About michiels

Hi BSTRobin, Before I do the read operation I check the available data as is done in the example application (rslt = get_fifo_byte_counter(&bytes_to_read, dev);). This reads consistently 768. When I toggle a GPIO pin of my microcontroller outside to check the interrupt timings it is also consistent. Also if the PCB is laying still on the desk this issue does not appear to happen. It consistently happens when the desribed pattern appears in the data and it does not happen when I turn of the check for the data. When I for example plot the data it looks correct when I ignore this 0x80 0x00. Thanks and best regards, Michiel ... View more

Hi, I have found that this issue happened always when I got a certain pattern (0x80 0x00) in my data which let me to this part in the driver code:   * @brief This API checks the presence of non-valid frames in the read fifo data. */ static void check_frame_validity(uint16_t *data_index, const struct bmi160_dev *dev) { if ((*data_index + 2) < dev->fifo->length) { /* Check if FIFO is empty */ if ((dev->fifo->data[*data_index] == FIFO_CONFIG_MSB_CHECK) && (dev->fifo->data[*data_index + 1] == FIFO_CONFIG_LSB_CHECK)) { /*Update the data index as complete*/ *data_index = dev->fifo->length; } } } Is this a bug in the driver or is this intentional behavior? Best regards, Michiel ... View more

Hi, I wanted to add, I added a bmi160_set_fifo_flush(dev) command and it did not resolve the issue. Best regards, Michiel ... View more

Hi Robin, Thanks for the reply. Not sure what you mean by your question, but we do something like this: void inertial_sensor_interrupt_handler_blocking(void) { NRF_LOG_INFO("Read blocking start"); nrf_gpio_pin_set(TOGGLE_PIN); waiting_flag = true; uint8_t data = 0x00; fifo_counter++; fifo_interrupt_time_stamp = time_stamp_get_time_since_boot(); NRF_LOG_INFO("IMU interrupt Elapsed time since boot %i", fifo_interrupt_time_stamp); if(inertial_sensor_get_fifo_new_data_flag()){ NRF_LOG_INFO("FIFO DATA OVERWRITTEN WITHOUT READING!"); } inertial_sensor_set_fifo_new_data_flag(); /* Disable the WM interrupt */ bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, &inertial_sensor); /* Check what the available amount of data is prior to FIFO read out */ uint16_t available_data_pre; available_data_pre = inertial_sensor_fifo_available_amount_of_data(&inertial_sensor); NRF_LOG_INFO("%i bytes of available data prior to FIFO read out", available_data_pre); /* Read data from the sensor's FIFO and store it the FIFO buffer,"fifo_buff" */ inertial_sensor_fifo_read(&inertial_sensor); /* Enable the WM interrupt */ data = BMI160_FIFO_WATERMARK_INT_EN_MASK; bmi160_set_regs(BMI160_INT_ENABLE_1_ADDR, &data, 1, &inertial_sensor); nrf_gpio_pin_clear(TOGGLE_PIN); NRF_LOG_INFO("Read blocking stop"); } int8_t inertial_sensor_fifo_read(struct bmi160_dev *dev) { int8_t rslt = 0; /* Modify the FIFO buffer instance and link to the device instance */ dev->fifo->length = FIFO_SIZE; /* Initialization of variables */ uint16_t index = 0; uint8_t gyro_index = 0; uint8_t accel_index = 0; uint8_t gyro_frames_req = GYR_FRAMES; uint8_t accel_frames_req = ACC_FRAMES; NRF_LOG_INFO("\n USER REQUESTED FIFO LENGTH : %d\n",dev->fifo->length); /* Read the data from the FIFO buffer */ rslt = bmi160_get_fifo_data(dev); if (rslt == BMI160_OK) { NRF_LOG_INFO("\n AVAILABLE FIFO LENGTH : %d\n",dev->fifo->length); /* Print the raw FIFO data */ //for (index = 0; index < dev->fifo->length; index++) { // NRF_LOG_INFO("\n FIFO DATA INDEX[%d] = %d", index, // dev->fifo->data[index]); //} NRF_LOG_INFO("\n REQUESTED GYRO DATA FRAMES : %d\n ",gyro_frames_req); /* Parse the FIFO data to extract gyroscope data from the FIFO buffer */ rslt = bmi160_extract_gyro(&gyro_data, &gyro_frames_req, dev); if (rslt == BMI160_OK) { NRF_LOG_INFO("\n AVAILABLE GYRO DATA FRAMES : %d\n ",gyro_frames_req); /* Print the parsed gyro data from the FIFO buffer */ //for (gyro_index = 0 ; gyro_index <gyro_frames_req ; gyro_index++) { // NRF_LOG_INFO("\nFIFO GYRO FRAME[%d]",gyro_index); //NRF_LOG_INFO("\nGYRO X-DATA : %d \t Y-DATA : %d \t Z-DATA : %d" // ,gyro_data[gyro_index].x ,gyro_data[gyro_index].y // ,gyro_data[gyro_index].z); //} /*Print a sample as speed is too high*/ NRF_LOG_INFO("\nGYRO X-DATA : %d \t Y-DATA : %d \t Z-DATA : %d" ,gyro_data[18].x ,gyro_data[18].y ,gyro_data[18].z); /* Print the special FIFO frame data like sensortime */ //NRF_LOG_INFO("\n SENSOR TIME DATA : %d \n",dev->fifo->sensor_time); //NRF_LOG_INFO("SKIPPED FRAME COUNT : %d",dev->fifo->skipped_frame_count); } else { NRF_LOG_INFO("\n Gyro data extraction failed"); } NRF_LOG_INFO("\n REQUESTED ACCEL DATA FRAMES : %d\n ",accel_frames_req); /* Parse the FIFO data to extract accelerometer data from the FIFO buffer */ rslt = bmi160_extract_accel(&accel_data, &accel_frames_req, dev); if (rslt == BMI160_OK) { NRF_LOG_INFO("\n AVAILABLE ACCEL DATA FRAMES : %d\n ",accel_frames_req); /* Print the parsed accel data from the FIFO buffer */ //for (accel_index = 0; accel_index < accel_frames_req; accel_index++) { // printf("\nFIFO ACCEL FRAME[%d]",accel_index); // printf("\nACCEL X-DATA : %d \t Y-DATA : %d \t Z-DATA : %d" // ,accel_data[accel_index].x ,accel_data[accel_index].y // ,accel_data[accel_index].z); //} /*Print a sample as speed is too high*/ NRF_LOG_INFO("\nACCEL X-DATA : %d \t Y-DATA : %d \t Z-DATA : %d" ,accel_data[60].x ,accel_data[60].y ,accel_data[60].z); /* Print the special FIFO frame data like sensortime */ //NRF_LOG_INFO("\n SENSOR TIME DATA : %d \n",dev->fifo->sensor_time); //NRF_LOG_INFO("SKIPPED FRAME COUNT : %d",dev->fifo->skipped_frame_count); } else { NRF_LOG_INFO("\n Accel data extraction failed"); } } else { NRF_LOG_INFO("\n Reading FIFO data failed"); } return rslt; }  I don't fully understand how that would be influenced by the sensor moving or not. Best regards, Michiel ... View more