I am a student and currently in my practical phase. I am trying to figure out what I am doing wrong when trying to read out the gyro data of the BMI270 for example.
I tried to compile the official Sensor API on Github but ran into error codes with COINES (i installed it) while compiling, so I used the latest version v2-53-2 which was without COINES, compiled it and ran into this error:
Error [-9] : Configuration load error. It occurs when failure observed while loading the configuration into the sensor
Which I couldn't figure out how to solve, so I started to write my own code as I really only want to read out the gyro data itself.
I connected the BMI270 via the quickconnect cable to the Raspberry Pi pins 1 (3.3 VDC), 3 (GPIO8 SDA1 (I2C)), 5 (GPIO 9 SCL1 (I2C)) and 9 (ground).
I am currently using the WiringPi library found here: http://wiringpi.com/
Essentially these are all the functions from the WiringPi libary for I2C:
int wiringPiI2CRead (int fd) ;
int wiringPiI2CWrite (int fd, int data) ;
int wiringPiI2CWriteReg8 (int fd, int reg, int data) ;
int wiringPiI2CWriteReg16 (int fd, int reg, int data) ;
int wiringPiI2CReadReg8 (int fd, int reg) ;
int wiringPiI2CReadReg16 (int fd, int reg) ;
There are also these functions which I wasn't able to use yet because I didn't know how I should give this function the dPin and cPin, though I saw that the cPin is 13 and dPin is 14 in the Datasheet.
uint8_t shiftIn (uint8_t dPin, uint8_t cPin, uint8_t order) ;
void shiftOut (uint8_t dPin, uint8_t cPin, uint8_t order, uint8_t val) ;
In general I tried following the Quickstart Guide in the BMI270 Datasheet when writing my code.
Console logs of my code:
Hopefully someone can help me bringt light into this. 🙂
Best Regards
Kevin
This is how my code looks at the moment:
#include <stdio.h>
#include <stdint.h>
#include <unistd.h>
#include <iostream>
#include <bitset>
#include <wiringPiI2C.h>
#include <wiringShift.h>
#include "bmi2_defs.h"
#define BIT_8 UINT8_C(8)
#define BIT_16 UINT8_C(16)
#define DATA_14 UINT8_C(0x12) // GYR_X(LSB) - gyr_x_7_0
#define DATA_15 UINT8_C(0x13) // GYR_X(MSB) - gyr_x_15_8
#define DATA_16 UINT8_C(0x14) // GYR_Y(LSB) - gyr_y_7_0
#define DATA_17 UINT8_C(0x15) // GYR_Y(MSB) - gyr_y_15_8
#define DATA_18 UINT8_C(0x16) // GYR_Z(LSB) - gyr_z_7_0
#define DATA_19 UINT8_C(0x17) // GYR_Z(MSB) - gyr_z_15_8
using std::bitset;
using std::cout;
using std::endl;
using std::hex;
using std::uppercase;
using std::string;
// 8192 elements - THIS CONFIG FILE WAS SHORTED FOR FORUMS POST
const uint8_t bmi270_config_file[] = { 0xc8, 0x2e, 0x00, ..., 0x2e, 0x00, 0xc1};
// -----------------------------------------------------------------------------------
void burst_write_reg(int fd, int reg, int array_len, const uint8_t *data, int format);
void burst_read_reg(int fd, int reg, int len, int format);
void configure_reg(int fd, int reg, int value, int format);
int main()
{
// --------------------------------------
// START - AREA
// --------------------------------------
cout << "\n\n------START------\n\n";
int fd = wiringPiI2CSetup(BMI2_I2C_PRIM_ADDR);
if (fd == -1)
{
cout << "ERROR: Device not found!\n\n";
return -1;
}
else
cout << "Device found!\n\n";
cout << "DEVICE_ID: " << fd << endl;
int chipID = wiringPiI2CReadReg8(fd, BMI2_CHIP_ID_ADDR);
cout << "CHIP_ID: 0x" << hex << chipID << endl;
// --------------------------------------
// INITIALIZATION - AREA
// --------------------------------------
// Reset the device
#if 0
configure_reg(fd, BMI2_CMD_REG_ADDR, BMI2_SOFT_RESET_CMD, BIT_8);
#endif
// Load config file
wiringPiI2CWriteReg8(fd, BMI2_PWR_CONF_ADDR, 0x00);
usleep(450);
wiringPiI2CWriteReg8(fd, BMI2_INIT_CTRL_ADDR, 0x00);
burst_write_reg(fd, BMI2_INIT_CTRL_ADDR, 8192, bmi270_config_file, BIT_8);
wiringPiI2CWriteReg8(fd, BMI2_INIT_CTRL_ADDR, 0x01);
// Check initialization status (Bit 0 = 1 --> OK)
bitset<8> binary_initialization(wiringPiI2CReadReg8(fd, BMI2_INTERNAL_STATUS_ADDR));
cout << "Initialization status: " << binary_initialization << "\t\t(Bit 0 = 1 --> OK)\n";
// --------------------------------------
// CONFIGURATION - AREA
// --------------------------------------
// Configuring the device for performance mode
// enable acquisiton of acceleration, gyroscope and temperature sensor data. disable the auxiliary interface.
configure_reg(fd, BMI2_PWR_CTRL_ADDR, 0x0E, BIT_8);
// enable the acc_filter_perf bit; set acc_bwp to normal mode; set acc_odr to 100 Hz
configure_reg(fd, BMI2_ACC_CONF_ADDR, 0xA8, BIT_8);
// enable the gyr_filter_perf bit; enable gyr_noise_perf bit; set gyr_bwp to normal mode; set gyr_odr to 200 Hz
configure_reg(fd, BMI2_GYR_CONF_ADDR, 0xE9, BIT_8);
// disable the adv_power_save bit; leave the fifo_self_wakeup enabled
configure_reg(fd, BMI2_PWR_CONF_ADDR, 0x02, BIT_8);
// --------------------------------------
// OUTPUT - AREA
// --------------------------------------
int LOOPS = 3;
for (int i = 0; i < LOOPS; i++)
{
int rateX = wiringPiI2CReadReg8(fd, DATA_14);
// rateY = -(~(int8_t)rateY + 1);
cout << "rateX -8-Data_14: " << rateX << endl;
int rateX2 = wiringPiI2CReadReg8(fd, DATA_15);
cout << "rateX2-8-Data_15: " << rateX2 << endl;
int rateY = wiringPiI2CReadReg8(fd, DATA_16);
cout << "rateY -8-Data_16: " << rateY << endl;
int rateY2 = wiringPiI2CReadReg8(fd, DATA_17);
cout << "rateY2-8-Data_17: " << rateY2 << endl;
int rateZ = wiringPiI2CReadReg8(fd, DATA_18);
cout << "rateZ -8-Data_18: " << rateZ << endl;
int rateZ2 = wiringPiI2CReadReg8(fd, DATA_19);
cout << "rateZ2-8-Data_19: " << rateZ2 << endl;
}
// --------------------------------------
// END - AREA
// --------------------------------------
cout << "\n\n------END------\n\n";
return 0;
}
// --------------------------------------
// FUNCTIONS - AREA
// --------------------------------------
// REMOVED FOR FORUMS POST
