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About arurke
since
02-24-2019
a week ago
arurke
Established Member
15
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a week ago
Thanks for the input @hqlsolution It sounds like you are saying that I could configure undersampling in both modes, while @FAE_CA1 just stated that "When BMI160 accel is in LPM, acc_us bit must be set to 0b1. When BMI160 accel is in normal mode, this bit must be set to 0b0.". Thus I am a bit torn - would either of you care to elaborate?
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2 weeks ago
Thank you very much @FAE_CA1 ! A couple of follow-up questions: 1) If configuring acc_bwp such that averaging is done in low-power mode, what is the ODR of those measurements that are being averaged? 2) In our application, the BMI stays in normal mode only to read out the data, and then we return it to low-power mode. Do I need to disable undersampling during the short normal-mode period when we read out data? 3) In the datasheet section 2.4.1.1 it states "When acc_us=0b0, the acc_bwp parameter needs to be set to 0b010 (normal mode)". But in the following paragraph it describes modes OSR2 and OSR4, which has acc_us=0b0 but acc_bwp is not 0b010. Is the first statement incorrect?
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2 weeks ago
We run the BMI160 in low-power mode, returning it briefly to normal mode in order to read the FIFO, before setting it back to low-power mode. The BMI160 datasheet Section 2.2.3 states: "(...) an undersampling mode is defined in such a way that it mimics the behavior of the lower data rate in low power mode in normal mode. The low power mode then only switches clock sources." This makes me think that for our application, we should just keep the undersampling mode enabled during the brief normal mode operation. However, the official BMI160 driver on github, always disables the under-sampling when going to normal power mode, see "process_under_sampling()" at https://github.com/boschsensortec/BMI160_SensorAPI/blob/master/bmi160.c#L3534-L3573 Also, the datasheet, in Section 2.4.1.1 states "When normal power is used, the undersampling mode should be disabled)." Could you please advice, for our application, what is the most appropriate setting for the undersampling mode?
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04-12-2021
01:51 PM
For future readers - this was solved in https://github.com/BoschSensortec/BMI160_driver/releases/tag/bmi160_v3.9.1
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02-12-2021
10:58 PM
I am terribly sorry, but you are not reading what I am writing. I am not using this function, I am not having a problem currently. This bug was found by a static code analyzer. The analyzer found that your library will lead to undefined behavior (would typically lead to a crash or worse) if certain conditions are met. Thus the solution is not avoid those conditions as you suggest, but to fix the bug in the software. The steps to reach this condition and the resulting undefined behavior is explained in my earlier comment and repeated here: 1. Line 6316: foc_status is declared but not initialized 2. Line 6326: get_foc_status() is called. 3. Line 6271: The read fails so rslt is not BMI160_OK 4. Line 6277: get_foc_status() returns. foc_status has not been assigned any value(!) 5. Line 6327: foc_status is used in comparison. This is undefined behavior(crash or worse) since foc_status has not been initialized -------- One possible solution is to intialize foc_status to a default value at line 6316.
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