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Hi, i am working with the BHI160b. Until now its working fine. But now i have to perform a software reset. In the library i didn't find a function to do so. What is the best routine to perform a reset and set the quaternions to default again? ... View more

Hello there, i connected the BHI160b with my STM32F411RE Mikrocontroller. I implemented the HAL I2C library with the BHI160b library to  read out Gyro data continuously. I used the rotation_vector_example on Github and installed the Game_rotation_vector to get quaternions. When the interrupt of the BHI160b fires, i am reading out the data! This works very good! But now i implemented a start Trigger which is between 1-15 hz. So im not reading every data from the fifo, when there is new data available. The problem i face now is that the quaternions are kind of delayed, when i start to move the sensor. How can i configure the BHI160b or change my programm to get the actuall Rotation data wich a frequency of 1-15hz ? The following shows my main loop code!   while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ /* BHY Variable*/ uint8_t *fifoptr = NULL; uint8_t bytes_left_in_fifo = 0; uint16_t bytes_remaining = 0; uint16_t bytes_read = 0; bhy_data_generic_t fifo_packet; bhy_data_type_t packet_type; BHY_RETURN_FUNCTION_TYPE result; /* the remapping matrix for BHA or BHI here should be configured according to its placement on customer's PCB. */ /* for details, please check 'Application Notes Axes remapping of BHA250(B)/BHI160(B)' document. */ int8_t bhy_mapping_matrix_config[3*3] = {0,1,0,-1,0,0,0,0,1}; /* the remapping matrix for Magnetometer should be configured according to its placement on customer's PCB. */ /* for details, please check 'Application Notes Axes remapping of BHA250(B)/BHI160(B)' document. */ int8_t mag_mapping_matrix_config[3*3] = {0,1,0,1,0,0,0,0,-1}; /* the sic matrix should be calculated for customer platform by logging uncalibrated magnetometer data. */ /* the sic matrix here is only an example array (identity matrix). Customer should generate their own matrix. */ /* This affects magnetometer fusion performance. */ float sic_array[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; /* To get the customized version number in firmware, it is necessary to read Parameter Page 2, index 125 */ /* to get this information. This feature is only supported for customized firmware. To get this customized */ /* firmware, you need to contact your local FAE of Bosch Sensortec. */ //struct cus_version_t bhy_cus_version; while (HAL_GPIO_ReadPin(BHI160b_INT_GPIO_Port, BHI160b_INT_Pin) == GPIO_PIN_RESET); /* init the bhy chip */ if(bhy_driver_init(&bhy1_fw)) { //DEBUG("Fail to init bhy\n"); } /* wait for the bhy trigger the interrupt pin go down and up again */ //while (HAL_GPIO_ReadPin(BHI160_INT_GPIO_Port, BHI160_INT_Pin) == GPIO_PIN_SET); HAL_Delay(100); while (HAL_GPIO_ReadPin(BHI160b_INT_GPIO_Port, BHI160b_INT_Pin) == GPIO_PIN_RESET); /* To get the customized version number in firmware, it is necessary to read Parameter Page 2, index 125 */ /* to get this information. This feature is only supported for customized firmware. To get this customized */ /* firmware, you need to contact your local FAE of Bosch Sensortec. */ //bhy_read_parameter_page(BHY_PAGE_2, PAGE2_CUS_FIRMWARE_VERSION, (uint8_t*)&bhy_cus_version, sizeof(struct cus_version_t)); //DEBUG("cus version base:%d major:%d minor:%d\n", bhy_cus_version.base, bhy_cus_version.major, bhy_cus_version.minor); /* the remapping matrix for BHI and Magmetometer should be configured here to make sure rotation vector is */ /* calculated in a correct coordinates system. */ //bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_ACC, bhy_mapping_matrix_config); //bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_MAG, mag_mapping_matrix_config); bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_GYRO, bhy_mapping_matrix_config); /* This sic matrix setting affects magnetometer fusion performance. */ bhy_set_sic_matrix(sic_array); /* install the callback function for parse fifo data */ if(bhy_install_sensor_callback(VS_TYPE_GAME_ROTATION_VECTOR, VS_WAKEUP, sensors_callback_rotation_vector)) { //DEBUG("Fail to install sensor callback\n"); } /* enables the virtual sensor */ if(bhy_enable_virtual_sensor(VS_TYPE_GAME_ROTATION_VECTOR, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0)) { //DEBUG("Fail to enable sensor id=%d\n", VS_TYPE_ROTATION_VECTOR); } /* continuously read and parse the fifo */ while (1) { if(HAL_GPIO_ReadPin(IR_Trigger_GPIO_Port, IR_Trigger_Pin)== GPIO_PIN_SET) { SPI_send(); /* wait until the interrupt fires */ /* unless we already know there are bytes remaining in the fifo */ while (!HAL_GPIO_ReadPin(BHI160b_INT_GPIO_Port, BHI160b_INT_Pin) && !bytes_remaining); bhy_read_fifo(fifo + bytes_left_in_fifo, FIFO_SIZE - bytes_left_in_fifo, &bytes_read, &bytes_remaining); bytes_read += bytes_left_in_fifo; fifoptr = fifo; packet_type = BHY_DATA_TYPE_PADDING; do { /* this function will call callbacks that are registered */ result = bhy_parse_next_fifo_packet(&fifoptr, &bytes_read, &fifo_packet, &packet_type); /* prints all the debug packets */ if (packet_type == BHY_DATA_TYPE_DEBUG) { bhy_print_debug_packet(&fifo_packet.data_debug, bhy_printf); } /* the logic here is that if doing a partial parsing of the fifo, then we should not parse */ /* the last 18 bytes (max length of a packet) so that we don't try to parse an incomplete */ /* packet */ } while ((result == BHY_SUCCESS) && (bytes_read > (bytes_remaining ? MAX_PACKET_LENGTH : 0))); bytes_left_in_fifo = 0; if (bytes_remaining) { /* shifts the remaining bytes to the beginning of the buffer */ while (bytes_left_in_fifo < bytes_read) { fifo[bytes_left_in_fifo++] = *(fifoptr++); } } } } } /* USER CODE END 3 */ } ... View more