- Top Results
Hi everyone
Following the BMI160_driver I was able to receive data from gyro and accel of BMX160 sensor. Now I try to apply Fast Offset Compensation to calibrate the output data. Following the BMI160_API I implemented the snippet below but it returns error -11 which means BMI160_FOC_FAILURE. The error code is returning from the trigger_foc(offset, dev) function (line 2512 bmi160.c file) and going on step further I found that the reason for error -11 is due to the fact that foc_status = 0 and never becomes 1 as you can see at the image below. I do not know either what does it means or how to fix it...
struct bmi160_foc_conf foc_conf; // na - FOC configuration structure
struct bmi160_offsets offset; // na - Structure to store the offsets
foc_conf.acc_off_en = BMI160_ENABLE; // na - Enable offset compensation for accel
// na - FOC configurations - Datasheet pg51
foc_conf.foc_acc_x = BMI160_FOC_ACCEL_0G; // na - x axes is 0g relative to the earth graviry
foc_conf.foc_acc_y = BMI160_FOC_ACCEL_0G; // na - y axes is 0g relative to the earth graviry
foc_conf.foc_acc_z = BMI160_FOC_ACCEL_POSITIVE_G; // na - z axes is 1g relative to the earth graviry
foc_conf.foc_gyr_en = BMI160_ENABLE; // na - Enable FOC for gyro
foc_conf.gyro_off_en = BMI160_ENABLE; // na - Enable offset compensation for gyro
rslt = bmi160_start_foc(&foc_conf, &offset, &sensor);
if (rslt == BMI160_OK) {
NRF_LOG_INFO("FOC DONE SUCCESSFULLY ");
NRF_LOG_INFO("OFFSET VALUES AFTER FOC : ");
NRF_LOG_INFO("OFFSET VALUES ACCEL X : %d ", offset.off_acc_x);
NRF_LOG_INFO("OFFSET VALUES ACCEL Y : %d ", offset.off_acc_y);
NRF_LOG_INFO("OFFSET VALUES ACCEL Z : %d ", offset.off_acc_z);
NRF_LOG_INFO("OFFSET VALUES GYRO X : %d ", offset.off_gyro_x);
NRF_LOG_INFO("OFFSET VALUES GYRO Y : %d ", offset.off_gyro_y);
NRF_LOG_INFO("OFFSET VALUES GYRO Z : %d ", offset.off_gyro_z);
} else {
NRF_LOG_INFO("FOC FAILED");
}
The strange thing is that if I bypass the if(rslt == BMI) statement, then some results are printed for some of the axis (but I do not know if they are correct) as you can see below
Any advice from the experts?
Thanks in advance
Nick
Hi Vincent,
Thank you for your support!!
Well, I figured out that if I increase the timeout period then foc_status becomes 1 after 525ms. This is quite strange and I cannot understand the reason. The datasheet says " Foc_rdy is "0" while the measurement is in progress. Accelerometer and gyroscope values are measured with preset filter settings. This will take a maximum time of 250ms". In my case, it means that are needed 525ms to take the measurement?
Also, following your advice, I printed out the register content (after the timeout) from FOC_CONF(0x69), ERR_REG(0x02), STATUS(0x1B).
From the images below you can see the results. The first screenshot is for timeout <10 (10 x 25ms step) and you can see that after 250ms, foc_status is still 0 and is returned the error -11. FOC_CONF = 01111101 and ERR_REG = 10000000 based on the datasheet looks fine but STATUS = 11110000
After increasing the timeout (timeout<30 -> 25ms * 30 =750ms) I saw that foc_status became 1 after 25ms * 21 = 525ms. There was change neither to FOC_CONF nor to ERR_REG but now the STATUS = 00111000
I cannot understand this behavior 😕 Maybe this is somehow related to my settings? These are my setting
sensor.id = BMI160_I2C_ADDR; //0x68
sensor.interface = BMI160_I2C_INTF; //0x00
sensor.read = Acc_i2c_Read;
sensor.write = Acc_i2c_Write;
sensor.delay_ms = Acc_delay_ms;
bmm150.dev_id = BMM150_DEFAULT_I2C_ADDRESS; //0x10
bmm150.intf = BMM150_I2C_INTF;
bmm150.read = bmm150_aux_read;
bmm150.write = bmm150_aux_write;
bmm150.delay_ms = Acc_delay_ms;
bmi160_init(&sensor)
sensor.aux_cfg.aux_sensor_enable = BMI160_ENABLE; // auxiliary sensor enable
sensor.aux_cfg.aux_i2c_addr = BMI160_AUX_BMM150_I2C_ADDR; // auxiliary sensor address
sensor.aux_cfg.manual_enable = BMI160_ENABLE; // setup mode enable
sensor.aux_cfg.aux_rd_burst_len = BMI160_AUX_READ_LEN_2; // burst read of 2 byte
bmi160_aux_init(&sensor);
bmm150_init(&bmm150);
sensor.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ; // na - output data rate - Configure accel to measure at 100Hz
sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G; // na - range
sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; // na - bandwidth
sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; // na - powermode
// na - configure Gyro sensor
sensor.gyro_cfg.odr = BMI160_GYRO_ODR_100HZ; // na - output data rate - Configure gyro to measure at 100Hz
sensor.gyro_cfg.range = BMI160_GYRO_RANGE_500_DPS; // na - range
sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; // na - bandwidth
sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; // na - powermode
bmi160_set_sens_conf(&sensor);
bmm150.settings.preset_mode = BMM150_PRESETMODE_REGULAR;
bmm150_set_presetmode(&bmm150);
bmm150.settings.pwr_mode = BMM150_NORMAL_MODE;
bmm150_set_op_mode(&bmm150);
sensor.aux_cfg.aux_odr = BMI160_AUX_ODR_100HZ;
bmi160_config_aux_mode(&sensor);
bmi160_set_aux_auto_mode(&aux_addr, &sensor);
Lastly, some measurements before FOC
Thanks for the support
Nick