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sparkfun / SparkFun_ICM-20948_ArduinoLibrary

Arduino support for ICM_20948 w/ portable C backbone
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Connecting multiple SPI sensors to Arduino Nano #26

Closed d-blaise closed 3 years ago

d-blaise commented 3 years ago

Subject of the issue

I cannot receive SPI data from multiple ICM-20948 sensors. I have four ICM-20948 sensors soldered to a custom PCB which connects to an Arduino Nano. The PCB layout is nearly identical to the Adafruit TDK InvenSense ICM-20948 9-DoF IMU board. Each sensor has its own CS line.

Your workbench

Steps to reproduce

I am using the Example1_Basics.ino code, but I include three additional ICM_20948 objects and CS lines:

`#include "ICM_20948.h" // Click here to get the library: http://librarymanager/All#SparkFun_ICM_20948_IMU

define USE_SPI

define SERIAL_PORT Serial

define SPI_PORT SPI // Your desired SPI port. Used only when "USE_SPI" is defined

define CS_PIN 10 // Which pin you connect CS to. Used only when "USE_SPI" is defined

define CS_PIN_orange 9

define CS_PIN_white 8

define CS_PIN_gray 7

define WIRE_PORT Wire // Your desired Wire port. Used when "USE_SPI" is not defined

define AD0_VAL 1 // The value of the last bit of the I2C address.

                    // On the SparkFun 9DoF IMU breakout the default is 1, and when 
                    // the ADR jumper is closed the value becomes 0

ifdef USE_SPI

ICM_20948_SPI myICM; // If using SPI create an ICM_20948_SPI object ICM_20948_SPI orange; ICM_20948_SPI white; ICM_20948_SPI gray;

else

ICM_20948_I2C myICM; // Otherwise create an ICM_20948_I2C object

endif

void setup() {

SERIAL_PORT.begin(115200); while(!SERIAL_PORT){};

pinMode (CS_PIN, OUTPUT); pinMode (CS_PIN_orange, OUTPUT); pinMode (CS_PIN_white, OUTPUT); pinMode (CS_PIN_gray, OUTPUT);

ifdef USE_SPI

SPI_PORT.begin();

else

WIRE_PORT.begin();
WIRE_PORT.setClock(400000);

endif

bool initialized = false; while( !initialized ){

ifdef USE_SPI

myICM.begin( CS_PIN, SPI_PORT ); 
orange.begin( CS_PIN_orange, SPI_PORT );
white.begin( CS_PIN_white, SPI_PORT );
gray.begin( CS_PIN_gray, SPI_PORT );

else

myICM.begin( WIRE_PORT, AD0_VAL );

endif

  initialized = true;

} }

void loop() {

Serial.println("1st Sensor:");
myICM.getAGMT();                // The values are only updated when you call 'getAGMT'
printRawAGMT( myICM.agmt );     // Uncomment this to see the raw values, taken directly from the agmt structure

Serial.println("2nd Sensor:");
orange.getAGMT();                // The values are only updated when you call 'getAGMT'
printRawAGMT( orange.agmt );     // Uncomment this to see the raw values, taken directly from the agmt structure

Serial.println("3rd Sensor:");
white.getAGMT();                // The values are only updated when you call 'getAGMT'
printRawAGMT( white.agmt );     // Uncomment this to see the raw values, taken directly from the agmt structure

Serial.println("4th Sensor:");
gray.getAGMT();                // The values are only updated when you call 'getAGMT'
printRawAGMT( gray.agmt );     // Uncomment this to see the raw values, taken directly from the agmt structure

delay(30);

}`

Expected behaviour

I should expect to receive nonzero values from my serial monitor from each ICM-20948 sensor.

Actual behaviour

Only the first ICM-20948 sensor produces a nonzero reading. My serial monitor data look like this:

1st Sensor: RAW. Acc [ 02264, -07008, 15064 ], Gyr [ 00167, 00075, 00021 ], Mag [ 00072, -00211, 00299 ], Tmp [ 03232 ] 2nd Sensor: RAW. Acc [ -00000, -00000, -00000 ], Gyr [ -00000, -00000, -00000 ], Mag [ -00000, -00000, -00000 ], Tmp [ -00000 ] 3rd Sensor: RAW. Acc [ -00000, -00000, -00000 ], Gyr [ -00000, -00000, -00000 ], Mag [ -00000, -00000, -00000 ], Tmp [ -00000 ] 4th Sensor: RAW. Acc [ -00000, -00000, -00000 ], Gyr [ -00000, -00000, -00000 ], Mag [ -00000, -00000, -00000 ], Tmp [ -00000 ]

PaulZC commented 3 years ago

Hi @d-blaise , Thank you for raising this issue. I will investigate it for you as soon as I have the extra boards I need to duplicate your set-up. Best wishes, Paul

PaulZC commented 3 years ago

Hi @d-blaise,

Thank you for your patience.

I've created a new example which communicates with two IMUs over SPI and I get valid data from both:

image

Can you please try the new example on your hardware and let me know if it works for you?

The example is here.

I have made other improvements to the library and the other examples too, so please do download the complete library - not just the new example. Look for the green Code link on the front page of the repo. The Arduino Library Manager won't pick up the new version until it is released.

Best wishes, Paul

d-blaise commented 3 years ago

Paul,

Thanks for your help! I will give this a shot today.

Best, Dominic

On Mon, Feb 15, 2021 at 6:34 AM Paul notifications@github.com wrote:

Hi @d-blaise https://github.com/d-blaise,

Thank you for your patience.

I've created a new example which communicates with two IMUs over SPI and I get valid data from both:

[image: image] https://user-images.githubusercontent.com/5690545/107952011-18167c80-6f91-11eb-8f9d-b88dfb56971f.png

Can you please try the new example on your hardware and let me know if it works for you?

The example is here https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary/blob/master/examples/Arduino/Example6_DualSPITest/Example6_DualSPITest.ino .

I have made other improvements to the library and the other examples too, so please do download the complete library - not just the new example. Look for the green Code link on the front page of the repo https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary. The Arduino Library Manager won't pick up the new version until it is released.

Best wishes, Paul

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary/issues/26#issuecomment-779227885, or unsubscribe https://github.com/notifications/unsubscribe-auth/AH3VYYV4XQDUJ5IOYTZDIQ3S7EPG5ANCNFSM4W7QHGGQ .

d-blaise commented 3 years ago

Hi Paul,

Thanks for your code, but I am still running into issues.

I am attaching a brief report on my attempt to run and debug this. I used the same setup that you used (Arduino Nano and two ICM-20948 9-DoF IMUs), the updated library you sent me, and your code. The result was that the first sensor could not be initialized.

In the report, I scoped out all of my signals. The only signal that looked a little sus was the SDO signal because the rise times look a little excessive.

Please have a look. I feel like I am very close to resolving this.

Thank you for your time.

Best, Dominic

On Tue, Feb 16, 2021 at 9:11 AM Dominic Bonelli dominic.bonelli1@gmail.com wrote:

Paul,

Thanks for your help! I will give this a shot today.

Best, Dominic

On Mon, Feb 15, 2021 at 6:34 AM Paul notifications@github.com wrote:

Hi @d-blaise https://github.com/d-blaise,

Thank you for your patience.

I've created a new example which communicates with two IMUs over SPI and I get valid data from both:

[image: image] https://user-images.githubusercontent.com/5690545/107952011-18167c80-6f91-11eb-8f9d-b88dfb56971f.png

Can you please try the new example on your hardware and let me know if it works for you?

The example is here https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary/blob/master/examples/Arduino/Example6_DualSPITest/Example6_DualSPITest.ino .

I have made other improvements to the library and the other examples too, so please do download the complete library - not just the new example. Look for the green Code link on the front page of the repo https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary. The Arduino Library Manager won't pick up the new version until it is released.

Best wishes, Paul

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary/issues/26#issuecomment-779227885, or unsubscribe https://github.com/notifications/unsubscribe-auth/AH3VYYV4XQDUJ5IOYTZDIQ3S7EPG5ANCNFSM4W7QHGGQ .

d-blaise commented 3 years ago

Hi Paul,

Please disregard that last message, I got it working. It must have been a faulty connection on my breadboard.

[image: image.png]

Thank you!

Best, Dominic

On Tue, Feb 16, 2021 at 3:57 PM Dominic Bonelli dominic.bonelli1@gmail.com wrote:

Hi Paul,

Thanks for your code, but I am still running into issues.

I am attaching a brief report on my attempt to run and debug this. I used the same setup that you used (Arduino Nano and two ICM-20948 9-DoF IMUs), the updated library you sent me, and your code. The result was that the first sensor could not be initialized.

In the report, I scoped out all of my signals. The only signal that looked a little sus was the SDO signal because the rise times look a little excessive.

Please have a look. I feel like I am very close to resolving this.

Thank you for your time.

Best, Dominic

On Tue, Feb 16, 2021 at 9:11 AM Dominic Bonelli < dominic.bonelli1@gmail.com> wrote:

Paul,

Thanks for your help! I will give this a shot today.

Best, Dominic

On Mon, Feb 15, 2021 at 6:34 AM Paul notifications@github.com wrote:

Hi @d-blaise https://github.com/d-blaise,

Thank you for your patience.

I've created a new example which communicates with two IMUs over SPI and I get valid data from both:

[image: image] https://user-images.githubusercontent.com/5690545/107952011-18167c80-6f91-11eb-8f9d-b88dfb56971f.png

Can you please try the new example on your hardware and let me know if it works for you?

The example is here https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary/blob/master/examples/Arduino/Example6_DualSPITest/Example6_DualSPITest.ino .

I have made other improvements to the library and the other examples too, so please do download the complete library - not just the new example. Look for the green Code link on the front page of the repo https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary. The Arduino Library Manager won't pick up the new version until it is released.

Best wishes, Paul

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary/issues/26#issuecomment-779227885, or unsubscribe https://github.com/notifications/unsubscribe-auth/AH3VYYV4XQDUJ5IOYTZDIQ3S7EPG5ANCNFSM4W7QHGGQ .

PaulZC commented 3 years ago

HI Dominic (@d-blaise ), Glad it is working for you. Thanks for letting me know. Closing... Best wishes, Paul