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Accelerometer on Minized Setting

ilenia93

Hi everyone, I'm starting to work with my Minized board. I want to read the data from the integrated accelerometer (LIS2DS12) and in a tutorial a part of the code involved that I have extrapolated but I have a problem: the data_ready bit is never high. Perhaps the problem is in setting control_registers. Can someone help me please?

 

 

Thanks in advance for the help.

The C code is as follows:

 

 

#include "xparameters.h"

#include "xil_cache.h"

#include "xscugic.h"

#include "xil_exception.h"

#include "scugic_header.h"

#include "xdevcfg.h"

#include "devcfg_header.h"

#include "xdmaps.h"

#include "dmaps_header.h"

#include "xiicps.h"

#include "iicps_header.h"

#include "xqspips.h"

#include "qspips_header.h"

#include "xcanps.h"

#include "canps_header.h"

#include "xscutimer.h"

#include "scutimer_header.h"

#include "xscuwdt.h"

#include "scuwdt_header.h"

 

 

 

#ifdef HAVE_CONFIG_H

#include <config.h>

#endif

 

#include <stdio.h>

#include <stdbool.h>

#include <stdint.h>

#include <time.h>

#include <stdlib.h>

#include <getopt.h>

#include <unistd.h>

#include <errno.h>

 

 

//Test code for the LIS2DS12 motion and temperature sensor on MiniZed

#include <linux/i2c.h>

#include <linux/i2c-dev.h>

#include <fcntl.h>

//#include <ioctl.h>

#include <string.h>

 

//#include <termios.h>

 

#define u8 unsigned char

#define u16 unsigned short

#define I2C_FILE_NAME "/dev/i2c-0"

 

// The following constant defines the address of the IIC device on the IIC bus.  Note that since

// the address is only 7 bits, this  constant is the address divided by 2.

//#define MAGNETOMETER_ADDRESS  0x1E /* LIS3MDL on Arduino shield */

#define MINIZED_MOTION_SENSOR_ADDRESS_SA0_LO  0x1E /* 0011110b for LIS2DS12 on MiniZed when SA0 is pulled low*/

#define MINIZED_MOTION_SENSOR_ADDRESS_SA0_HI  0x1D /* 0011101b for LIS2DS12 on MiniZed when SA0 is pulled high*/

 

#define LIS2DS12_ACC_WHO_AM_I         0x43

/************** Device Register  *******************/

#define LIS2DS12_ACC_SENSORHUB_OUT1  0X06

#define LIS2DS12_ACC_SENSORHUB_OUT2  0X07

#define LIS2DS12_ACC_SENSORHUB_OUT3  0X08

#define LIS2DS12_ACC_SENSORHUB_OUT4  0X09

#define LIS2DS12_ACC_SENSORHUB_OUT5  0X0A

#define LIS2DS12_ACC_SENSORHUB_OUT6  0X0B

#define LIS2DS12_ACC_MODULE_8BIT  0X0C

#define LIS2DS12_ACC_WHO_AM_I_REG  0X0F

#define LIS2DS12_ACC_CTRL1  0X20

#define LIS2DS12_ACC_CTRL2  0X21

#define LIS2DS12_ACC_CTRL3  0X22

#define LIS2DS12_ACC_CTRL4  0X23

#define LIS2DS12_ACC_CTRL5  0X24

#define LIS2DS12_ACC_FIFO_CTRL  0X25

#define LIS2DS12_ACC_OUT_T  0X26

#define LIS2DS12_ACC_STATUS  0X27

#define LIS2DS12_ACC_OUT_X_L  0X28

#define LIS2DS12_ACC_OUT_X_H  0X29

#define LIS2DS12_ACC_OUT_Y_L  0X2A

#define LIS2DS12_ACC_OUT_Y_H  0X2B

#define LIS2DS12_ACC_OUT_Z_L  0X2C

#define LIS2DS12_ACC_OUT_Z_H  0X2D

#define LIS2DS12_ACC_FIFO_THS  0X2E

#define LIS2DS12_ACC_FIFO_SRC  0X2F

#define LIS2DS12_ACC_FIFO_SAMPLES  0X30

#define LIS2DS12_ACC_TAP_6D_THS  0X31

#define LIS2DS12_ACC_INT_DUR  0X32

#define LIS2DS12_ACC_WAKE_UP_THS  0X33

#define LIS2DS12_ACC_WAKE_UP_DUR  0X34

#define LIS2DS12_ACC_FREE_FALL  0X35

#define LIS2DS12_ACC_STATUS_DUP  0X36

#define LIS2DS12_ACC_WAKE_UP_SRC  0X37

#define LIS2DS12_ACC_TAP_SRC  0X38

#define LIS2DS12_ACC_6D_SRC  0X39

#define LIS2DS12_ACC_STEP_C_MINTHS  0X3A

#define LIS2DS12_ACC_STEP_C_L  0X3B

#define LIS2DS12_ACC_STEP_C_H  0X3C

#define LIS2DS12_ACC_FUNC_CK_GATE  0X3D

#define LIS2DS12_ACC_FUNC_SRC  0X3E

#define LIS2DS12_ACC_FUNC_CTRL  0X3F

 

u8 send_byte;

u8 write_data [256];

u8 read_data [256];

 

int i2c_file;

useconds_t delay = 2000; //2ms

u8 i2c_device_addr = MINIZED_MOTION_SENSOR_ADDRESS_SA0_HI; //by default

 

//Global variables for LIS2DS12 readings:

u16 accel_X;

u16 accel_Y;

u16 accel_Z;

//u8 chip_temperature;

//u8 ps_led_color;

uint8_t MiniZed_IP_address[4];

bool bMiniZed_IP_address_OK;

bool bMiniZed_internet_access_OK;

u16 ToMinizedReportCount;

bool exit_mainloop;

 

static int set_i2c_register(int file,

                            unsigned char addr,

                            unsigned char reg,

                            unsigned char value) {

 

    unsigned char outbuf[2];

    struct i2c_rdwr_ioctl_data packets;

    struct i2c_msg messages[1];

 

    messages[0].addr  = addr;

    messages[0].flags = 0;

    messages[0].len   = sizeof(outbuf);

    messages[0].buf   = outbuf;

 

    /* The first byte indicates which register we'll write */

    outbuf[0] = reg;

 

    /*

     * The second byte indicates the value to write.  Note that for many

     * devices, we can write multiple, sequential registers at once by

     * simply making outbuf bigger.

     */

    outbuf[1] = value;

 

 

    /* Transfer the i2c packets to the kernel and verify it worked */

 

    packets.msgs  = messages;

    packets.nmsgs = 1;

    /*if(ioctl(file, I2C_RDWR, &packets) < 0) {

        perror("Unable to send data");

        return 1;

    }*/

//print("sono dentro set_i2c_register\n");

    return 0;

 

}

 

 

static int get_i2c_register(int file,

                            unsigned char addr,

                            unsigned char reg,

                            unsigned char *val) {

    unsigned char inbuf, outbuf;

    struct i2c_rdwr_ioctl_data packets;

    struct i2c_msg messages[2];

 

    /*

     * In order to read a register, we first do a "dummy write" by writing

     * 0 bytes to the register we want to read from.  This is similar to

     * the packet in set_i2c_register, except it's 1 byte rather than 2.

     */

    outbuf = reg;

    messages[0].addr  = addr;

    messages[0].flags = 0;

    messages[0].len   = sizeof(outbuf);

    messages[0].buf   = &outbuf;

 

    /* The data will get returned in this structure */

    messages[1].addr  = addr;

    messages[1].flags = I2C_M_RD/* | I2C_M_NOSTART*/;

    messages[1].len   = sizeof(inbuf);

    messages[1].buf   = &inbuf;

 

    /* Send the request to the kernel and get the result back */

    packets.msgs      = messages;

    packets.nmsgs     = 2;

    /*if(ioctl(file, I2C_RDWR, &packets) < 0) {

        perror("Unable to send data");

        return 1;

    }*/

    *val = inbuf;

 

    return 0;

}

 

 

static u8 LIS2DS12_WriteReg(u8 Reg, u8 *Bufp, u16 len)

{

if(set_i2c_register(i2c_file, i2c_device_addr, Reg, (u8)(Bufp[0])))

    {

        printf("Unable to set register!\n");

        return (1);

    }

 

return(0);

}

 

static u8 LIS2DS12_ReadReg(u8 Reg, u8 *Bufp, u16 len)

{

    if(get_i2c_register(i2c_file, i2c_device_addr, Reg, &Bufp[0]))

    {

        printf("Unable to get register!\n");

        return (1);

    }

 

return(0);

}

 

 

static void sensor_init(void)

{

u8 who_am_i = 0;

 

i2c_device_addr = MINIZED_MOTION_SENSOR_ADDRESS_SA0_HI; //default

LIS2DS12_ReadReg(LIS2DS12_ACC_WHO_AM_I_REG, &who_am_i, 1);

//printf("With I2C device address 0x%02x received WhoAmI = 0x%02x\r\n", i2c_device_addr, who_am_i);

if (who_am_i != LIS2DS12_ACC_WHO_AM_I)

{

//maybe the address bit was changed, try the other one:

i2c_device_addr = MINIZED_MOTION_SENSOR_ADDRESS_SA0_LO;

LIS2DS12_ReadReg(LIS2DS12_ACC_WHO_AM_I_REG, &who_am_i, 1);

//printf("With I2C device address 0x%02x received WhoAmI = 0x%02x\r\n", i2c_device_addr, who_am_i);

}

send_byte = 0x00; //No auto increment

LIS2DS12_WriteReg(LIS2DS12_ACC_CTRL2, &send_byte, 1);

 

 

//Write 60h in CTRL1 // Turn on the accelerometer.  14-bit mode, ODR = 400 Hz, FS = 2g

send_byte = 0x60;

LIS2DS12_WriteReg(LIS2DS12_ACC_CTRL1, &send_byte, 1);

printf("CTL1 = 0x60 written\r\n");

 

//Enable interrupt

send_byte = 0x00; //Acc data-ready interrupt on INT1

LIS2DS12_WriteReg(LIS2DS12_ACC_CTRL4, &send_byte, 1);

printf("CTL4 = 0x01 written\r\n");

 

 

 

}

 

 

int read_motion(void)

{

//int iacceleration_X;

//int iacceleration_Y;

//int iacceleration_Z;

u8 read_value_LSB;

u8 read_value_MSB;

//u16 accel_X;

//u16 accel_Y;

//u16 accel_Z;

u8 accel_status;

u8 data_ready;

 

 

 

data_ready = 0;

while (!data_ready)

{ //wait for DRDY

LIS2DS12_ReadReg(LIS2DS12_ACC_STATUS, &accel_status, 1);

data_ready = accel_status & 0x01; //bit 0 = DRDY

        usleep(5);//micro seconds

 

} //wait for DRDY

 

 

//Read X:

LIS2DS12_ReadReg(LIS2DS12_ACC_OUT_X_L, &read_value_LSB, 1);

LIS2DS12_ReadReg(LIS2DS12_ACC_OUT_X_H, &read_value_MSB, 1);

accel_X = (read_value_MSB << 8) + read_value_LSB;

//Read Y:

LIS2DS12_ReadReg(LIS2DS12_ACC_OUT_Y_L, &read_value_LSB, 1);

LIS2DS12_ReadReg(LIS2DS12_ACC_OUT_Y_H, &read_value_MSB, 1);

accel_Y = (read_value_MSB << 8) + read_value_LSB;

//Read Z:

LIS2DS12_ReadReg(LIS2DS12_ACC_OUT_Z_L, &read_value_LSB, 1);

LIS2DS12_ReadReg(LIS2DS12_ACC_OUT_Z_H, &read_value_MSB, 1);

accel_Z = (read_value_MSB << 8) + read_value_LSB;

//print(" accel_X, accel_Y, accel_Z\n");

 

return accel_X;

 

}

 

 

 

int main() {

 

int x;

 

sensor_init();

 

while(1){

x=read_motion();

}

 

}

 
  • 0

    Hello,

    It looks as if you have been using a variation of the Standalone sample code in I2Ctest.c that is posted here:

    https://avnet.egnyte.com/fl/XU4O45Fo8a

    Looking at the initialization, I see for example that you have not enabled the data ready interrupt and that it does not match your comment.  You have turned it off, while in the sample code it is on:

    //Enable interrupt
    send_byte = 0x01; //Acc data-ready interrupt on INT1
     
    This may not be the reason your code does not work (it seems that the ready bit does not have to be routed to the interrupt).  And it seems that as long as you have enabled the accelerometer in the control register, it should be active.  But since that code does work, could you please first run the original code and check that it works and then compare where your code deviates from it?  That may be the easiest way to troubleshoot this.
     
    Thank you,
    Stefan