Intel Aero Compute board Sensors

[RKura]

Hi,

I am wondering what the best way is to start learning about the onboard sensors and how to program them. I want to be able to see the data captured by the Sensors.

I found this on the WIKI

https://github.com/intel-aero/meta-intel-aero/wiki/90-%28References%29-Flight-Controller-and-Compute... 90 (References) Flight Controller and Compute Board: Sensors GPIOs LEDs CAN bus · intel-aero/meta-intel-aero Wiki · GitH…

Are there any sample code examples that would help me understand how to detect and program and get data from these Sensors ?

Thanks

Rohan

[RKura]

I ran this sample code

https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git/tree/Documentation/spi/spide... spidev_fdx.c\spi\Documentation - kernel/git/stable/linux-stable.git - Linux kernel stable tree

This is what I got -

response(32, 33): 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 28 03 28 00 0b 88 80 10 00 00

read(32, 32): 00 00, 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

Does anyone know how to read this output ?

This is the code here that does the work of transfer and receive

int len = 32;

buf[0] = 0xaa;xfer[0].tx_buf = (unsigned long)buf;xfer[0].len = 1;xfer[1].rx_buf = (unsigned long) buf;xfer[1].len = len;status = ioctl(sfd, SPI_IOC_MESSAGE(2), xfer);

What is buf[0] = 0xaa ? Is that a command ?

When I changed buf[0] = 0x80, I got

response(32, 33): d1 21 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 77 a4 9e 10 00 00 00 00

The response changed. Is buf[0] a command that returns some data in the rx buffer ?

best

Rohan

[idata]

Hi Rohan,

Thanks for your interest in the Intel® Aero™ Platform.

Unfortunately, there are no sample codes besides the one you have pointed out in your second reply. Please let me investigate what the outputs on this code https://git.kernel.org/pub/scm/linux/kernel/git/stable/linux-stable.git/tree/Documentation/spi/spide... spidev_fdx.c\spi\Documentation - kernel/git/stable/linux-stable.git - Linux kernel stable tree means.

We appreciate your patience, have a nice day!

Best Regards,

-Jose P.

[RKura]

Thanks Jose. Looks like the buf[0] set in tx_buf is definitely a command. And rx_buf is the response. If you can help me figure out what the different possible commands that can be set in tx_buf and what they mean, that would help me.

Rohan

[idata]

Hi Rohan,

Analyzing the Linux sample code, we realize that this is just an SPI interface, so if you are interested in knowing more about this I would encourage to review the sensor datasheet (http://www.mouser.com/ds/2/783/BST-BMI160-DS000-07-786474.pdf http://www.mouser.com/ds/2/783/BST-BMI160-DS000-07-786474.pdf ), especially the Digital Interface section.

Also, I would recommend to investigate how spi_xfer works this a standard protocol used in many Embedded Systems.

Hope you find this information useful, have a nice day!

Best Regards,

-Jose P.