Hello, Using some BMI270 reference code for STM32 applications I found on this forum I was able to successfully initalize and sample accelerometer and gyroscope. My accelermoter raw counts for the x and y components were around 100-400 counts (I think 'z' was much larger). The gyroscope magnitude of the raw counts [sqrt(x^2 + y^2 + z^2)] was around ~70 counts. These values were observed while the board was at rest. As expected, when the board was rotated or accelerated in a given direction the accel and gyro counts would change. However, once the board's at rest orientation is changed, the resting accelerometer offset changes dramatically. For example, the 'x' and 'y' component counts jumped to ~8000 and saturated after rotating the boards 90 degrees. I then laid the board in its original position, but face down, and the accelerometer offset counts rested at 1000-2000. I thought perhaps it was a function of environmental noise (EMI) from some nearby motors, but with or without the motors energized the counts remain as is. Is this change in accelerometer offset expected depending on board orientation when the board is static (i.e. at rest)? As far as calibration goes, should I take note of whatever the offset is at boot and subtract it off? I noticed that there are some offset registers for saving such readings. Any help would be appreciated. I can share code if needed. Thank you!
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