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dcindric28 · ‎11-13-2022

Hi BSTRobin, Thank you for your response, but I was not referring to the readout of the synchronized accelerometer and gyroscope data and I'm familiar with that example. To further clarify, I'm interested in the tag application, mentioned in sections 3.1.3 and 4.1.2 of the BMI08X FIFO Usage application note: https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-mis-an005.pdf I want to have tagged accelerometer and gyroscope data based on the state of interrupt pins. For example, if I configure the INT1 pin, which is tied to the accelerometer, and the INT3 pin, which is internally tied to the gyroscope, as input pins and accordingly set the bit 3 in the FIFO_CONFIG_1 register (address 0x49) and bit 5 in the register FIFO_EXT_INT_S (0x34) to logical 1, the tag mode should be enabled. To cite the application note: Section 3.1.3 FIFO synchronization with external interrupts If the INT1 and/or INT2 pin is configured as input pin (by setting int2_io in register INT2_IO_CTRL and/or setting int1_io in register INT1_IO_CTRL), signals on these pins can also be recorded in the FIFO, and the frames are “tagged” accordingly. Therefore the pins need to be activated for FIFO recording in register FIFO_CONFIG_1 (see 3.5.7). Section 4.1.2 FIFO synchronization with external interrupts (tag application) for the gyroscope ...In order to enable the tag mode, bit 5 must be set in register 0x34 (see 0). The pin can be chosen in the same register, bit 4. The remaining 15 bits of the z-axis gyroscope data keep the same meaning as in standard mode. Once the pin, which is configured for the tag mode, is set to high level, the next FIFO word will be marked with a tag (z-axis LSB = 1). While pin is kept at a high level, the corresponding FIFO words will continuously be tagged. After the pin is reset to low level, the immediate next FIFO word could still be tagged, and only after this word, the next tag will be reset (z-axis LSB=0). I've implemented all of the above-mentioned procedures in my code (as described in my previous post) and checked the state of all relevant registers, which showed that all the bits are set correctly according to the application note I'm referring to, but without any success - bit 0 (INT1 tag) in accelerometer header frame is always set to 0, independent of the state of INT1 pin, and gyroscope data sometimes has LSB equal 0 even if the INT3 is active. Examples and any additional help for the tag mode would be highly appreciated since this is a deal breaker for the application I'm developing (100+ units). Best regards, Dino.

dcindric28 · ‎10-24-2022

Hello, I'm trying to use the FIFO tag feature for the BMI085 IMU in my application, as described in this document: https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-mis-an005.pdf, but so far without success. Below is the code snippet which should set the interrupt INT1 pin as input: struct bmi08x_accel_int_channel_cfg accel_fifo_int = {0}; int8_t status; accel_fifo_int.int_channel = BMI08X_INT_CHANNEL_1; accel_fifo_int.int_type = BMI08X_ACCEL_SYNC_INPUT; accel_fifo_int.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; accel_fifo_int.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; accel_fifo_int.int_pin_cfg.enable_int_pin = BMI08X_ENABLE; status = bmi08a_set_int_config(&accel_fifo_int, bmi08x_dev); For the int_type field I choose the BMI08X_ACCEL_SYNC_INPUT because all other enums are used for the output configuration. The same configuration I've used is also used in the read_synchronized_data_mcu.c official example (https://github.com/BoschSensortec/BMI08x-Sensor-API/tree/master/examples/read_synchronized_data_mcu). After the configuration, I read the register FIFO_CONFIG_1 (address 0x49) and it's state is: 0x58, which seems to be correct: bit 6 is set to 1, which means accelerometer data storing in the FIFO is enables, bit 4 is set to 1, which is correct according to the datasheet where is it claimed that this bit must always equal to 1 bit 3 is set to 1, which means that interrupt event capture is enabled for the interrupt pin INT1 bit 2 is set to 0, which means that interrupt event capture is disabled for the interrupt pin INT2 (this is correct according to the configuration I made) other bits are reserved and to 0, which is correct according to the datasheet Before call to the bmi08a_read_fifo_data function is made, I set the GPIO pin from the MCU which is connected to INT1 pin on the IMU to the HIGH (1) state for 1 ms and then to the LOW state (0). Only after that pulse on the INT1 line, I call the bmi08a_read_fifo_data function. Then, when the internal (static) driver function extract_acc_header_mode is called, I check the extracted header frame to see if the generated pulse event is recorded and it's state is always equal to 0x84 (0b 1000 0100), which according to the section 3.2.1 Acceleration sensor data frame means the following: bits 7 to 2 (1000 01) is the data frame identifier - the read value from my application matches the value specified in the datasheet bit 1 is set to 0, which represents the recorded event on the interrupt pin INT2 - this is as expected because this pin is not used in my application bit 0 is set to 0, which represents the recorded event on the interrupt pin INT1 - this is NOT as expected, because I assert the signal on the this pin, but is obviously not recorded I've also tried to keep the INT1 high all the time, but the result is the same, i.e. bit 0 (INT1 tag) in accelerometer header frame is always set to 0. Any help would be appreciated. P.S. A suggestion from my side would be to add the FIFO tag application example in the list of the provided examples on Github (https://github.com/BoschSensortec/BMI08x-Sensor-API/tree/master/examples). Best regards, Dino.

dcindric28 · ‎10-21-2022

Hi, Thank you for your response. As you can see in the code snippets I provided, I've already perfomed all of the steps you suggested and followed through the provided example for both accelerometer and gyroscope FIFO watermark application. The problem was not in the firmware, but in the hardware - combination of logic analyzer settings and wiring issues on the prototyping board/breadboard were problematic. Now it is working as expected. This topic can be closed. Best regards, Dino.

dcindric28 · ‎10-03-2022

Hello, I'm developing an application which uses the BMI085 IMU sensor in the FIFO mode. Communication is done through SPI interface at 2 Mbit/s. Shuttle Board 2.0 with BMI085 IMU and STM32 Nucleo board is used for the evaluation. I am able to perform initialization, load configuration file, and retrieve measurements from both accelerometer and gyroscope in polling mode without any problems. Problems arise when I try to use the IMU in the FIFO mode. I was able to retrieve data from the FIFO in polling mode, where data from the FIFO is read every 50 ms and then is FIFO emptied/reset. However, interrupt behavior is not as expected. Figures in the attachment show the state of the 2nd interrupt channel (BMI08X_INT_CHANNEL_2) of the accelerometer in the FIFO mode. I presume interrupts are generated every time a new accelerometer measurement is written in the FIFO, and not on the FIFO full or when the data in the FIFO reaches the predefined watermark level. A similar issue with faulty interrupt behavior was reported here, although for a different IMU sensor: https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BNO055-unstable-interrupt-pin-at-startup/m-p/63199#M12505 The identical behavior can be observed for the gyroscope as well. Here are the code snippets which are used for the FIFO interrupt configuration: //ACCELEROMETER FIFO CONFIGURATION SETUP bmi08a_set_fifo_wm(BMI08X_ACCEL_FIFO_WATERMARK_LEVEL, &ConfigurationBosch); imu_bosch_status = bmi08x_accel_fifo_interrupt_config (&ConfigurationBosch); if (imu_bosch_status != BMI08X_INIT_SUCCESS) { //LOG_WriteToLog (Log_Error, "IMU Bosch accel FIFO config fail."); return BMI08X_INIT_FAIL; } accel_fifo_cfg.accel_en = BMI08X_ENABLE; accel_fifo_cfg.int1_en = BMI08X_ENABLE; accel_fifo_cfg.int2_en = BMI08X_ENABLE; accel_fifo_cfg.mode = BMI08X_ENABLE; imu_bosch_status = bmi08a_set_fifo_config(&accel_fifo_cfg, &ConfigurationBosch); if (imu_bosch_status != BMI08X_INIT_SUCCESS) { //LOG_WriteToLog (Log_Error, "IMU Bosch accel FIFO config fail."); return BMI08X_INIT_FAIL; } //GYROSCOPE FIFO CONFIGURATION imu_bosch_status = bmi08x_gyro_fifo_interrupt_config (&gyro_int_cfg, &ConfigurationBosch); gyro_fifo_cfg.mode = BMI08X_GYRO_FIFO_MODE; gyro_fifo_cfg.tag = BMI08X_GYRO_FIFO_TAG_DISABLED; imu_bosch_status = bmi08g_set_fifo_config(&gyro_fifo_cfg, &ConfigurationBosch); where ConfigurationBosch is bmi08x_dev struct accel_fifo_cfg is bmi08x_accel_fifo_config struct gyro_fifo_cfg is bmi08x_gyr_fifo_config and bmi08x_accel_fifo_interrupt_config and bmi08x_gyro_fifo_interrupt_config are wrapper function which perform the interrupt configuration: int8_t bmi08x_accel_fifo_interrupt_config (struct bmi08x_dev * bmi08x_dev) { struct bmi08x_accel_int_channel_cfg accel_fifo_int = {0}; int8_t status; accel_fifo_int.int_channel = BMI08X_INT_CHANNEL_2; accel_fifo_int.int_type = BMI08X_ACCEL_INT_FIFO_WM; accel_fifo_int.int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; accel_fifo_int.int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; accel_fifo_int.int_pin_cfg.enable_int_pin = BMI08X_ENABLE; status = bmi08a_set_int_config(&accel_fifo_int, bmi08x_dev); return status; } int8_t bmi08x_gyro_fifo_interrupt_config (struct bmi08x_gyro_int_channel_cfg * gyro_fifo_int, struct bmi08x_dev * bmi08x_dev) { int8_t rslt; gyro_fifo_int -> int_channel = BMI08X_INT_CHANNEL_3; gyro_fifo_int -> int_type = BMI08X_GYRO_INT_FIFO_FULL; gyro_fifo_int -> int_pin_cfg.output_mode = BMI08X_INT_MODE_PUSH_PULL; gyro_fifo_int -> int_pin_cfg.lvl = BMI08X_INT_ACTIVE_HIGH; gyro_fifo_int -> int_pin_cfg.enable_int_pin = BMI08X_ENABLE; rslt = bmi08g_set_int_config ((const struct bmi08x_gyro_int_channel_cfg *) gyro_fifo_int, bmi08x_dev); return rslt; } What can be the possible cause of this issue? Best regards, Dino.

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About dcindric28

Re: BMI085 FIFO tag application

BMI085 FIFO tag application

Re: BMI085 FIFO interrupt not working as configured

BMI085 FIFO interrupt not working as configured

About dcindric28

Re: BMI085 FIFO tag application

BMI085 FIFO tag application

Re: BMI085 FIFO interrupt not working as configured

BMI085 FIFO interrupt not working as configured

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