BMI270 NO MOTION Interrupt on INT2

[Myzhar]

Hi,

I'm trying to configure the NO MOTION Interrupt on BMI270 connected to an STM32F072 over SPI.
The interrupt is never generated and I have verified it both using an oscilloscope and monitoring the INT_STATUS_0 register (bit num. 5).

This is the code I use to initialize the sensor:

int8_t BMI270_DEVICE_Init() {
	systemStatus.bmi270_init_count++;

	int8_t rslt = BMI2_OK;

	struct bmi2_sens_config configs[SENS_COUNT];

	// Array to select sensors
	uint8_t sens_list[SENS_COUNT] = {
			BMI2_ACCEL,
			BMI2_GYRO,
			// BMI2_TEMP, // Since Gyro is enabled, temperature is automatically enabled [see datasheet]
			BMI2_NO_MOTION,
			BMI2_AUX
	};

	// ----> Set SPI interface params
	bmi270_dev.read = bm_spi_read;
	bmi270_dev.write = bm_spi_write;
	bmi270_dev.delay_us = delayUs;
	bmi270_dev.read_write_len = SPI_MAX_RW;
	bmi270_dev.intf = BMI2_SPI_INTERFACE;
	bmi270_dev.dev_id = 0;
	bmi270_dev.dummy_byte = 1;
	bmi270_dev.config_file_ptr = NULL; // Load the default `bmi270_config_file` hard coded in the driver
	// <---- Set SPI interface params

	// ----> Chip-ID read to test SPI communication
	uint8_t chip_id;
	rslt = bmi2_get_regs(BMI2_CHIP_ID_ADDR, &chip_id, 1, &bmi270_dev);
	if (rslt != BMI2_OK || chip_id != BMI270_CHIP_ID) {
		rslt = BMI2_E_COM_FAIL;
		goto exit;
	}

	HAL_Delay(10);
	// <---- Chip-ID read to test SPI communication

	// ----> Initialize bmi270
	rslt = bmi270_init(&bmi270_dev);
	if (rslt != BMI2_OK)
		goto exit;
	// <---- Initialize bmi270

	// ----> Enable Sensors
	//rslt = bmi2_sensor_enable(sens_list, SENS_COUNT, &bmi270_dev);
	rslt = bmi2_sensor_enable(sens_list, 2, &bmi270_dev);
	if (rslt != BMI2_OK)
		goto exit;

	// Accelerometer
	configs[0].type = BMI2_ACCEL;
	configs[0].cfg.acc.odr = BMI2_ACC_ODR_800HZ;
	configs[0].cfg.acc.range = BMI2_ACC_RANGE_8G;
	configs[0].cfg.acc.bwp = BMI2_ACC_OSR4_AVG1;
	configs[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE; // Filter for anti-aliasing

	// Gyroscope
	configs[1].type = BMI2_GYRO;
	configs[1].cfg.gyr.odr  = BMI2_GYR_ODR_800HZ;
	configs[1].cfg.gyr.range = BMI2_GYR_RANGE_1000 ;
	configs[1].cfg.gyr.bwp =  BMI2_GYR_NORMAL_MODE;
	configs[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE ; // Filter for anti-aliasing
	configs[1].cfg.gyr.noise_perf = BMI2_PERF_OPT_MODE;

	// No Motion detection
	configs[2].type = BMI2_NO_MOTION;
	configs[2].cfg.no_motion.select_x = BMI2_ENABLE;
	configs[2].cfg.no_motion.select_y = BMI2_ENABLE;
	configs[2].cfg.no_motion.select_z = BMI2_ENABLE;
	configs[2].cfg.no_motion.out_conf = 0x06; // INT_STATUS_0 and INT2_MAP_FEAT  bit #5
	configs[2].cfg.no_motion.duration = 5;
	configs[2].cfg.no_motion.threshold = 144;

	// Magnetometer
	configs[3].type = BMI2_AUX;
	configs[3].cfg.aux.aux_en = BMI2_ENABLE;
	configs[3].cfg.aux.manual_en = BMI2_TRUE;
	configs[3].cfg.aux.i2c_device_addr = 0x10; // I2C address of BMM150
	configs[3].cfg.aux.read_addr = 0x40;	// Address of the first read address
	configs[3].cfg.aux.man_rd_burst = 50;	// Total number of registers to be read for manual burst (0x40 to 0x71)
	configs[3].cfg.aux.offset = 2;			// Offset for auto burst read
	configs[3].cfg.aux.aux_rd_burst = 8;	// Size of auto burst read
	configs[3].cfg.aux.fcu_write_en = BMI2_ENABLE;
	configs[3].cfg.aux.odr = 1;

	// Set the configurations
	rslt = bmi2_set_sensor_config(configs, SENS_COUNT, &bmi270_dev);
	if (rslt != BMI2_OK)
		goto exit;
	// <---- Enable Sensors

	//
	//	// TODO Configure BMM150 after BMI270 using bmi2_write_aux_man_mode
	//

	// ----> Interrupt PINs configuration
	struct bmi2_int_pin_config int_pin_cfg;
	int_pin_cfg.pin_type = BMI2_INT1;
	int_pin_cfg.int_latch = BMI2_INT_NON_LATCH;

	for(uint8_t i=0; i<BMI2_INT_PIN_MAX_NUM; i++ ) {
		int_pin_cfg.pin_cfg[i].output_en = BMI2_INT_OUTPUT_ENABLE; 	// Output enabled
		int_pin_cfg.pin_cfg[i].od = BMI2_INT_PUSH_PULL;				// OpenDrain disabled
		int_pin_cfg.pin_cfg[i].lvl = BMI2_INT_ACTIVE_LOW;			// Signal Low Active
		int_pin_cfg.pin_cfg[i].input_en = BMI2_INT_INPUT_DISABLE;	// Input Disabled
	}

	rslt =  bmi2_set_int_pin_config( &int_pin_cfg, &bmi270_dev);
	if (rslt != BMI2_OK)
		goto exit;
	// <---- Interrupt PINs configuration

	// ----> Map data interrupt
	rslt = bmi2_map_data_int( BMI2_DRDY_INT, BMI2_INT1, &bmi270_dev);
	if (rslt != BMI2_OK)
		goto exit;
	// <---- Map data interrupt

	// ----> Map features interrupts
	struct bmi2_sens_int_config feat_int;
	feat_int.type = BMI2_NO_MOTION;
	feat_int.hw_int_pin = BMI2_INT2;

	rslt = bmi2_map_feat_int(&feat_int, 1, &bmi270_dev);
	if (rslt != BMI2_OK)
		goto exit;
	// <---- Map features interrupts

	exit:
	if( rslt == BMI2_OK ) {
		systemStatus.bmi270_initialized = 1;
	} else {
		systemStatus.bmi270_initialized = 0;
	}
	return rslt;
}</bmi2_int_pin_max_num;>

Any advice?

Thank you
Walter

[Myzhar]

I tested many configurations, but I continue to not being able to get the NO_MOTION interrupt working.
I also moved the DATA_READY interrupt to INT2 to verify that it is correctly configured and it's ok, so it's a configuration problem that I cannot figure out.

Any advise?

[XudanMorris-Wei]

Hi, I ran into the same issue. Were you able to find the root cause?

Thanks