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Hello all, I am experiencing a couple of anomalies in the data read from BMI270 using the reference API. 1) The accelerometer data is out by a factor of 4. 2) The timestamp data always reads 0. Please take a look at the following code and output and see if you can spot what I am missing: CODE: static int8_t BMI270_sensor_config(struct bmi2_dev *bmi2_dev) { int8_t rslt = BMI2_OK; struct bmi2_sens_config config[2]; config[0].type = BMI2_ACCEL; config[0].cfg.acc.odr = BMI2_ACC_ODR_100HZ; config[0].cfg.acc.range = BMI2_ACC_RANGE_2G; config[0].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4; config[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE; config[1].type = BMI2_GYRO; config[1].cfg.gyr.odr = BMI2_GYR_ODR_100HZ; config[1].cfg.gyr.range = BMI2_GYR_RANGE_2000; config[1].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE; config[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE; config[1].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE; if(rslt = BMI2_OK) bmi2_set_sensor_config(config, 2, bmi2_dev); return rslt; } void bmi270_raw_feed(void) { struct bmi2_sensor_data sensor_data[2]; sensor_data[0].type = BMI2_ACCEL; sensor_data[1].type = BMI2_GYRO; bmi2_get_sensor_data(sensor_data, 2, &bmi270_dev); /*Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */ test_x = lsb_to_mps2(sensor_data[0].sens_data.acc.x, 2, bmi270_dev.resolution); // bmi270_dev.resolution=16 test_y = lsb_to_mps2(sensor_data[0].sens_data.acc.y, 2, bmi270_dev.resolution); test_z = lsb_to_mps2(sensor_data[0].sens_data.acc.z, 2, bmi270_dev.resolution); test_g = sqrt(test_x*test_x + test_y*test_y + test_z*test_z); } #define GRAVITY_EARTH (9.80665f) static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width) { float half_scale = ((float)(1 << bit_width) / 2.0f); return (GRAVITY_EARTH * val * g_range) / half_scale; } OUTPUT (sensor stationary): sensor_data[0].sens_data.acc.x = 355 sensor_data[0].sens_data.acc.y = 358 sensor_data[0].sens_data.acc.z = 4104 sensor_data[0].sens_data.acc.virt_sens_time = 0 sensor_data[1].sens_data.gyr.x = 3 sensor_data[1].sens_data.gyr.y = -2 sensor_data[1].sens_data.gyr.z = 3 sensor_data[0].sens_data.gyr.virt_sens_time = 0 test_x = 0.208894104 test_y = 0.211288303 test_z = 2.45405674 test_g = 2.47197771 1) I would expect: test_g = GRAVITY_EARTH , however it seems: test_g = GRAVITY_EARTH/4 .The gyro data seems to be correct. 2) I can get the correct timestamp data by reading the SENSORTIME registers directly. What is the most efficiant way to read gyro, accel and timestamp data together? Any help would be much appreciated! ... View more

Hello all, I am trying to migrate my project from BMI160 to BMI270 but so far I am unable to initialise the device. I began with some code which works for BMI160 (ATSAM M0+, Atmel studio) and am trying to migrate using the reference API :https://github.com/BoschSensortec/BMI270-Sensor-API. Hopefully someone can help point me in the right direction. 1) Firstly I should point out that SPI communication works with BMI270 using my user spi read/write functions directly: static uint8_t read_test_buff[2] = {0, 0}; static uint8_t write_test_buff[2] = {0x11, 0x12}; // some random data static uint8_t read_test_buff2[2] = {0, 0, 0}; // READ TEST // user_spi_read(0, BMI2_CHIP_ID_ADDR, read_test_buff, 2); //updates as expected: read_test_buff = {0, 0x24, 0}; // SUCCESS // WRITE TEST // user_spi_write(0, BMI2_ACC_OFF_COMP_0_ADDR, write_test_buff, 2); // write to accelerometer offset x & y registers user_spi_read(0, BMI2_ACC_OFF_COMP_0_ADDR, read_test_buff2, 3); // read accelerometer offset x & y registers //updates as expected: read_test_buff2 = {0, 0x11, 0x12}; // SUCCESS QUESTION: Is this output format correct? Or should I be getting something like read_test_buff={0x24, 0} and read_test_buff2={ 0x23, 0x24, 0}, or something else ? 2) Here's my code to initialise the sensor: struct bmi2_dev bmi270_dev; int8_t BMI270_sensor_init(void) {      int8_t rslt = BMI2_OK;      // Set SPI interface parameters      bmi270_dev.chip_id = BMI270_CHIP_ID; // also tried chip_id =0      bmi270_dev.dummy_byte = 1;      bmi270_dev.read_write_len = 32; // also tried read_write_len= 8192  as in github arduino gist      bmi270_dev.intf = BMI2_SPI_INTF;      bmi270_dev.read = user_spi_read;      bmi270_dev.write = user_spi_write;      bmi270_dev.delay_us = user_delay_us;      bmi270_dev.config_file_ptr = NULL;      rslt = bmi270_init(&bmi270_dev);      return rslt; } Whilst debugging I have followed initiation through to bmi2_soft_reset(...). More specifically to the line: /* Reset bmi2 device */ rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &data, 1, dev); This calls 'user_spi_write', however it throws an error. There seems to be a similar issue when bmi2_get_regs(...) is called. (rslt = BMI2_E_COM_FAIL). Any help would be much appreciated! ... View more