About mnjirjak

Hi, I have just started working with the BMX160 sensor and I'm able to read sensor data. I think there is something wrong with the data readings as I expect to get AccY and AccX value to be zero while the sensor is still while I get the following values: What can be the problem? BTW I wish to use the BSX library to get quarternion vector of the chip orientation, but the BSXlite only support 6 DOF. where can i get the BSX full sensor fusion library? Thanks, ... View more

Hi swapnilsayan, sorry for the late response. While working on this project, I used Nordic nRF52840 as the master chip. Accordingly, the SPI and I2C functions are somewhat connected to the Nordic SDK. SPI:   void delay(uint32_t period) { nrf_delay_ms(period); } int8_t spi_read_transfer(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t length) { ret_code_t ret; uint8_t read_temp[length + 1]; uint8_t counter = 0; while (counter < 3) { ret = nrf_drv_spi_transfer(&spi, &reg_addr, 1, read_temp, length + 1); if (ret == NRF_SUCCESS) { break; } else { ++counter; } } if (counter >= 3) { APP_ERROR_CHECK(ret); } nrf_delay_us(500); for (int i = 1; i < length + 1; ++i) { reg_data[i - 1] = read_temp[i]; } return (int8_t)ret; } int8_t spi_write_transfer(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t length) { ret_code_t ret; uint8_t write_temp[length + 1]; write_temp[0] = reg_addr; uint8_t counter = 0; for (int i = 1; i < length + 1; ++i) { write_temp[i] = reg_data[i-1]; } while (counter < 3) { ret = nrf_drv_spi_transfer(&spi, write_temp, length + 1, NULL, 0); if (ret == NRF_SUCCESS) { break; } else { ++counter; } } if (counter >= 3) { APP_ERROR_CHECK(ret); } nrf_delay_us(500) ; return (int8_t)ret; } void setupSPI() { nrf_drv_spi_config_t spi_config = NRF_DRV_SPI_DEFAULT_CONFIG; spi_config.frequency = NRF_DRV_SPI_FREQ_8M; spi_config.ss_pin = SPI_SS_PIN; spi_config.miso_pin = SPI_MISO_PIN; spi_config.mosi_pin = SPI_MOSI_PIN; spi_config.sck_pin = SPI_SCK_PIN; APP_ERROR_CHECK(nrf_drv_spi_init(&spi, &spi_config, NULL, NULL)); }    I didn't actually use I2C, but it was used internally by the BMI160 and BMM150 drivers, I guess. I used BMX160, which can be controlled with BMI160+BMM150 drivers. Sensors are initialized as follows:   struct bmi160_dev bmi; struct bmm150_dev bmm; void initializeSensors() { bmi.id = 0; bmi.interface = BMI160_SPI_INTF; bmi.read = spi_read_transfer; bmi.write = spi_write_transfer; bmi.delay_ms = delay; bmm.dev_id = BMM150_DEFAULT_I2C_ADDRESS; bmm.intf = BMM150_I2C_INTF; bmm.read = bmm150_aux_read; bmm.write = bmm150_aux_write; bmm.delay_ms = delay; APP_ERROR_CHECK(bmi160_init(&bmi)); bmi.aux_cfg.aux_sensor_enable = BMI160_ENABLE; bmi.aux_cfg.aux_i2c_addr = bmm.dev_id; bmi.aux_cfg.manual_enable = BMI160_ENABLE; APP_ERROR_CHECK(bmi160_aux_init(&bmi)); APP_ERROR_CHECK(bmm150_init(&bmm)); }    More details about this can be found on the official Bosch Github repos (https://github.com/BoschSensortec/BMI160_driver, https://github.com/BoschSensortec/BMM150-Sensor-API). Kind regards, Marko Njirjak ... View more

@lvoc wrote: I had the same issue and after looking at the solution in this thread, I determined that it is necesary to set the register 0x6B to 0x02. Aaccording to the BMI160 manual, thi sets Primary interface: autoconfig / secondary interface: Magnetometer. The BMX160 manual indicates that these bits are reserved. Table 16 should have as the first instruction: Write, 0x6B, IF_CONF, 0x02, set secondary interface to Magnetometer Actually, in BMX160, the secondary interface is set internally to Magnetometer, regardless of the register value. This register write is unnecessary. I do not know what was the issue in your case, but it must have been somewhere else.   o_o ... View more

Hi o_o, thank you very much for the clarification. This makes perfect sense. Kind regards, Marko Njirjak ... View more

Really Thanks! I am know basic applications of Quatrnion I think.  ... View more