BHI160b Shuttle Board with STM32

[belaya · Accepted solution]

I had an idea and looked a little bit closer to the Sensor Configuration. Because i want to enable the Rotation Vector, i searched in the datasheet which Sensors i need to activate to generate sensor ouput for the rotation vector. Actually i couldnt find it in the datasheet but in the code i obviously used the magnetometer because of mapping the matrix for the magnetometer. I thought maybe the Magnetometer wasn't connected to the supply voltage, but all sensors are enabled by default and the magnetometer was connected to the supply voltage. Then i changed the firmware from :

#include ".\firmware\Bosch_PCB_7183_di03_BMI160-7183_di03.2.1.11696_170103.h"

to

#include ".\firmware\Bosch_PCB_7183_di03_BMI160_BMM150-7183_di03.2.1.11696_170103.h"

And after that change i started to have continously readings, the interrupt fires and data has been transmitted.

I attached the I2C capture log file to this Post.

I also can send the Quaternions via UART to my serial port to the pc!

HAL_UART_Transmit(&huart2,(uint8_t*)out_buffer, 42, HAL_MAX_DELAY);

The problem was the firmware, if i want to use the Game rotation vector which is a Sensor fusion without the Magnetometer, should i use the old Firmware?

 

[Vincent · Accepted solution]

Yes.  if you just need game rotation,  you can use first FW.  if you need rotation vector,  you need second FW. 

Rotation vector is 9DoF sensor fusion which required magnetic sensor.

Game rotation is 6DoF sensor fusion which only need IMU data. 

[belaya]

Thank you very much for your help!