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Hallo I try to use this programm.When I use SPI, BMI runs normally.But in the process of using IIC, there was a problem. In the setup program, the value of rslt is not equal to the BMI_OK value.This means this connection was not successful.     09:58:59.151 rslt-> -2 09:58:59.151 BMI_OK-> 0     This is my setup program, what went wrong. Thank you very much     void setup() { /* Variable to define result */ int8_t rslt; pinMode(BMI270_CS, OUTPUT); pinMode(interruptPin, INPUT_PULLUP); digitalWrite(BMI270_CS, HIGH); // Wire.setModule(0); Serial.begin(115200); i2c_bus = 0x68; // spi_bus = BMI270_CS; /* To initialize the hal function */ //SPI.begin(); Wire.begin(); bmi2.intf_ptr = &i2c_bus; bmi2.intf = BMI2_I2C_INTF; bmi2.read = bmi2xy_hal_i2c_bus_read; bmi2.write = bmi2xy_hal_i2c_bus_write; bmi2.read_write_len = 32; bmi2.delay_us = bmi2xy_hal_delay_usec; /* Config file pointer should be assigned to NULL, so that default file address is assigned in bmi270_init */ bmi2.config_file_ptr = NULL; /* Initialize bmi270 */ rslt = bmi270_init(&bmi2); Serial.println("bmi270_init done"); rslt = bmi2_accel_gyro_set_config(&bmi2); Serial.println(rslt); Serial.println(BMI2_OK); if (rslt == BMI2_OK) { Serial.println("Accel data Ready : X Y Z "); Serial.println("Gyro data Ready : X Y Z "); } delay(250); // Interrupt PINs configuration struct bmi2_int_pin_config data_int_cfg; data_int_cfg.pin_type = BMI2_INT1; data_int_cfg.int_latch = BMI2_INT_NON_LATCH; data_int_cfg.pin_cfg[0].output_en = BMI2_INT_OUTPUT_ENABLE; // Output enabled data_int_cfg.pin_cfg[0].od = BMI2_INT_PUSH_PULL; // OpenDrain disabled data_int_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_LOW; // Signal Low Active data_int_cfg.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE; // Input Disabled rslt = bmi2_set_int_pin_config( &data_int_cfg, &bmi2); pinMode(interruptPin, INPUT); attachInterrupt(digitalPinToInterrupt(interruptPin), RawDataHandler, FALLING); }   ... View more

Hi I used the official program to initialize BMI270, but there was an error in the initialization program   BMI270_Arduino_example_1:44:10: error: 'struct bmi2_dev' has no member named 'dev_id' bmi2.dev_id = BMI270_CS;       #include <SPI.h> #include <bmi2.h> #include <bmi270.h> #include <bmi270_context.h> #include <bmi2_defs.h> #include <bmi2_ois.h> #include <Arduino.h> #define BMI270_CS SS #define BMI270_INT1 6 /* Callback function prototypes for the BMI270 Sensor API */ int8_t bmi2_spi_read(uint8_t dev_id, uint8_t reg_addr, uint8_t *data, uint16_t len); int8_t bmi2_spi_write(uint8_t dev_id, uint8_t reg_addr, const uint8_t *data, uint16_t len); void bmi2_delay_us(uint32_t period); /* Static variables */ static struct bmi2_dev bmi2; static volatile bool bmi2_intr_recvd = false; static volatile uint32_t last_time_us = 0; void setup(void) { int8_t rslt; Serial.begin(115200); while (!Serial.available()); // Wait for an input to proceed pinMode(LED_BUILTIN, OUTPUT); /* Use either the SPI or I2C configuration */ // /* Start of SPI configuration */ SPI.begin(); pinMode(BMI270_CS, OUTPUT); digitalWrite(BMI270_CS, LOW); delay(1); digitalWrite(BMI270_CS, HIGH); // Toggle the chip select to switch into SPI mode delay(10); bmi2.dev_id = BMI270_CS; bmi2.read = bmi2_spi_read; bmi2.write = bmi2_spi_write; bmi2.delay_us = bmi2_delay_us; bmi2.intf = BMI2_SPI_INTERFACE; bmi2.read_write_len = 8192; bmi2.config_file_ptr = NULL; // Use the default BMI270 config file /* End of SPI configuration */ rslt = bmi270_init(&bmi2); print_rslt(rslt); attachInterrupt(BMI270_INT1, bmi2_intr1_callback, RISING); //rslt = configure_sensor(&bmi2); //print_rslt(rslt); }       ... View more