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So I've gotten the BMI160 chip so successfully read out its accelerometer data with no problem, but when I set the power mode for the gyroscope I get no outputs and there are no errors in the error register. Without configuring the gyro_cfg.power to BMI160_GYRO_NORMAL_MODE, I read that the PMU register has the acceleromoter in normal mode, the Status register reads accelerometer data is ready and NVM is ready as well and I can get accelerations data happily all day long. When I configure the gyro_cfg.power the PMU Register reads 0, all suspended, and only the NVM is ready in the Status register. Still no errors. What's going on here? What am I missing that's causing the problem?     #define SPI_BUFFER_SIZE 20 #define SPI_INSTANCE 0 /**< SPI instance index. */ static const nrf_drv_spi_t spi = NRF_DRV_SPI_INSTANCE(SPI_INSTANCE);/**< SPI instance. */ static uint8_t spi_tx_buf[SPI_BUFFER_SIZE]; /**< TX buffer. */ static uint8_t spi_rx_buf[SPI_BUFFER_SIZE]; /**< RX buffer. */ bool volatile spi_xfer_done = false; void user_delay_ms(uint32_t period) { nrf_delay_ms(period); } //function is called when spi transfer is complete void spi_event_handler(nrf_drv_spi_evt_t const *p_event, void *p_context) { //setting flag to true unblocks spi_xfer_done = true; // DPRINTF("Received: 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x, 0x%x\n", // spi_rx_buf[0], spi_rx_buf[1], spi_rx_buf[2], spi_rx_buf[3], spi_rx_buf[4], // spi_rx_buf[5], spi_rx_buf[6], spi_rx_buf[7], spi_rx_buf[8], spi_rx_buf[9], // spi_rx_buf[10], spi_rx_buf[11], spi_rx_buf[12], spi_rx_buf[13], spi_rx_buf[14], // spi_rx_buf[15], spi_rx_buf[16], spi_rx_buf[17], spi_rx_buf[18], spi_rx_buf[19] // ); } //send spi command and waits for return - signaled by spi_xfer_done being true int8_t spi_read(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t length){ ret_code_t ret ; reg_addr = reg_addr | 0x80; memset(spi_rx_buf, 0, SPI_BUFFER_SIZE); uint8_t * read_temp = spi_rx_buf; spi_xfer_done = false; ret = nrf_drv_spi_transfer(&spi, &reg_addr, 1, read_temp, length + 1 ) ; while (!spi_xfer_done) { __WFE(); } memcpy((void*)reg_data, (void*)(read_temp+1), length); // DPRINTF("RSLT: %d\n", ret); nrf_delay_ms(1); return (int8_t)ret; } //send a spi command and does not listen or wait for a return int8_t spi_write(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 ] ; spi_tx_buf[0] = reg_addr & 0x7F; memcpy((void*)(spi_tx_buf+1), (void*)(reg_data), length); spi_xfer_done = false; ret = nrf_drv_spi_transfer(&spi, spi_tx_buf, length + 1, NULL, 0 ) ; while (!spi_xfer_done) { __WFE(); } // DPRINTF("RSLT: %d\n", ret); return (int8_t)ret; } void imu_init(void) { //initialize spi on nRF nrf_drv_spi_config_t spi_config = NRF_DRV_SPI_DEFAULT_CONFIG; spi_config.ss_pin = PIN_SS; spi_config.miso_pin = PIN_MISO; spi_config.mosi_pin = PIN_MOSI; spi_config.sck_pin = PIN_SCLK; spi_config.frequency = NRF_DRV_SPI_FREQ_1M; spi_config.mode = NRF_DRV_SPI_MODE_0; APP_ERROR_CHECK(nrf_drv_spi_init(&spi, &spi_config, spi_event_handler, NULL)); //initialize BMI160 sensor struct bmi160_dev sensor; /* You may assign a chip select identifier to be handled later */ sensor.id = 0; sensor.interface = BMI160_SPI_INTF; sensor.read = spi_read; sensor.write = spi_write; sensor.delay_ms = user_delay_ms; int8_t rslt = BMI160_OK; rslt = bmi160_init(&sensor); if(rslt != 0) { DPRINTF("Error on Sensor SPI\n"); } else { DPRINTF("IMU SPI Enabled\n"); } /* After the above function call, accel_cfg and gyro_cfg parameters in the device structure are set with default values, found in the datasheet of the sensor */ //foc uint8_t reg_addr = 0x69; uint8_t data = 0b11111111; // rslt = bmi160_set_regs(reg_addr, &data, 1, &sensor); // nrf_delay_ms(300); //page 45 says foc needs 250ms to configure // bmi160_get_regs(reg_addr, &data, 1, &sensor); // DPRINTF("FOC: %d\n", rslt); // DPRINTF("FOC register: %d\n", data); // reg_addr = 0x7E; // data = 0x03; // rslt = bmi160_set_regs(reg_addr, &data, 1, &sensor); // nrf_delay_ms(300); //page 45 says foc needs 250ms to configure /* Select the Output data rate, range of accelerometer sensor */ sensor.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ; sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G; sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; /* Select the power mode of accelerometer sensor */ sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; /* Select the Output data rate, range of Gyroscope sensor */ sensor.gyro_cfg.odr = BMI160_GYRO_ODR_200HZ; sensor.gyro_cfg.range = BMI160_GYRO_RANGE_250_DPS; sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; /* Select the power mode of Gyroscope sensor */ // sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; /* Set the sensor configuration */ rslt = bmi160_set_sens_conf(&sensor); if(rslt != 0) { DPRINTF("Error Configuring Sensor: %d\n", rslt); } else { DPRINTF("IMU Initialized\n"); } reg_addr = 0x03; bmi160_get_regs(reg_addr, &data, 1, &sensor); DPRINTF("Power register: %d\n", data); reg_addr = 0x00; bmi160_get_regs(reg_addr, &data, 1, &sensor); DPRINTF("Chip ID register: %d\n", data); reg_addr = 0x1B; bmi160_get_regs(reg_addr, &data, 1, &sensor); DPRINTF("Status register: %d\n", data); //read initial gyro, accel and time data from imu struct bmi160_sensor_data accel; struct bmi160_sensor_data gyro; while(1) { bmi160_get_regs(reg_addr, &data, 1, &sensor); DPRINTF("Status register: %d\n", data); bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &accel, &gyro, &sensor); DPRINTF("Accel: %d %d %d\t\t", accel.x, accel.y, accel.z); DPRINTF("Gyro: %d %d %d\n", gyro.x, gyro.y, gyro.z); nrf_delay_ms(1000); } }   ... 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