BHI360 built in sensor

[Newguy]

Hello, I am currently using BHI360 to extract aceleartion to get velocity and distance, and I have been processing readings from linear accelerometer using average and LP and HP filters as can be seen in the file below.

I have heard that there are built-in filters in Bosch's library, but I haven't found any library in C that I can instantly use. Can anyone point me to where or how I can use these filters in a C environment?

[BSTRobin]

Hi Newguy,

BHI360 has a built-in algorithm that outputs sensor data and algorithm results to the host in FIFO format. For a detailed description, please refer to Section "15 FIFO Data Type and Format" in data sheet.

[Newguy]

I don't see mentions of a filter implementation, so I am moving towards using accelerometer correct data.
But when I run BHY2_SENSOR_ID_ACC using this c file (I just changed the sensor name on line 167, 191, 193), it outputs uncalibrated data, which I found by reading META event.

Is there a way to have the sensor calibrated before output data?

[Newguy]

Additionally, I would prefer a way to have the sensor calibrated without having to go through the calibration process for a 6 axis accelerometer, where you have to rotate the sensor to certain positions.

[BSTRobin · Accepted solution]

Hi Newguy,

BHI360 fw has not disclosed any implementation of filters. But you can obtain different data through different virtual sensor IDs.
BHY2_SENSOR_ID_ACC is the virtual sensor ID that has been calibrated for acceleration data.

You can find the code annotation in bhy2_defs.h
#define BHY2_SENSOR_ID_ACC_PASS UINT8_C(1) /* Accelerometer passthrough */
#define BHY2_SENSOR_ID_ACC_RAW UINT8_C(3) /* Accelerometer uncalibrated */
#define BHY2_SENSOR_ID_ACC UINT8_C(4) /* Accelerometer corrected */
#define BHY2_SENSOR_ID_ACC_BIAS UINT8_C(5) /* Accelerometer offset */