Hello,
Our board is streaming accelerometer, gyrometer(lsm6dsox) and magnetometer(lis3mdl).
It sleep and wake-up depends on accelerometer threshold.
Usually data is streamed out well.
But time to time, data is not updated from magetometer after wake up.
In below picture, from -800 to -400, same value is read although sensor is shaken.
After power reset at -400, sensor data is read well again.
Below is register setting during initialization.
void motion_init(void)
{
uint32_t err_code;
uint8_t whoamI, rst;
lsm6dsox_pin_conf_t val;
lsm6dsox_pin_int2_route_t int2_route;
lsm6dsox_pin_int1_route_t int1_route;
nrf_drv_spi_config_t twi_config_motions = NRF_DRV_SPI_DEFAULT_CONFIG;
twi_config_motions.sck_pin = PIN_LSM_SPI_SCLK;
twi_config_motions.mosi_pin = PIN_LSM_SPI_MOSI;
twi_config_motions.miso_pin = PIN_LSM_SPI_MISO;
//twi_config_motions.ss_pin = PIN_LSM_SPI_SS;
twi_config_motions.frequency = NRF_SPI_FREQ_8M;
twi_config_motions.mode = NRF_DRV_SPI_MODE_3;
twi_config_motions.bit_order = NRF_DRV_SPI_BIT_ORDER_MSB_FIRST;
twi_config_motions.irq_priority = APP_IRQ_PRIORITY_LOW;
err_code = nrf_drv_spi_init(&m_spi_lsm, &twi_config_motions, spi_event_handler1, NULL);
RETURN_IF_ERROR(err_code);
nrf_drv_spi_config_t twi_config_magnet = NRF_DRV_SPI_DEFAULT_CONFIG;
twi_config_magnet.sck_pin = PIN_LIS_SPI_SCLK;
twi_config_magnet.mosi_pin = PIN_LIS_SPI_MOSI;
twi_config_magnet.miso_pin = PIN_LIS_SPI_MISO;
//twi_config_magnet.ss_pin = PIN_LIS_SPI_SS;
twi_config_magnet.frequency = NRF_SPI_FREQ_8M;
twi_config_magnet.mode = NRF_DRV_SPI_MODE_3;
twi_config_magnet.bit_order = NRF_DRV_SPI_BIT_ORDER_MSB_FIRST;
twi_config_magnet.irq_priority = APP_IRQ_PRIORITY_LOW;
err_code = nrf_drv_spi_init(&m_spi_lis, &twi_config_magnet, spi_event_handler2, NULL);
RETURN_IF_ERROR(err_code);
lsm_ctx.write_reg = lsm_write;
lsm_ctx.read_reg = lsm_read;
lsm_ctx.handle = &m_spi_lsm;
lis_ctx.write_reg = lis_write;
lis_ctx.read_reg = lis_read;
lis_ctx.handle = &m_spi_lis;
/* Wait Boot Time */
nrf_delay_ms(50);
/* Check device ID */
lsm6dsox_device_id_get(&lsm_ctx, &whoamI);
while (whoamI != LSM6DSOX_ID)
{
nrf_delay_ms(50);
}
/* Restore default configuration */
lsm6dsox_reset_set(&lsm_ctx, PROPERTY_ENABLE);
do {
lsm6dsox_reset_get(&lsm_ctx, &rst);
} while (rst);
/* Electrical pin configuration */
val.sdo_sa0_pull_up = 0;
val.aux_sdo_ocs_pull_up = 0;
val.int1_int2_push_pull = 0;
val.int1_pull_down = 0;
lsm6dsox_pin_conf_set(&lsm_ctx, val);
/* Disable I3C interface */
lsm6dsox_i3c_disable_set(&lsm_ctx, LSM6DSOX_I3C_DISABLE);
/* Enable Block Data Update */
lsm6dsox_block_data_update_set(&lsm_ctx, PROPERTY_ENABLE);
/* Set Output Data Rate */
lsm6dsox_xl_data_rate_set(&lsm_ctx, LSM6DSOX_XL_ODR_1667Hz);// 1/6667Hz*(1000msec/1sec) = 0.149msec
lsm6dsox_gy_data_rate_set(&lsm_ctx, LSM6DSOX_GY_ODR_1667Hz);
/* Set full scale */
lsm6dsox_xl_full_scale_set(&lsm_ctx, LSM6DSOX_16g); //2g 1g, 1000 16bit
lsm6dsox_gy_full_scale_set(&lsm_ctx, LSM6DSOX_2000dps);
lis3mdl_device_id_get(&lis_ctx, &whoamI);
while (whoamI != LIS3MDL_ID)
{
nrf_delay_ms(50);
}
/* Restore default configuration */
lis3mdl_reset_set(&lis_ctx, PROPERTY_ENABLE);
do {
lis3mdl_reset_get(&lis_ctx, &rst);
} while (rst);
/* Enable Block Data Update */
lis3mdl_block_data_update_set(&lis_ctx, PROPERTY_ENABLE);
/* Set Output Data Rate */
lis3mdl_data_rate_set(&lis_ctx, LIS3MDL_LP_1kHz);// 1/1kHz*(1000msec/1sec) = 1msec
/* Set full scale */
lis3mdl_full_scale_set(&lis_ctx, LIS3MDL_12_GAUSS);
/* Enable temperature sensor */
lis3mdl_temperature_meas_set(&lis_ctx, PROPERTY_DISABLE);
/* Set device in continuos mode */
lis3mdl_operating_mode_set(&lis_ctx, LIS3MDL_CONTINUOUS_MODE);
/* Configure gpiote for the sensors data ready interrupt. */
if (!nrf_drv_gpiote_is_init())
{
err_code = nrf_drv_gpiote_init();
APP_ERROR_CHECK(err_code);
}
nrf_drv_gpiote_in_config_t gpiote_in_config;
gpiote_in_config.is_watcher = false;
gpiote_in_config.hi_accuracy = false; //true;
gpiote_in_config.pull = NRF_GPIO_PIN_PULLDOWN;
gpiote_in_config.sense = NRF_GPIOTE_POLARITY_LOTOHI;
err_code = nrf_drv_gpiote_in_init(PIN_LSM_INT1, &gpiote_in_config, lsm6dsox_gpiote_evt_handler1);
RETURN_IF_ERROR(err_code);
/* Enable interrupt generation on Inactivity INT1 pin */
lsm6dsox_pin_int1_route_get(&lsm_ctx, &int1_route);
int1_route.drdy_xl = PROPERTY_ENABLE;
lsm6dsox_pin_int1_route_set(&lsm_ctx, int1_route);
nrf_drv_gpiote_in_event_enable(PIN_LSM_INT1, true);
#if NRF_ESB_SLEEP_MODE
err_code = nrf_drv_gpiote_in_init(PIN_LSM_INT2, &gpiote_in_config, lsm6dsox_gpiote_evt_handler2);
RETURN_IF_ERROR(err_code);
lsm6dsox_xl_usr_offset_on_wkup_set(&lsm_ctx, 0x01);
lsm6dsox_xl_hp_path_internal_set(&lsm_ctx, 0x01);
/* Set duration for Activity detection to 1.80 ms (= 0x03 * 1 / ODR_XL) */
lsm6dsox_wkup_dur_set(&lsm_ctx, 0x03);
/* Set duration for Inactivity detection to 614.28 ms (= 0x02 * 512 / ODR_XL) */
lsm6dsox_act_sleep_dur_set(&lsm_ctx, 0x02);
/* Set Wake-Up threshold weight
0: 1 LSB = FS_XL(16g) / (2^6) = 0.25
1: 1 LSB = FS_XL(16g) / (2^8) = 0.0625 */
lsm6dsox_wkup_ths_weight_set(&lsm_ctx, 0x01);
/* Set Wake-Up threshold: 1 LSb corresponds to FS_XL(16g)/2^8 = 0.0625 */
/* 0x11*0.0625 = 1.0625 */
lsm6dsox_wkup_threshold_set(&lsm_ctx, 0x11);
/* Inactivity configuration: XL to 12.5 in LP, gyro to Power-Down */
lsm6dsox_act_mode_set(&lsm_ctx, LSM6DSOX_XL_12Hz5_GY_PD);
lsm6dsox_pin_int2_route_get(&lsm_ctx,NULL, &int2_route);
int2_route.sleep_change = PROPERTY_ENABLE;
lsm6dsox_pin_int2_route_set(&lsm_ctx,NULL, int2_route);
nrf_drv_gpiote_in_event_enable(PIN_LSM_INT2, true);
#endif
/* Gyroscope max turn-on time is 70 ms */
nrf_delay_ms(1000); //140
}Could you help me to find out what is problem?
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