About vamshi

Thank you for the reply @BSTRobin, Ok, Present I'm working on it. Could you please suggest functions to change Acc, Gyr, and Mag scale factors? Do those functions exist in the above code files? ... View more

Thank you for the reply @BSTRobin , Yes, the hardware used Acc, Gyr, Mag sensors. I accept your suggestion. But, In Program I have only one function named the call-back function of the Rotation vector which gives Quaternions. Can I use the below configuration and Reading function to get RPY or Should I need to do modifications for RPY data?   if (bhy_install_sensor_callback(VS_TYPE_ORIENTATION, VS_WAKEUP, sensors_callback_orientation)) { //DEBUG("Fail to install sensor callback\n"); } if (bhy_enable_virtual_sensor(VS_TYPE_ORIENTATION, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0)) { //DEBUG("Fail to enable sensor id=%d\n", VS_TYPE_ROTATION_VECTOR); } static void sensors_callback_rotation_vector(bhy_data_generic_t *sensor_data, bhy_virtual_sensor_t sensor_id) { float temp; uint8_t index; temp = sensor_data->data_quaternion.w / 16384.0f; /* change the data unit by dividing 16384 */ out_buffer[3] = temp < 0 ? '-' : ' '; temp = temp < 0 ? -temp : temp; out_buffer[4] = floor(temp) + '0'; for (index = 6; index <= 8; index++) { temp = (temp - floor(temp)) * 10; out_buffer[index] = floor(temp) + '0'; } temp = sensor_data->data_quaternion.x / 16384.0f; out_buffer[13] = temp < 0 ? '-' : ' '; temp = temp < 0 ? -temp : temp; out_buffer[14] = floor(temp) + '0'; for (index = 16; index <= 18; index++) { temp = (temp - floor(temp)) * 10; out_buffer[index] = floor(temp) + '0'; } temp = sensor_data->data_quaternion.y / 16384.0f; out_buffer[23] = temp < 0 ? '-' : ' '; temp = temp < 0 ? -temp : temp; out_buffer[24] = floor(temp) + '0'; for (index = 26; index <= 28; index++) { temp = (temp - floor(temp)) * 10; out_buffer[index] = floor(temp) + '0'; } temp = sensor_data->data_quaternion.z / 16384.0f; out_buffer[33] = temp < 0 ? '-' : ' '; temp = temp < 0 ? -temp : temp; out_buffer[34] = floor(temp) + '0'; for (index = 36; index <= 38; index++) { temp = (temp - floor(temp)) * 10; out_buffer[index] = floor(temp) + '0'; } //DEBUG("x=%d, y=%d, z=%d, w=%d\n", sensor_data->data_quaternion.x, sensor_data->data_quaternion.y, sensor_data->data_quaternion.z, sensor_data->data_quaternion.w); }    What I have to modify in that function to get RPY ? ... View more

Thank you for the reply @BSTRobin , I will Test and Let you know for further info. Thank you, ... View more

Thank you for the reply @BSTRobin , Is that project works on I2C only to read data from BHI160B ? Because I saw SPI and DMA also initialized in the provided ref code. Can you please describe me what are those for ?   Any help would be very thankful.    ... View more