112 lines
2.6 KiB
Markdown
112 lines
2.6 KiB
Markdown
# chip_test_example
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Tests for LR1121 LoRa, ICM-20948 IMU, u-blox GPS on Raspberry Pi Zero W 2.
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Header-only drivers, kernel ioctls, no external libs.
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Driver: `lr1121_malnus.hpp` — crystal oscillator, RF switch via DIO5/DIO6.
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---
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## Wiring
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### LR1121 (SPI0)
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| Module | Pi GPIO | Pi pin |
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|---------|---------|--------|
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| SCK | GPIO11 | 23 |
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| MOSI | GPIO10 | 19 |
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| MISO | GPIO9 | 21 |
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| NSS | GPIO8 | 24 |
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| BUSY | GPIO24 | 18 |
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| NRESET | GPIO25 | 22 |
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| DIO5 | — | chip-driven RF switch (RFSW0) |
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| DIO6 | — | chip-driven RF switch (RFSW1) |
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| DIO9 | GPIO4 | 7 |
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| DIO8 | GPIO23 | 16 |
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DIO5 and DIO6 are driven directly by the LR1121 — they go to your module's RF
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switch and do not connect to the Pi. The driver configures them automatically
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via `SetDioAsRfSwitch`: HIGH on DIO5 in RX, HIGH on DIO6 in TX, both LOW in standby.
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Enable SPI: `sudo raspi-config` → Interfaces → SPI → Yes → reboot
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### ICM-20948 (I2C1)
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| Module | Pi GPIO | Pi pin |
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|--------|---------|--------|
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| SDA | GPIO2 | 3 |
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| SCL | GPIO3 | 5 |
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| AD0 | GND → addr 0x68 / VCC → addr 0x69 |
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Enable: `sudo raspi-config` → Interfaces → I2C → Yes → reboot
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### u-blox GPS (UART0)
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| Module | Pi GPIO | Pi pin |
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|--------|---------|--------|
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| TX | GPIO15 | 10 |
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| RX | GPIO14 | 8 |
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Enable: `sudo raspi-config` → Interfaces → Serial Port → login shell: No, hardware: Yes → reboot
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---
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## Build
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```sh
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sudo apt install g++ make
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make
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```
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Run verbose first so you see exactly where it fails:
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```sh
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sudo ./lora_rx -v
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sudo ./imu_test -v
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./gps_test -v
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```
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---
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## LoRa debug
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```sh
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ls /dev/spidev0.0 # SPI enabled?
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sudo ./lora_rx -v # step labels show exactly which command hangs
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```
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If it hangs at `Calibrate` — the chip isn't responding over SPI at all.
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Check wiring, CS, and that SPI is enabled. The crystal needs no tuning.
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If TX/RX runs but packets never arrive — check that DIO5/DIO6 reach the RF
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switch on your module. Without the switch, the antenna path is disconnected.
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If the chip is stuck in bootloader (fw < 0x02xx), escape with:
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```sh
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sudo ./lora_rx --reset
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```
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---
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## IMU debug
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```sh
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sudo i2cdetect -y 1 # 0x68 or 0x69 must show
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sudo ./imu_test -v # auto-detects both addresses
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sudo ./imu_test -v -r # raw 16-bit values
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```
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Nothing on i2cdetect: I2C not enabled, wrong wiring, or no pull-ups on SDA/SCL.
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---
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## GPS debug
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```sh
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ls -la /dev/serial0
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stty -F /dev/serial0 38400 raw && cat /dev/serial0 # raw NMEA bytes
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./gps_test -v -a # all sentences
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./gps_test -b 9600 # try different baud
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```
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