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    Accel-Gyro configuration error after initalization of BMI270

    YahyaTawil
    Established Member

    Accel-Gyro configuration error after initalization of BMI270

    Hello

    In my code, the initalization is done successfully through bmi270_init api (returns BMI2_OK). Afterwords, I do the ACC and Gyro initalization using the steps found in examples (BMI270-Sensor-API/bmi270_examples/accel_gyro) I call the following function  after  interface_init and bmi270_init.

     

    nt8_t BMI270Driver::set_accel_gyro_config()
    {
    
        /* Status of api are returned to this variable. */
        int8_t rslt;
            
        /* Assign accel sensor to variable. */
        uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO };
    
    
        /* Structure to define accelerometer and gyro configuration. */
        struct bmi2_sens_config config[2];
    
        /* Configure the type of feature. */
        config[ACCEL].type = BMI2_ACCEL;
        config[GYRO].type = BMI2_GYRO;
    
    tr_debug("111");
        /* Get default configurations for the type of feature selected. */
        rslt = bmi270_get_sensor_config(config, 2, &dev);
        error_codes_print_result(rslt);
    
    tr_debug("222");
        /* Map data ready interrupt to interrupt pin. */
        rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, &dev);
        error_codes_print_result(rslt);
    
        if (rslt == BMI2_OK)
        {
            /* NOTE: The user can change the following configuration parameters according to their requirement. */
            /* Set Output Data Rate */
            config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ;
    
            /* Gravity range of the sensor (+/- 2G, 4G, 8G, 16G). */
            config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G;
    
            /* The bandwidth parameter is used to configure the number of sensor samples that are averaged
             * if it is set to 2, then 2^(bandwidth parameter) samples
             * are averaged, resulting in 4 averaged samples.
             * Note1 : For more information, refer the datasheet.
             * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but
             * this has an adverse effect on the power consumed.
             */
            config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4;
    
            /* Enable the filter performance mode where averaging of samples
             * will be done based on above set bandwidth and ODR.
             * There are two modes
             *  0 -> Ultra low power mode
             *  1 -> High performance mode(Default)
             * For more info refer datasheet.
             */
            config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
    
            /* The user can change the following configuration parameters according to their requirement. */
            /* Set Output Data Rate */
            config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ;
    
            /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */
            config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000;
    
            /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */
            config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE;
    
            /* Enable/Disable the noise performance mode for precision yaw rate sensing
             * There are two modes
             *  0 -> Ultra low power mode(Default)
             *  1 -> High performance mode
             */
            config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE;
    
            /* Enable/Disable the filter performance mode where averaging of samples
             * will be done based on above set bandwidth and ODR.
             * There are two modes
             *  0 -> Ultra low power mode
             *  1 -> High performance mode(Default)
             */
            config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
            
            am_util_delay_ms(10); 
            tr_debug("333");
            /* Set the accel and gyro configurations. */
            rslt = bmi270_set_sensor_config(config, 2, &dev);
            error_codes_print_result(rslt);
        }
        tr_debug("444");
        rslt = bmi270_sensor_enable(sensor_list, 2, &dev);
        error_codes_print_result(rslt);
                
        return rslt;
    }

     

    I get an error " Invalid Accel-Gyro configuration error. It occurs when there is a error in accel and gyro" " configuration registers which could be one among range, BW or filter performance in reg address 0x40 "

    What whould make the EVENT register raise the acc_and_gyr_err flag although I use the same API functions and example code?

    6 REPLIES 6
    BSTRobin
    Community Moderator

    Re: Accel-Gyro configuration error after initalization of BMI270

    Hi YahyaTawil,

    Do you mean you get return value BMI2_E_ACC_GYR_INVALID_CFG after calling bmi270_sensor_enable()function?

    YahyaTawil
    Established Member

    Re: Accel-Gyro configuration error after initalization of BMI270

    Hello BSTRobin

     

    It is throughing the error BMI2_E_ACC_GYR_INVALID_CFG in bmi270_set_sensor_config. Keep in mind please, that bmi270_init returns BMI2_OK.

     

    bmi270_sensor_enable returns BMI2_OK.

    YahyaTawil
    Established Member

    Re: Accel-Gyro configuration error after initalization of BMI270

    Hello

    Kindly, @BSTRobin what do you think ?

     

     

    BSTRobin
    Community Moderator

    Re: Accel-Gyro configuration error after initalization of BMI270

    Hi YahyaTawil,

    You could debug into bmi270_set_sensor_config() function and find where is the code executed with error?

    By the way, did you write the C++ driver code you used? The official driver is the C code.

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