Interfacing LMS6DSL Click Mezzanine with Ultra96-V2 Using Vitis - Blog 4

In this tutorial, we will guide you through the process of interfacing the LMS6DSL Click Mezzanine with the Ultra96-V2 development board using Xilinx Vitis. The LMS6DSL Click Mezzanine is equipped with a sensor that can measure both acceleration and angular rate, making it a versatile choice for various applications. We will read sensor data and integrate it into the Ultra96-V2 projects. Let's get started!

Create a New Vitis Application Project

1. Launch Xilinx Vitis.
2. Create a new Vitis application project.
3. Select your Ultra96-V2 board as the target platform.

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Create an application project for the LMS6DSL sensor and add the following C code to read data from the LMS6DSL sensor. We will be using the SPI interface to communicate with the sensor. Build the project and program the Ultra96-V2 board with the generated application.

#include "xparameters.h"
#include "xspips.h"

#define SPI	  XPAR_XSPIPS_0_DEVICE_ID
static XSpiPs SpiInstance;

int main()
{
	XSpiPs_Config *SpiConfig;

	int delay;
	s16 temperature;
	u8 cmd[2];
	u8 rx[2];
	u16 temp;
	u8 temp_l;
	u8 temp_h;
	u8 read = (0x80);
	u8 write = (0x00);
	int byte_i;
	int loop;

    printf("Lab 11\n\r");

    SpiConfig = XSpiPs_LookupConfig((u16)SPI);
    XSpiPs_CfgInitialize(&SpiInstance, SpiConfig,SpiConfig->BaseAddress);
    XSpiPs_SetOptions(&SpiInstance,XSPIPS_MASTER_OPTION |  XSPIPS_FORCE_SSELECT_OPTION);
    XSpiPs_SetClkPrescaler(&SpiInstance, XSPIPS_CLK_PRESCALE_256);

    //detect the LSM6DSL
    cmd[0] = (u8) 0x8f;
    cmd[1] = (u8) 0x00;
    XSpiPs_SetSlaveSelect(&SpiInstance, 0x01);
    XSpiPs_PolledTransfer(&SpiInstance, cmd, rx, 2);
    XSpiPs_SetSlaveSelect(&SpiInstance, 0x01);
	if (rx[1] == 0x6a){
		printf("LSM6DSL detected\n\r");
	}
	else{
		printf("LSM6DSL NOT detected cannot continue\n\r");
		return XST_FAILURE;
	}

	cmd[0] = (u8) 0x10;
	cmd[1] = (u8) 0xA0;
	XSpiPs_SetSlaveSelect(&SpiInstance, 0x01);
    XSpiPs_PolledTransfer(&SpiInstance, cmd, rx, 2);
	XSpiPs_SetSlaveSelect(&SpiInstance, 0x01);

	while(1){
	cmd[0] = (u8) 0xA0;
	cmd[1] = (u8) 0x00;
	XSpiPs_SetSlaveSelect(&SpiInstance, 0x01);
    XSpiPs_PolledTransfer(&SpiInstance, cmd, rx, 2);
	XSpiPs_SetSlaveSelect(&SpiInstance, 0x01);
	temp_l = rx[1];
	//printf("Temp L %x\n\r",rx[1]);

	cmd[0] = (u8) 0xA1;
	cmd[1] = (u8) 0x00;
	XSpiPs_SetSlaveSelect(&SpiInstance, 0x01);
    XSpiPs_PolledTransfer(&SpiInstance, cmd, rx, 2);
	XSpiPs_SetSlaveSelect(&SpiInstance, 0x01);
    temp_h = rx[1];

	//printf("Temp H %x\n\r",rx[1]);

	temp = ((temp_h <<8)|(temp_l));

    if ((temp & 0x8000) == 0) //msb = 0 so not negative
    {
    	temperature = temp;
    }
    else {
    // Otherwise perform the 2's complement math on the value
    temperature = (~(temp - 0x01)) * -1;
    }
    //printf("Temp %x\n\r",temperature);
    temperature = temperature * 0.09765;
    printf("Temp %d\n\r",temperature);
	usleep(1000000);

	}
}

Turn off the board and connect the LMS6DSL Click Mezzanine to the Ultra96-V2 board. Make sure it's securely attached to the board's Click Mezzanine connector.

Congratulations! We've successfully interfaced the LMS6DSL Click Mezzanine with the Ultra96-V2 development board using Xilinx Vitis. You can now integrate sensor data into your Ultra96-V2 projects. Happy coding!