Troubleshooting Gyroscope and Accelerometer Data Retrieval on NUCLEO GNSS2A1

tom_andrice · ‎2024-07-31

Hello,

I am currently working with the NUCLEO GNSS2A1 extension on the NUCLEO-L010RB demonstration board, and I am trying to retrieve data from the gyroscope and accelerometer.

According to the TESEO VIC3DA module documentation, there are two modes of dead reckoning:

DRAW Mode: Designed for automotive applications, it requires a speed signal.
DRUM Mode: Suitable for industrial applications, which corresponds to my use case.

Based on my research, the gyroscope and accelerometer data should be transmitted via the following messages: $PSTMDRSENMSG,30 and $PSTMDRSENMSG,31. However, I never receive these messages. When I send them, I only receive back the same thing that I sent.

My current configuration:

I have enabled the messages dedicated to dead reckoning with the following commands:

$PSTMCFGMSGL,0,1,0,FFFFFFFF
$PSTMCFGMSGL,1,1,0,FFFFFFFF
$PSTMCFGMSGL,2,1,0,FFFFFFFF

I have disabled DRAW mode:

$PSTMSETPAR,1667,FFFFFFFF,2

Here is the IMU configuration I get when my module starts:

$PSTMDRSENCONFIG,IMU GYRO,LSM6DSR,125,4375,104,34.0,1*0F
$PSTMDRSENCONFIG,IMU ACC,LSM6DSR,2,61,104,52.0*56

I would like to point out that the firmware currently flashed on my Teseo VIC3DA is version 4.6.19, available here: https://www.st.com/en/embedded-software/teseo-vic3dsw.html

I simply want to retrieve the axes of my gyroscope and accelerometer, but I am unable to receive the PSTMDRSENMSG messages. Could you help me solve this problem?

Thank you in advance for your assistance!

GalaxyQuest · ‎2024-08-20

Hi,

Can you please reflash with 4.6.18 version?

https://www.st.com/en/embedded-software/teseo-vic3dsw.html and select 4.6.18.

Once you reflash, could you please check if any PSTMDR messages are output.

Common messages are PSTMDRGPS, PSTMDR2? You can filter this is the message output like shown above.

Now you can run the script I shared in the post earlier.

You do not need to disable DRAW, keep the default configuration as is.

I apologize I have not been able to test with 4.6.19 yet. I will test in a couple of days with this version once I have access to hardware.

In order to give better visibility on the answered topics, please click on 'Accept as Solution' on the reply which solved your issue or answered your question.

View solution in original post

GalaxyQuest · ‎2024-08-18

Hi Tom,

I trust you are referring to VIC3DA software manual found here,

https://www.st.com/resource/en/user_manual/um2791-teseovic3-software-instructions-stmicroelectronics.pdf

Also, all the documentation related to VIC3DA are found here,

https://www.st.com/en/positioning/teseo-vic3da.html#documentation

In Teseo Suite, Monitor window, you can send the following commands one by one

#enable Sensor Message
$PSTMSETPAR,1228,0x10000000,1

#increased Baud Rate to 460k to handle extra messages output at 100Hz
$PSTMSETPAR,1102,0xC

# do save and reset
$PSTMSAVEPAR
$PSTMSRR

Kindly let me know if you have further questions.

In order to give better visibility on the answered topics, please click on 'Accept as Solution' on the reply which solved your issue or answered your question.

tom_andrice · ‎2024-08-19

I reflashed the firmware to remove my previous configurations and then executed your commands. However, I still don't see any sign of sensor messages. Do you have any idea what might be causing this?

I successfully reconnected with the 460k baud rate after restarting.

GalaxyQuest · ‎2024-08-19

Can you please execute this command in Teseo Suite Monitor Window ?

$PSTMGETPARM,1000

Please copy the CDB values and attach it.

I will compare with the VIC3DA I have.

In order to give better visibility on the answered topics, please click on 'Accept as Solution' on the reply which solved your issue or answered your question.

tom_andrice · ‎2024-08-20

Here is my configuration and thank you for your responsiveness !

$PSTMSETPAR,1102,0x0c*02
$PSTMSETPAR,1103,0xf1*07
$PSTMSETPAR,1104,0x05*52
$PSTMSETPAR,1105,0x07*51
$PSTMSETPAR,1106,0x0a*04
$PSTMSETPAR,1107,0x0a*05
$PSTMSETPAR,1108,0x0e*0E
$PSTMSETPAR,1109,0x0d*0E
$PSTMSETPAR,1110,0x0c*01
$PSTMSETPAR,1111,0x0b*01
$PSTMSETPAR,1112,0x0a*01
$PSTMSETPAR,1113,0x09*58
$PSTMSETPAR,1114,0x06*50
$PSTMSETPAR,1115,0x08*5F
$PSTMSETPAR,1116,0x07*53
$PSTMSETPAR,1117,0x02*57
$PSTMSETPAR,1118,0x03*59
$PSTMSETPAR,1119,0x63*5E
$PSTMSETPAR,1120,0x0e*04
$PSTMSETPAR,1121,0x11*50
$PSTMSETPAR,1122,0x0c*00
$PSTMSETPAR,1123,0x04*56
$PSTMSETPAR,1124,0x18*5C
$PSTMSETPAR,1125,0x0c*07
$PSTMSETPAR,1126,0x01*56
$PSTMSETPAR,1127,0x55*56
$PSTMSETPAR,1128,0x03*5A
$PSTMSETPAR,1129,0x01*59
$PSTMSETPAR,1130,0x00*50
$PSTMSETPAR,1131,0x50*54
$PSTMSETPAR,1132,0x0f*04
$PSTMSETPAR,1133,0x00*53
$PSTMSETPAR,1134,0x00*54
$PSTMSETPAR,1135,0x0f*03
$PSTMSETPAR,1136,0x07*51
$PSTMSETPAR,1137,0x14*52
$PSTMSETPAR,1138,0x00*58
$PSTMSETPAR,1139,0x0a*08
$PSTMSETPAR,1140,0xff*57
$PSTMSETPAR,1141,0xff*56
$PSTMSETPAR,1142,0xff*55
$PSTMSETPAR,1143,0xff*54
$PSTMSETPAR,1144,0xff*53
$PSTMSETPAR,1145,0xff*52
$PSTMSETPAR,1146,0xff*51
$PSTMSETPAR,1147,0xff*50
$PSTMSETPAR,1148,0xff*5F
$PSTMSETPAR,1149,0xff*5E
$PSTMSETPAR,1150,0xff*56
$PSTMSETPAR,1151,0xff*57
$PSTMSETPAR,1152,0xff*54
$PSTMSETPAR,1153,0xff*55
$PSTMSETPAR,1154,0xff*52
$PSTMSETPAR,1155,0xff*53
$PSTMSETPAR,1156,0xff*50
$PSTMSETPAR,1157,0xff*51
$PSTMSETPAR,1158,0xff*5E
$PSTMSETPAR,1159,0xff*5F
$PSTMSETPAR,1160,0xff*55
$PSTMSETPAR,1161,0xff*54
$PSTMSETPAR,1162,0xff*57
$PSTMSETPAR,1163,0xff*56
$PSTMSETPAR,1164,0xff*51
$PSTMSETPAR,1165,0xff*50
$PSTMSETPAR,1166,0xff*53
$PSTMSETPAR,1167,0xff*52
$PSTMSETPAR,1168,0xff*5D
$PSTMSETPAR,1169,0xff*5C
$PSTMSETPAR,1170,0xff*54
$PSTMSETPAR,1171,0xff*55
$PSTMSETPAR,1172,0xff*56
$PSTMSETPAR,1173,0xff*57
$PSTMSETPAR,1174,0xff*50
$PSTMSETPAR,1175,0xff*51
$PSTMSETPAR,1176,0xff*52
$PSTMSETPAR,1177,0xff*53
$PSTMSETPAR,1178,0xff*5C
$PSTMSETPAR,1179,0xff*5D
$PSTMSETPAR,1180,0xff*5B
$PSTMSETPAR,1181,0xff*5A
$PSTMSETPAR,1182,0xff*59
$PSTMSETPAR,1183,0xff*58
$PSTMSETPAR,1184,0xff*5F
$PSTMSETPAR,1185,0xff*5E
$PSTMSETPAR,1186,0xff*5D
$PSTMSETPAR,1187,0xff*5C
$PSTMSETPAR,1188,0xff*53
$PSTMSETPAR,1189,0xff*52
$PSTMSETPAR,1190,0x01*5B
$PSTMSETPAR,1191,0x01*5A
$PSTMSETPAR,1192,0x01*59
$PSTMSETPAR,1193,0x00*59
$PSTMSETPAR,1194,0x00*5E
$PSTMSETPAR,1195,0x01*5E
$PSTMSETPAR,1196,0x09*55
$PSTMSETPAR,1197,0x40*59
$PSTMSETPAR,1198,0x05*57
$PSTMSETPAR,1199,0xff*53
$PSTMSETPAR,1200,0x0941964c*04
$PSTMSETPAR,1201,0x4088500d*04
$PSTMSETPAR,1202,0x000019b3*0B
$PSTMSETPAR,1203,0xfffeaa83*5B
$PSTMSETPAR,1204,0xffff621b*03
$PSTMSETPAR,1205,0x00000000*55
$PSTMSETPAR,1206,0xffffffff*56
$PSTMSETPAR,1207,0x00000000*57
$PSTMSETPAR,1208,0xffffffff*58
$PSTMSETPAR,1209,0x00000000*59
$PSTMSETPAR,1210,0x00000000*51
$PSTMSETPAR,1211,0x00000052*57
$PSTMSETPAR,1212,0xffffffff*53
$PSTMSETPAR,1213,0x00000000*52
$PSTMSETPAR,1214,0x00001900*5D
$PSTMSETPAR,1215,0x00000000*54
$PSTMSETPAR,1216,0xffffffff*57
$PSTMSETPAR,1217,0xffffffff*56
$PSTMSETPAR,1218,0xffffffff*59
$PSTMSETPAR,1219,0xffffffff*58
$PSTMSETPAR,1220,0x2bc090f0*0E
$PSTMSETPAR,1221,0x00202805*5E
$PSTMSETPAR,1222,0x00323201*51
$PSTMSETPAR,1223,0x02580305*58
$PSTMSETPAR,1224,0x00000a0a*56
$PSTMSETPAR,1225,0x000003fe*57
$PSTMSETPAR,1226,0x3483f010*0F
$PSTMSETPAR,1227,0xc40103cd*07
$PSTMSETPAR,1228,0x7cce2000*0A
$PSTMSETPAR,1229,0x00000000*5B
$PSTMSETPAR,1230,0x00000000*53
$PSTMSETPAR,1231,0x4088500d*07
$PSTMSETPAR,1232,0x6cc22000*57
$PSTMSETPAR,1233,0x00000000*50
$PSTMSETPAR,1234,0x00000000*57
$PSTMSETPAR,1235,0x00000052*51
$PSTMSETPAR,1236,0x00000000*55
$PSTMSETPAR,1237,0x0d7307ac*01
$PSTMSETPAR,1238,0x00000012*58
$PSTMSETPAR,1239,0x6464109a*03
$PSTMSETPAR,1240,0x008461ae*5B
$PSTMSETPAR,1241,0x00010000*54
$PSTMSETPAR,1242,0x00000000*56
$PSTMSETPAR,1243,0x00000000*57
$PSTMSETPAR,1244,0x00000000*50
$PSTMSETPAR,1245,0x0000000a*00
$PSTMSETPAR,1246,0x00000006*54
$PSTMSETPAR,1247,0xffffffff*53
$PSTMSETPAR,1248,0x00000004*58
$PSTMSETPAR,1249,0x00000001*5C
$PSTMSETPAR,1250,0x80000000*5D
$PSTMSETPAR,1251,0x057804b0*08
$PSTMSETPAR,1252,0x00000003*54
$PSTMSETPAR,1253,0xfff7c3f0*01
$PSTMSETPAR,1254,0x00000000*51
$PSTMSETPAR,1255,0xffffffff*50
$PSTMSETPAR,1256,0x00000000*53
$PSTMSETPAR,1257,0x02000a0c*52
$PSTMSETPAR,1258,0x05a0b40f*09
$PSTMSETPAR,1259,0x0000a3f5*5D
$PSTMSETPAR,1260,0x00190a01*0E
$PSTMSETPAR,1261,0x140a0a33*52
$PSTMSETPAR,1262,0x00005100*50
$PSTMSETPAR,1263,0x14000e81*0C
$PSTMSETPAR,1264,0x10180000*5A
$PSTMSETPAR,1265,0x00080000*5B
$PSTMSETPAR,1266,0x0000014e*00
$PSTMSETPAR,1267,0x00000000*51
$PSTMSETPAR,1268,0x00000f0b*5A
$PSTMSETPAR,1269,0x00000000*5F
$PSTMSETPAR,1270,0x03e80007*0E
$PSTMSETPAR,1271,0xffffffff*56
$PSTMSETPAR,1272,0x00001006*52
$PSTMSETPAR,1273,0x018cba80*05
$PSTMSETPAR,1274,0x03c71048*09
$PSTMSETPAR,1275,0xffffffff*52
$PSTMSETPAR,1276,0xe6d2be9a*0B
$PSTMSETPAR,1277,0xfbfaf2ed*06
$PSTMSETPAR,1278,0x02020000*5F
$PSTMSETPAR,1279,0x01010605*5D
$PSTMSETPAR,1280,0x00ff00ff*58
$PSTMSETPAR,1281,0x00ff00ff*59
$PSTMSETPAR,1282,0x00ff00ff*5A
$PSTMSETPAR,1283,0x00ff00ff*5B
$PSTMSETPAR,1284,0x00000000*5C
$PSTMSETPAR,1285,0x00000000*5D
$PSTMSETPAR,1300,1.000000e-01*4F
$PSTMSETPAR,1301,5.000000e-01*4A
$PSTMSETPAR,1302,0.000000e+00*4B
$PSTMSETPAR,1303,1.000000e+00*4B
$PSTMSETPAR,1304,4.091747e+01*44
$PSTMSETPAR,1305,1.427586e+01*46
$PSTMSETPAR,1306,8.843307e+01*4D
$PSTMSETPAR,1307,6.330000e-07*49
$PSTMSETPAR,1308,4.200000e-07*46
$PSTMSETPAR,1309,1.500000e-08*4A
$PSTMSETPAR,1310,4.200000e-07*4F
$PSTMSETPAR,1311,6.330000e-07*4E
$PSTMSETPAR,1312,0.000000e+00*4A
$PSTMSETPAR,1313,0.000000e+00*4B
$PSTMSETPAR,1314,4.111473e+01*48
$PSTMSETPAR,1315,1.388093e+01*44
$PSTMSETPAR,1316,1.000000e+01*4E
$PSTMSETPAR,1317,4.112148e+01*45
$PSTMSETPAR,1318,1.387146e+01*4F
$PSTMSETPAR,1319,1.000000e+01*41
$PSTMSETPAR,1320,4.124341e+01*4F
$PSTMSETPAR,1321,1.377443e+01*4A
$PSTMSETPAR,1322,1.000000e+01*49
$PSTMSETPAR,1323,4.124328e+01*43
$PSTMSETPAR,1324,1.377424e+01*4E
$PSTMSETPAR,1325,1.000000e+01*4E
$PSTMSETPAR,1400,15,12,12,18*3F
$PSTMSETPAR,1401,15,12,12,18*3E
$PSTMSETPAR,1402,15,12,12,18*3D
$PSTMSETPAR,1403,15,12,12,18*3C
$PSTMSETPAR,1500,DEFAULT VIC CONFIGURATION*58
$PSTMSETPAR,1600,0x80a00116*0B
$PSTMSETPAR,1601,0x00000000*55
$PSTMSETPAR,1602,0x00000000*56
$PSTMSETPAR,1603,0x00000000*57
$PSTMSETPAR,1604,0x00000000*50
$PSTMSETPAR,1605,0x00000000*51
$PSTMSETPAR,1606,0x00000000*52
$PSTMSETPAR,1607,0x00000000*53
$PSTMSETPAR,1608,0x00000000*5C
$PSTMSETPAR,1609,0x00000000*5D
$PSTMSETPAR,1610,0x00000000*55
$PSTMSETPAR,1611,0x00000000*54
$PSTMSETPAR,1612,0x00000000*57
$PSTMSETPAR,1613,0x00000000*56
$PSTMSETPAR,1614,0x00000000*51
$PSTMSETPAR,1615,0x00000000*50
$PSTMSETPAR,1616,0x00000000*53
$PSTMSETPAR,1617,0x00000000*52
$PSTMSETPAR,1618,0x00000000*5D
$PSTMSETPAR,1619,0x00000000*5C
$PSTMSETPAR,1620,0x00000000*56
$PSTMSETPAR,1621,0x00000000*57
$PSTMSETPAR,1622,0x00000000*54
$PSTMSETPAR,1623,0x00000000*55
$PSTMSETPAR,1624,0x00000000*52
$PSTMSETPAR,1625,0x00000000*53
$PSTMSETPAR,1626,0x00000000*50
$PSTMSETPAR,1627,0x00000000*51
$PSTMSETPAR,1628,0x00000000*5E
$PSTMSETPAR,1629,0x00000000*5F
$PSTMSETPAR,1630,0x00000000*57
$PSTMSETPAR,1631,0x00000000*56
$PSTMSETPAR,1632,0x00000000*55
$PSTMSETPAR,1633,0x00000000*54
$PSTMSETPAR,1634,0x00000000*53
$PSTMSETPAR,1635,0x00000000*52
$PSTMSETPAR,1636,0x00000000*51
$PSTMSETPAR,1637,0x00000000*50
$PSTMSETPAR,1638,0x00000000*5F
$PSTMSETPAR,1639,0x00000000*5E
$PSTMSETPAR,1640,0x00000000*50
$PSTMSETPAR,1641,0x00000000*51
$PSTMSETPAR,1642,0x00000000*52
$PSTMSETPAR,1643,0x00000000*53
$PSTMSETPAR,1644,0x00000000*54
$PSTMSETPAR,1645,0x00000000*55
$PSTMSETPAR,1646,0x00000000*56
$PSTMSETPAR,1647,0x00000000*57
$PSTMSETPAR,1648,0x00000000*58
$PSTMSETPAR,1649,0x00000000*59
$PSTMSETPAR,1650,0x00000000*51
$PSTMSETPAR,1651,0x00000000*50
$PSTMSETPAR,1652,0x00000000*53
$PSTMSETPAR,1653,0x000007d0*01
$PSTMSETPAR,1654,0x00000000*55
$PSTMSETPAR,1655,0x485b0000*0F
$PSTMSETPAR,1656,0x00004e20*04
$PSTMSETPAR,1657,0x00028488*58
$PSTMSETPAR,1658,0x00012cc8*52
$PSTMSETPAR,1659,0x00000250*5F
$PSTMSETPAR,1660,0x00000000*52
$PSTMSETPAR,1661,0x00000000*53
$PSTMSETPAR,1662,0x00000000*50
$PSTMSETPAR,1663,0x00000000*51
$PSTMSETPAR,1664,0x00000000*56
$PSTMSETPAR,1665,0x00000000*57
$PSTMSETPAR,1666,0x001b0064*05
$PSTMSETPAR,1667,0x00000598*51
$PSTMSETPAR,1668,0x00000000*5A
$PSTMSETPAR,1669,0x0b000000*09
$PSTMSETPAR,1670,0x07105858*55
$PSTMSETPAR,1671,0x000003d4*01
$PSTMSETPAR,1672,0x00006a6a*51
$PSTMSETPAR,1673,0x00304900*5E
$PSTMSETPAR,1674,0xc0000000*04
$PSTMSETPAR,1675,0x00000000*56
$PSTMSETPAR,1676,0x00000064*57
$PSTMSETPAR,1677,0x00000064*56
$PSTMSETPAR,1678,0x00000064*59
$PSTMSETPAR,1679,0x00000064*58
$PSTMSETPAR,1680,0x00000000*5C
$PSTMSETPAR,1681,0x00000000*5D
$PSTMSETPAR,1682,0x00000000*5E
$PSTMSETPAR,1683,0x00000000*5F
$PSTMSETPAR,1684,0x00000000*58

GalaxyQuest · ‎2024-08-20

Hi,

Can you please reflash with 4.6.18 version?

https://www.st.com/en/embedded-software/teseo-vic3dsw.html and select 4.6.18.

Once you reflash, could you please check if any PSTMDR messages are output.

Common messages are PSTMDRGPS, PSTMDR2? You can filter this is the message output like shown above.

Now you can run the script I shared in the post earlier.

You do not need to disable DRAW, keep the default configuration as is.

I apologize I have not been able to test with 4.6.19 yet. I will test in a couple of days with this version once I have access to hardware.

In order to give better visibility on the answered topics, please click on 'Accept as Solution' on the reply which solved your issue or answered your question.

tom_andrice · ‎2024-08-21

Thank you very much!

I tried with version 4.6.18 instead of 4.6.19 and it works fine! I receive gyroscope and accelerometer data (SENMSG 30 and 31).