About fish

Hi, I think you could check MISO & MOSI connection. Meanwhile, VDD&VDDIO can powered by 3.3V. You had better check the SPI waveform with logic analyzer tool or oscilloscope. MCU <--------------------------> BMX160 -------------------- ------------------------ VDD ------------------------- -> VDD（3.3 V） MISO <------------------------- SDO(PIN  1) MOSI -------------- -----------> SDX (PIN 14) CLK ---------------------------> SCX(PIN 13) GPIO_輸出------ -------> CS VDDID ----> VDD（BMX160 VDDVDD）   ... View more

Hi, I couldn't find out the error quicly. Maybe you can add printf() function and log more info, this can help you find the exception position. ... View more

Hi BMIX60 prilimary interface defaut is I2C, need switch to SPI. Usually  we using a dummy ready to change the interface to SPI. You could refer to chapter 3.1 in BMX160 datasheet.  The read chip id process as bellow.   ... View more

Maybe you could view this link to gew more info about BMX160 driver. https://community.bosch-sensortec.com/t5/MEMS-sensors-forum/BMX 160-driver/m-p/6581 ... View more

Hi, BSX Lite couldn't ouput absolute orientation, so maybe you mentioned transition from body system to body system, just relative movement. BSX full version could output absolute orientaiton. The heading value of Euler just like the e-compass, same direction with geomagnetic. The pitch and roll  of Euler transfer from body to body system, refer to gravitational force. You can view the link https://www.bosch-sensortec.com/software-tools/software/sensor-fusion-software/. From the BSXlite_LibraryIntegrationGuideline.pdf, maybe you will learn more about BSX Lite. Best regards ... View more