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I debugged  the program and found some issues i want to share, hopefully they help us to find a solution. It still seems like that the bhy_driver_init(&bhy1_fw) is working fine. After that i have this code where i can also find an error return from the Sensor. 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); After the Matrix was set up, it tries to write the parameter page to the Sensor with the function bhy_write_parameter_page(). Within this function it selects the parameter and reads the acknowledgments. BHY_RETURN_FUNCTION_TYPE bhy_write_parameter_page(uint8_t page, uint8_t parameter, uint8_t *data, uint8_t length) { /* variable used for return the status of communication result */ BHY_RETURN_FUNCTION_TYPE com_rslt = BHY_COMM_RES; uint8_t v_parameter_ack = BHY_INIT_VALUE; uint8_t v_parameter_ack_check = BHY_INIT_VALUE; /* write values to the load address*/ if (length > MAX_WRITE_BYTES) { length = MAX_WRITE_BYTES; } else if (length == 0) { return BHY_SUCCESS; } com_rslt = bhy_write_reg(BHY_I2C_REG_PARAMETER_WRITE_BUFFER_ZERO, data, length); /* select the page*/ if (page > MAX_PAGE_NUM) { page = MAX_PAGE_NUM; } else if (page == 0) { return BHY_SUCCESS; } page = ((length & 0x07) << 4) | page; com_rslt += bhy_write_reg(BHY_I2C_REG_PARAMETER_PAGE_SELECT__REG, &page, 1); /* select the parameter*/ parameter |= 0x80; com_rslt += bhy_set_parameter_request(parameter); for (v_parameter_ack_check = BHY_INIT_VALUE; v_parameter_ack_check < BHY_PARAMETER_ACK_LENGTH; v_parameter_ack_check++) { /* read the acknowledgment*/ com_rslt += bhy_get_parameter_acknowledge(&v_parameter_ack); if (v_parameter_ack == parameter) { com_rslt += BHY_SUCCESS; break; } else if (v_parameter_ack == BHY_PARAMETER_ACK_CHECK) { bhy_delay_msec(BHY_PARAMETER_ACK_DELAY); com_rslt += BHY_ERROR; } else { /* device not ready yet */ bhy_delay_msec(1); } } return com_rslt; } But when it reads the acknowledgments it alwas ends up in an error executing this line com_rslt += BHY_ERROR; . This is the same for all three matrix mapping functions. I am facing the same problem with the function bhy_enable_virtual_sensor().  It uses the function bhy_write_parameter_bytes();  which trys to write the parameter bytes to the sensor and check the acknowledgments afterwards. So this Function causes the error which returns -18 for the function bhy_enable_virtual_sensor(). I guess my write/read operation is still not working properly. i tried to implement the read function with the function HAL_I2C_Mem_Read() like this. int8_t sensor_i2c_read(uint8_t slave_address7, uint8_t subaddress, uint8_t *pBuffer, uint16_t ReadNumbr) { uint16_t DevAddress = slave_address7 << 1; HAL_StatusTypeDef status = HAL_OK; status = HAL_I2C_Mem_Read(&hi2c1, DevAddress, (uint16_t)subaddress, I2C_MEMADD_SIZE_8BIT, pBuffer, ReadNumbr, HAL_MAX_DELAY); if(status != HAL_OK) { HAL_Delay(1); } return 0; } With my logic analyzer i created a capture file of my i2c transactions, hopefully you can see anything in there. ... View more

Thats how i defined the sample rate in main.c #define ROTATION_VECTOR_SAMPLE_RATE 100 It seems like that my read and write function is not working properly. I refered to the code from a different topic. But i dont know how he initialized the I2C interface. That how i did it: hi2c1.Instance = I2C1; hi2c1.Init.ClockSpeed = 100000; hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2; hi2c1.Init.OwnAddress1 = 0; hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; hi2c1.Init.OwnAddress2 = 0; hi2c1.Init.GeneralCallMode = I2C_GENERALCALL_DISABLE; hi2c1.Init.NoStretchMode = I2C_NOSTRETCH_DISABLE; if (HAL_I2C_Init(&hi2c1) != HAL_OK) { Error_Handler(); } Actually i also dont know how long i should set my delay on the i2c transmit/receive function... ... View more

Bevor i checked the bhy_enable_virtual_sensor i checked this line before. if(bhy_install_sensor_callback(VS_TYPE_ROTATION_VECTOR, VS_WAKEUP, sensors_callback_rotation_vector)) { //DEBUG("Fail to install sensor callback\n"); } I placed 4 Breakpoints on the return values like this. So the return value after bhy_install_sensor_callback is BHY_SUCCESS. After i installed the callback i want to enable the virtual sensor like this. if(bhy_enable_virtual_sensor(VS_TYPE_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); } In the Debug session i jumped into this function and checked its return value. The return value is 18. I tried to implement also the meta event callback. For that i have some questions. Can i implement more that one callback function on the sensor? If yes, i implemented the function after the sensor Install and callback. Is this working like that? /* install the meta event callback */ if(bhy_install_meta_event_callback()) { //DEBUG("Fail to enable sensor id=%d\n", VS_TYPE_ROTATION_VECTOR); } I am not sure which BHY_META_EVENT i have to install to get the current sensor status. I checked the selftest_example in the git repository. They installed the meta event callback like this: bhy_install_meta_event_callback(BHY_META_EVENT_TYPE_INITIALIZED, meta_event_callback); bhy_install_meta_event_callback(BHY_META_EVENT_TYPE_SELF_TEST_RESULTS, meta_event_callback); but none of these callbacks gives me the current sensor status? So which one do i have to use? ... View more

Right now my code wait until the interrupt fires to read and parse the fifo. But the Interrupt changes just one time after the fw download. The Result of  the function bhy_driver_init function is 0 as you can see in the screenshot.   ... View more

After i changed the read and write function from // send register address HAL_I2C_Master_Transmit(&hi2c1, DevAddress, &subaddress, 1, 1); HAL_I2C_Master_Receive(&hi2c1, DevAddress, pBuffer, ReadNumbr, 1); to // send register address HAL_I2C_Master_Transmit(&hi2c1, DevAddress, &subaddress, 1, HAL_MAX_DELAY); HAL_I2C_Master_Receive(&hi2c1, DevAddress, pBuffer, ReadNumbr, HAL_MAX_DELAY); the i2c capture looks like this.       ... View more