Troubleshooting Gyroscope and Accelerometer Data Retrieval on NUCLEO GNSS2A1

[tom_andrice]

 

Hello,

I am currently working with the NUCLEO GNSS2A1 extension on the NUCLEO-L010RB demonstration board, and I am trying to retrieve data from the gyroscope and accelerometer.

According to the TESEO VIC3DA module documentation, there are two modes of dead reckoning:

• DRAW Mode: Designed for automotive applications, it requires a speed signal.
• DRUM Mode: Suitable for industrial applications, which corresponds to my use case.

Based on my research, the gyroscope and accelerometer data should be transmitted via the following messages: $PSTMDRSENMSG,30 and $PSTMDRSENMSG,31. However, I never receive these messages. When I send them, I only receive back the same thing that I sent.

My current configuration:

I have enabled the messages dedicated to dead reckoning with the following commands:

 

 

$PSTMCFGMSGL,0,1,0,FFFFFFFF
$PSTMCFGMSGL,1,1,0,FFFFFFFF
$PSTMCFGMSGL,2,1,0,FFFFFFFF

I have disabled DRAW mode:

 

 

$PSTMSETPAR,1667,FFFFFFFF,2

Here is the IMU configuration I get when my module starts:

 

$PSTMDRSENCONFIG,IMU GYRO,LSM6DSR,125,4375,104,34.0,1*0F
$PSTMDRSENCONFIG,IMU ACC,LSM6DSR,2,61,104,52.0*56

I would like to point out that the firmware currently flashed on my Teseo VIC3DA is version 4.6.19, available here: https://www.st.com/en/embedded-software/teseo-vic3dsw.html

I simply want to retrieve the axes of my gyroscope and accelerometer, but I am unable to receive the PSTMDRSENMSG messages. Could you help me solve this problem?

Thank you in advance for your assistance!

[GalaxyQuest]

Hi Tom,

I trust you are referring to VIC3DA software manual found here,

https://www.st.com/resource/en/user_manual/um2791-teseovic3-software-instructions-stmicroelectronics.pdf

Also, all the documentation related to VIC3DA are found here,

https://www.st.com/en/positioning/teseo-vic3da.html#documentation

In Teseo Suite, Monitor window, you can send the following commands one by one

 

#enable Sensor Message
$PSTMSETPAR,1228,0x10000000,1

#increased Baud Rate to 460k to handle extra messages output at 100Hz
$PSTMSETPAR,1102,0xC

# do save and reset
$PSTMSAVEPAR
$PSTMSRR

 

Kindly let me know if you have further questions.

[tom_andrice]

I reflashed the firmware to remove my previous configurations and then executed your commands. However, I still don't see any sign of sensor messages. Do you have any idea what might be causing this?

I successfully reconnected with the 460k baud rate after restarting.

 

[GalaxyQuest]

Can you please execute this command in Teseo Suite Monitor Window ? 

$PSTMGETPARM,1000

Please copy the CDB values and attach it.

I will compare with the VIC3DA I have.