About owain-incus

Thanks, your reply help me a lot. My problem is twi read and write with improper return error code. 1.I should return error code directly without if conditional statement 2.modify while(rslt ！= 0) to while(rslt == 0) I can get magnet data through nrf52832 accessing bmx160 with twi interface. ... View more

Hi Liam, How did you et on with this part. Just saw your old post and I too have run insto similar issues. https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BMX160-driver/m-p/18349/highlight/false#M4931 But I made changes and their example seems to compile and do something; no error codes returned from API call so one can only assume its OK. But I am not sure of data readings I have got. I added time config to fifo confg; yet API calls still show sensor time zero. I checked the number of samples being returned as the fifo is parsed and the returned fifo size. Example says the number of bytes used in the fifo should be returned; yet I always see 250 returned. When I change the delay for the fifo processing loop from 100mS->40mS->10mS I expected to see the number of samples returned drop; but this is not the case. I then added the api call to soft reset the device before the example; just in case the device was not picking up new configurations. void doABmx160Test(void) { int8_t rslt; uint32_t i; struct bmm150_settings bmmSettings; struct bmm150_mag_data magData; /* Initialize your host interface to the BMI160 */ twi_init(); /* This example uses I2C as the host interface */ bmi.id = BMI160_I2C_ADDR; bmi.read = &bhy_i2c_read; bmi.write = &bhy_i2c_write; bmi.delay_ms = &nrf_delay_ms; bmi.intf = BMI160_I2C_INTF; rslt = bmi160_soft_reset( &bmi ); ASSERT( rslt == BMI160_OK); rslt = bmi160_init(&bmi); ASSERT( rslt == BMI160_OK ); /* The BMM150 API tunnels through the auxiliary interface of the BMI160 */ /* Check the pins of the BMM150 for the right I2C address */ // No field of this name !!!bmm.dev_id = BMM150_DEFAULT_I2C_ADDRESS; bmm.chip_id = 0; bmm.intf = BMM150_I2C_INTF; bmm.intf_ptr = BMM150_DEFAULT_I2C_ADDRESS; // Not used; but keeps BMM driver happy bmm.read = bmm150_aux_read; bmm.write = bmm150_aux_write; bmm.delay_us = &bmm150_user_delay_us; /* Configure the BMI160's auxiliary interface for the BMM150 */ bmi.aux_cfg.aux_sensor_enable = BMI160_ENABLE; bmi.aux_cfg.aux_i2c_addr = BMM150_DEFAULT_I2C_ADDRESS; bmi.aux_cfg.manual_enable = BMI160_ENABLE; /* Manual mode */ bmi.aux_cfg.aux_rd_burst_len = BMI160_AUX_READ_LEN_3; /* 8 bytes */ rslt = bmi160_aux_init(&bmi); ASSERT( rslt == BMI160_OK ); rslt = bmm150_init(&bmm); ASSERT( rslt == BMM150_OK ); /* Configure the accelerometer */ bmi.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ; bmi.accel_cfg.range = BMI160_ACCEL_RANGE_16G; bmi.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; bmi.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; /* Configure the gyroscope */ bmi.gyro_cfg.odr = BMI160_GYRO_ODR_100HZ; bmi.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS; bmi.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; bmi.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; rslt = bmi160_set_sens_conf(&bmi); ASSERT( rslt == BMI160_OK ); /* Configure the magnetometer. The regular preset supports up to 100Hz in Forced mode */ bmmSettings.preset_mode = BMM150_PRESETMODE_REGULAR; rslt = bmm150_set_presetmode( &bmmSettings, &bmm); ASSERT( rslt == BMM150_OK ); /* It is important that the last write to the BMM150 sets the forced mode. * This is because the BMI160 writes the last value to the auxiliary sensor * after every read */ bmmSettings.pwr_mode = BMM150_POWERMODE_FORCED; rslt = bmm150_set_op_mode( &bmmSettings, &bmm); ASSERT( rslt == BMM150_OK ); uint8_t bmm150_data_start = BMM150_REG_DATA_X_LSB; bmi.aux_cfg.aux_odr = BMI160_AUX_ODR_100HZ; rslt = bmi160_set_aux_auto_mode(&bmm150_data_start, &bmi); ASSERT( rslt == BMI160_OK ); /* Link the FIFO memory location */ fifo_frame.data = fifo_buff; fifo_frame.length = FIFO_SIZE; bmi.fifo = &fifo_frame; /* Clear all existing FIFO configurations */ rslt = bmi160_set_fifo_config(BMI160_FIFO_CONFIG_1_MASK , BMI160_DISABLE, &bmi); ASSERT( rslt == BMI160_OK ); //uint8_t fifo_config = BMI160_FIFO_TIME | BMI160_FIFO_HEADER | BMI160_FIFO_AUX | BMI160_FIFO_ACCEL | BMI160_FIFO_GYRO; uint8_t fifo_config = BMI160_FIFO_HEADER | BMI160_FIFO_AUX | BMI160_FIFO_ACCEL | BMI160_FIFO_GYRO; rslt = bmi160_set_fifo_config(fifo_config, BMI160_ENABLE, &bmi); ASSERT( rslt == BMI160_OK ); i = 0; while(rslt == 0) { /* Wait for 100ms for the FIFO to fill */ //nrf_delay_ms(100); nrf_delay_ms(10); /* It is VERY important to reload the length of the FIFO memory as after the * call to bmi160_get_fifo_data(), the bmi.fifo->length contains the * number of bytes read from the FIFO */ bmi.fifo->length = FIFO_SIZE; rslt = bmi160_get_fifo_data(&bmi); ASSERT( rslt == BMI160_OK ); uint8_t aux_inst = MAG_FRAMES, gyr_inst = GYR_FRAMES, acc_inst = ACC_FRAMES; rslt = bmi160_extract_aux(aux_data, &aux_inst, &bmi); ASSERT( rslt == BMI160_OK ); rslt = bmi160_extract_gyro(gyro_data, &gyr_inst, &bmi); ASSERT( rslt == BMI160_OK ); rslt = bmi160_extract_accel(accel_data, &acc_inst, &bmi); ASSERT( rslt == BMI160_OK ); for (uint8_t i = 0; i < aux_inst; i++) { rslt = bmm150_aux_mag_data(&aux_data[i].data[0], &magData, &bmm); ASSERT( rslt == BMM150_OK ); } NRF_LOG_INFO("%d %d %d %d", acc_inst, gyr_inst, aux_inst, bmi.fifo->length ); //if( (i % 10) == 0 ){ //NRF_LOG_INFO("%u", i ) //if( acc_inst > 0 ){ for( i=0; i<acc_inst; i++ ){ //NRF_LOG_INFO("ACC x %d y %d z %d t %u", accel_data[0].x, accel_data[0].y, accel_data[0].z, accel_data[0].sensortime ); //printf("%6.6d %6.6d %6.6d %d\r", accel_data[i].x, accel_data[i].y, accel_data[i].z, accel_data[i].sensortime ); } if( gyr_inst > 0 ){ //NRF_LOG_INFO("GYR x %d y %d z %d t %u", gyro_data[0].x, gyro_data[0].y, gyro_data[0].z, gyro_data[0].sensortime ); } if( aux_inst > 0 ){ //NRF_LOG_INFO("MAG x %d y %d z %d", magData.x, magData.y, magData.z ); //printf("%6.6d %6.6d %6.6d\r", magData.x, magData.y, magData.z ); } NRF_LOG_FLUSH(); //} i++; } } This made no difference.... <info> app: 5 5 1 250 <info> app: 1 5 1 250 <info> app: 1 4 1 250 <info> app: 5 5 1 250 <info> app: 5 5 1 250 <info> app: 3 3 1 250 <info> app: 5 5 1 250 <info> app: 5 5 1 250 <info> app: 2 2 1 250 <info> app: 5 9 1 250 <info> app: 5 5 1 250 <info> app: 5 5 1 250 <info> app: 5 5 1 250 <info> app: 5 5 1 250 <info> app: 5 6 1 250 <info> app: 5 6 1 250 <info> app: 5 5 1 250 <info> app: 4 4 1 250   ... 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This does appear to be true; or well at least I get readings back using those sesnor ID's. Here dump of physical sensor configuration (bhy_get_physical_sensor_status()) and virtual sensor configuration after configuration has been done (bhy_get_wakeup_sensor_configuration(). You See sensor ID's 0xE? return giberish; IID's 0x6? seem to make some sense. <info> app: Accel Phys:SR:100,DR:16,Flag:225 <info> app: Gyro Phys:SR:100,DR:2000,Flag:225 <info> app: Mag Phys:SR:25,DR:2000,Flag:225 <info> app: <info> app: Sensor 61 SR 100 DR 16 <info> app: Sensor 62 SR 0 DR 2000 <info> app: Sensor 63 SR 0 DR 1 <info> app: Sensor 64 SR 100 DR 2000 <info> app: Sensor 6A SR 100 DR 16 <info> app: Accel Phys:SR:100,DR:16,Flag:225 <info> app: Gyro Phys:SR:100,DR:2000,Flag:225 <info> app: Mag Phys:SR:25,DR:2000,Flag:225 <info> app: <info> app: Sensor E1 SR 100 DR 53248 <info> app: Sensor E2 SR 100 DR 53248 <info> app: Sensor E3 SR 100 DR 53248 <info> app: Sensor E4 SR 100 DR 53248 <info> app: Sensor EA SR 100 DR 53248 ... View more

We have just made another log using the same system; but this time we logged for aroun 32 minutes. Gyros and Accelerometer DO start reporting high accuracy; but this is after about 5 minutes.   ... View more