U;
min = now % 60U;
now /= 60U;
h = now;
snprintf(buf, sizeof(buf), "%u:%02u:%02u.%03u",
h, min, s, ms);
return buf;
}
static int process_mpu6050(struct device *dev)
{
struct sensor_value temperature;
struct sensor_value accel[3];
struct sensor_value gyro[3];
int rc = sensor_sample_fetch(dev);
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_ACCEL_XYZ,
accel);
}
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_GYRO_XYZ,
gyro);
}
if (rc == 0) {
rc = sensor_channel_get(dev, SENSOR_CHAN_AMBIENT_TEMP,
&temperature);
}
if (rc == 0) {
printf("[%s]:%g Cel\n"
" accel % f % f % f m/s/s\n"
" gyro % f % f % f rad/s\n",
now_str(),
sensor_value_to_double(&temperature),
sensor_value_to_double(&accel[0]),
sensor_value_to_double(&accel[1]),
sensor_value_to_double(&accel[2]),
sensor_value_to_double(&gyro[0]),
sensor_value_to_double(&gyro[1]),
sensor_value_to_double(&gyro[2]));
} else {
printf("sample fetch/get failed: %d\n", rc);
}
return rc;
}
#ifdef CONFIG_MPU6050_TRIGGER
static struct sensor_trigger trigger;
static void handle_mpu6050_drdy(struct device *dev,
struct sensor_trigger *trig)
{
int rc = process_mpu6050(dev);
if (rc != 0) {
printf("cancelling trigger due to failure: %d\n", rc);
(void)sensor_trigger_set(dev, trig, NULL);
return;
}
}
#endif /* CONFIG_MPU6050_TRIGGER */
void main(void)
{
const char *const label = DT_LABEL(DT_INST(0, invensense_mpu6050));
struct device *mpu6050 = device_get_binding(label);
if (!mpu6050) {
printf("Failed to find sensor %s\n", label);
return;
}
#ifdef CONFIG_MPU6050_TRIGGER
trigger = (struct sensor_trigger) {
.type = SENSOR_TRIG_DATA_READY,
.chan = SENSOR_CHAN_ALL,
};
if (sensor_trigger_set(mpu6050, &trigger,
handle_mpu6050_drdy) < 0) {
printf("Cannot configure trigger\n");
return;
};
printk("Configured for triggered sampling.\n");
#endif
while (!IS_ENABLED(CONFIG_MPU6050_TRIGGER)) {
int rc = process_mpu6050(mpu6050);
if (rc != 0) {
break;
}
k_sleep(K_SECONDS(2));
}
/* triggered runs with its own thread after exit */
}
