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Build and flash an aDSP image

To build the aDSP repository and flash the aDSP image on the device, see Build and flash an aDSP image.

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Enable sensors on the Qualcomm Dragonwing™ RB3 Gen 2 Development Kit

Use the following resources to set up and validate the sensors based on either the Core Kit or the Vision Kit. For more information about the Core and Vision Kits, see Qualcomm Dragonwing™ RB3 Gen 2 Development Kit.

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Enable sensor on the Core Kit

The following resources cover the hardware setup to enable the sensor on the main board. Table : Main board DIP switch (DIP_SW_0) setting
DIP switch numberStatePurpose
5OFFEnable the sensor on the main board.
Figure: DIP switch setting to enable accelerometer and gyroscope sensor on main board

Figure: DIP switch setting to enable accelerometer and gyroscope sensor on main board

No software change is required to enable the accelerometer and gyroscope sensor on the Core Kit.

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Enable sensor on the Vision Kit

The following resources cover the hardware setup to enable sensors on the vision mezzanine board.
  1. Set up the hardware DIP switch as mentioned in the following table to disable sensors on the main board.
Table : Main board DIP switch (DIP_SW_0) setting
DIP switch numberStatePurpose
5ONDisable the sensor on the main board.
Figure: DIP switch setting to disable accelerometer and gyroscope sensor on main board

Figure: DIP switch setting to disable accelerometer and gyroscope sensor on main board

  1. Set up the hardware DIP switches as mentioned in the following tables to enable sensors on the vision mezzanine board.
Table : Vision mezzanine DIP switch (DIP1) setting
DIP switch numberStatePurpose
1ONEnable the accelerometer and gyroscope sensor.
4ONEnable the pressure sensor.
5ONEnable the magnetometer sensor.
Table : Vision mezzanine DIP switch (DIP2) setting
DIP switch numberStatePurpose
5ONEnable the accelerometer and gyroscope sensor.
Figure: DIP switch setting to enable all sensors on vision mezzanine board

Figure: DIP switch setting to enable all sensors on vision mezzanine board

Software setup: No software change is required to enable the sensors on the Vision Kit.

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Use an accelerometer and gyroscope on the Vision Kit main board (optional)

If you are using the accelerometer and gyroscope sensors on the main board instead of the accelerometer and gyroscope sensors on the vision mezzanine board, then do the following:
  1. Set up the hardware DIP switch as mentioned in the following table to enable the accelerometer and gyroscope sensors on the main board.
Table : Main board DIP switch (DIP_SW_0) setting
DIP switch numberStatePurpose
5OFFEnable the sensor on the main board.
  1. Set up the hardware DIP switches as mentioned in the following tables to disable the accelerometer and gyroscope sensors on the vision mezzanine board.
Table : Vision mezzanine DIP switch (DIP1) setting
DIP switch numberStatePurpose
1OFFDisable the accelerometer and gyroscope sensor.
Table : Vision mezzanine DIP switch (DIP2) setting
DIP switch numberStatePurpose
5OFFDisable the accelerometer and gyroscope sensor.
Software setup
The <registry_path> referred to in the following sections should be considered as one of the existing paths on the device: /etc/sensors/registry/registry/ or /var/cache/sensors/registry/registry/.
  1. Edit the json.lst file to remove the qcm6490_rbx_navmez_icm4x6xx_0.json entry (if present).
vi /etc/sensors/config/json.lst
  1. Open the qcm6490_rbx_icm4x6xx_0.json file.
vi /etc/sensors/config/qcm6490_rbx_icm4x6xx_0.json
  1. Add the value 2 to the existing platform_subtype_id field as shown here, and save the qcm6490_rbx_icm4x6xx_0.json file.
"platform_subtype_id": ["5", "2"]
  1. Remove the existing parsed registry files.
rm -f <registry_path>/*
  1. Reboot the device.
reboot
  1. Check for the registry files that are parsed.
ls <registry_path>
  • The following output is displayed for the main board:
qcm6490_rbx_icm4x6xx_0.json.icm4x6xx_0_platform.accel
qcm6490_rbx_icm4x6xx_0.json.icm4x6xx_0_platform.accel.fac_cal.bias
qcm6490_rbx_icm4x6xx_0.json.icm4x6xx_0_platform.gyro
qcm6490_rbx_icm4x6xx_0.json.icm4x6xx_0_platform.orient
  • The following output is displayed for the vision mezzanine board:
qcm6490_rbx_navmez_icm4x6xx_0.json.icm4x6xx_0_platform.accel
qcm6490_rbx_navmez_icm4x6xx_0.json.icm4x6xx_0_platform.accel.fac_cal.bias
qcm6490_rbx_navmez_icm4x6xx_0.json.icm4x6xx_0_platform.gyro
qcm6490_rbx_navmez_icm4x6xx_0.json.icm4x6xx_0_platform.orient
If the accelerometer and gyroscope sensors are disabled on the main board, then these sensors must be enabled on the vision mezzanine board.
  1. After enabling the sensors, revert or undo all the earlier hardware and software setup steps.
  2. After the reboot, on the next bootup verify that multiple files with the qcm6490_rbx_navmez_icm4x6xx_0 prefix are present under the <registry_path> path.
Next steps