linguini1 opened a new pull request, #15860: URL: https://github.com/apache/nuttx/pull/15860
## Summary This issue was noticed while testing the LSM6DSO32 driver on the STM32H743 MCU, as part of issue #15826. This is required to meet the communication requirements as per the LSM6DSO32 datasheet. It doesn't cause issues on some MCUs (RP2040), but prevents successful reads on others (STM32). ## Impact Now this driver works correctly on all MCUs and follows the communication spec from the sensor datasheet. ## Testing Here is an example output of the issue observed on the STM32H743. The added logging statements show that the buffers for x,y,z acceleration and temperature had the same contents before and after the I2C read operation. ```console lsm6dso32_read_accel: x buffer: 0xFFFFF064 lsm6dso32_read_accel: y buffer: 0x2400 lsm6dso32_read_accel: z buffer: 0x0000 lsm6dso32_read_accel: Temp buffer: 0x0801 lsm6dso32_read_accel: Read raw x: 0xFFFFFF7B lsm6dso32_read_accel: Read raw y: 0x01A3 lsm6dso32_read_accel: Read raw z: 0x0FD1 lsm6dso32_read_accel: Raw temp: 0x00CE sensor_accel(now:165310000):timestamp:165310000,x:-0.159124,y:0.501299,z:4.844294,temperature:25.000000 ``` After removing the `I2C_M_NOSTART` flag from the read operation, the buffers are actually written to and contain the correct data from the LSM6DSO32. The output is now realistic with close to 9.81m/s^2 in the Z axis: ```console sensor_accel(now:50660000):timestamp:50660000,x:-0.320640,y:0.994223,z:9.633553,temperature:26.000000 lsm6dso32_read_accel: x buffer: 0xFFFFF064 lsm6dso32_read_accel: y buffer: 0x2400 lsm6dso32_read_accel: z buffer: 0x0000 lsm6dso32_read_accel: Temp buffer: 0x0801 lsm6dso32_read_accel: Read raw x: 0xFFFFFEDC lsm6dso32_read_accel: Read raw y: 0x0354 lsm6dso32_read_accel: Read raw z: 0x1F75 lsm6dso32_read_accel: Raw temp: 0x0136 sensor_accel(now:50750000):timestamp:50750000,x:-0.349354,y:1.019348,z:9.634749,temperature:26.000000 ``` I also re-confirmed that this change didn't break any existing functionality on the RP2040 MCU where it was working before, and have confirmed that the output is still correct: ```console nsh> uorb_listener -r 10 -n 10 sensor_accel0 Mointor objects num:1 object_name:sensor_accel, object_instance:0 sensor_accel(now:12090000):timestamp:12090000,x:-0.204587,y:-0.174677,z:9.348805,temperature:23.000000 sensor_accel(now:12170000):timestamp:12170000,x:-0.186641,y:-0.169891,z:9.960175,temperature:23.000000 sensor_accel(now:12330000):timestamp:12330000,x:-0.189034,y:-0.173481,z:9.973335,temperature:23.000000 sensor_accel(now:12400000):timestamp:12400000,x:-0.203391,y:-0.191427,z:9.976925,temperature:23.000000 sensor_accel(now:12480000):timestamp:12480000,x:-0.202195,y:-0.186641,z:9.968550,temperature:23.000000 sensor_accel(now:12560000):timestamp:12560000,x:-0.196212,y:-0.198605,z:9.978121,temperature:23.000000 sensor_accel(now:12720000):timestamp:12720000,x:-0.191427,y:-0.185445,z:9.976925,temperature:23.000000 sensor_accel(now:12790000):timestamp:12790000,x:-0.210569,y:-0.212962,z:9.987692,temperature:23.000000 sensor_accel(now:12870000):timestamp:12870000,x:-0.197409,y:-0.174677,z:9.975728,temperature:23.000000 sensor_accel(now:12950000):timestamp:12950000,x:-0.202195,y:-0.193820,z:9.984103,temperature:23.000000 Object name:sensor_accel0, recieved:10 Total number of received Message:10/10 ``` -- This is an automated message from the Apache Git Service. To respond to the message, please log on to GitHub and use the URL above to go to the specific comment. To unsubscribe, e-mail: commits-unsubscr...@nuttx.apache.org For queries about this service, please contact Infrastructure at: us...@infra.apache.org
