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Hi, i am trying to read quaternion's out of the BHI160b, that's why i purchased the BHI160b shuttle Board from Bosch. I want to connect it with my NUCLEO-F411RE from STM. So i implemented the library into my STM project. The next step was to figure out how to use the HAL_I2C functions to communicate with the sensor. I changed the read/write operations in the driver's file bhy_support.c like this: uint8_t GTXBuffer[256]; int8_t SensorAPI_I2Cx_Read(uint8_t slave_address7, uint8_t subaddress, uint8_t *pBuffer, uint16_t ReadNumbr) { uint16_t DevAddress = slave_address7 << 1; // send register address HAL_I2C_Master_Transmit(&I2C_HANDLE, DevAddress, &subaddress, 1, BUS_TIMEOUT); HAL_I2C_Master_Receive(&I2C_HANDLE, DevAddress, pBuffer, ReadNumbr, BUS_TIMEOUT); return 0; } int8_t SensorAPI_I2Cx_Write(uint8_t slave_address7, uint8_t subaddress, uint8_t *pBuffer, uint16_t WriteNumbr) { uint16_t DevAddress = slave_address7 << 1; GTXBuffer[0] = subaddress; memcpy(&GTXBuffer[1], pBuffer, WriteNumbr); // send register address HAL_I2C_Master_Transmit(&I2C_HANDLE, DevAddress, GTXBuffer, WriteNumbr+1, BUS_TIMEOUT); return 0; } I connected the Shuttle Board to my NUCLEO board like this: ___J1___|___NUCLEO___ 1/2 | 3.3V 3 | GND 17 | PB7 -> I2C1_SCL 18 | PB6 -> I2C1_SDA 21 | PB5 -> DI/BHI160_INT In my main loop i startet to initialize BHI160 Sensor with the function bhy_initialize_support();: int main(void) { /* MCU Configuration--------------------------------------------------------*/ HAL_Init(); SystemClock_Config(); MX_GPIO_Init(); MX_I2C1_Init(); /* USER CODE BEGIN 2 */ bhy_initialize_support(); /* USER CODE END 2 */ while (1) { /* USER CODE END WHILE */ int8_t ret; /* BHY Variable*/ uint8_t *fifoptr = NULL; uint8_t bytes_left_in_fifo = 0; uint16_t bytes_remaining = 0; uint16_t bytes_read = 0; bhy_data_generic_t fifo_packet; bhy_data_type_t packet_type; BHY_RETURN_FUNCTION_TYPE result; /* the remapping matrix for BHA or BHI here should be configured according to its placement on customer's PCB. */ /* for details, please check 'Application Notes Axes remapping of BHA250(B)/BHI160(B)' document. */ int8_t bhy_mapping_matrix_config[3*3] = {0,1,0,-1,0,0,0,0,1}; /* the remapping matrix for Magnetometer should be configured according to its placement on customer's PCB. */ /* for details, please check 'Application Notes Axes remapping of BHA250(B)/BHI160(B)' document. */ int8_t mag_mapping_matrix_config[3*3] = {0,1,0,1,0,0,0,0,-1}; /* the sic matrix should be calculated for customer platform by logging uncalibrated magnetometer data. */ /* the sic matrix here is only an example array (identity matrix). Customer should generate their own matrix. */ /* This affects magnetometer fusion performance. */ float sic_array[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; /* To get the customized version number in firmware, it is necessary to read Parameter Page 2, index 125 */ /* to get this information. This feature is only supported for customized firmware. To get this customized */ /* firmware, you need to contact your local FAE of Bosch Sensortec. */ //struct cus_version_t bhy_cus_version; while (HAL_GPIO_ReadPin(BHI160_INT_GPIO_Port, BHI160_INT_Pin) == GPIO_PIN_RESET); /* init the bhy chip */ if(bhy_driver_init(&bhy1_fw)) { //DEBUG("Fail to init bhy\n"); } /* wait for the bhy trigger the interrupt pin go down and up again */ //while (HAL_GPIO_ReadPin(BHI160_INT_GPIO_Port, BHI160_INT_Pin) == GPIO_PIN_SET); HAL_Delay(100); while (HAL_GPIO_ReadPin(BHI160_INT_GPIO_Port, BHI160_INT_Pin) == GPIO_PIN_RESET); /* To get the customized version number in firmware, it is necessary to read Parameter Page 2, index 125 */ /* to get this information. This feature is only supported for customized firmware. To get this customized */ /* firmware, you need to contact your local FAE of Bosch Sensortec. */ //bhy_read_parameter_page(BHY_PAGE_2, PAGE2_CUS_FIRMWARE_VERSION, (uint8_t*)&bhy_cus_version, sizeof(struct cus_version_t)); //DEBUG("cus version base:%d major:%d minor:%d\n", bhy_cus_version.base, bhy_cus_version.major, bhy_cus_version.minor); /* the remapping matrix for BHI and Magmetometer should be configured here to make sure rotation vector is */ /* calculated in a correct coordinates system. */ bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_ACC, bhy_mapping_matrix_config); bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_MAG, mag_mapping_matrix_config); bhy_mapping_matrix_set(PHYSICAL_SENSOR_INDEX_GYRO, bhy_mapping_matrix_config); /* This sic matrix setting affects magnetometer fusion performance. */ bhy_set_sic_matrix(sic_array); /* install the callback function for parse fifo data */ if(bhy_install_sensor_callback(VS_TYPE_ROTATION_VECTOR, VS_WAKEUP, sensors_callback_rotation_vector)) { //DEBUG("Fail to install sensor callback\n"); } /* enables the virtual sensor */ if(bhy_enable_virtual_sensor(VS_TYPE_ROTATION_VECTOR, VS_WAKEUP, ROTATION_VECTOR_SAMPLE_RATE, 0, VS_FLUSH_NONE, 0, 0)) { //DEBUG("Fail to enable sensor id=%d\n", VS_TYPE_ROTATION_VECTOR); } /* continuously read and parse the fifo */ while (1) { /* wait until the interrupt fires */ /* unless we already know there are bytes remaining in the fifo */ while (!HAL_GPIO_ReadPin(BHI160_INT_GPIO_Port, BHI160_INT_Pin) && !bytes_remaining) { } bhy_read_fifo(fifo + bytes_left_in_fifo, FIFO_SIZE - bytes_left_in_fifo, &bytes_read, &bytes_remaining); bytes_read += bytes_left_in_fifo; fifoptr = fifo; packet_type = BHY_DATA_TYPE_PADDING; do { /* this function will call callbacks that are registered */ result = bhy_parse_next_fifo_packet(&fifoptr, &bytes_read, &fifo_packet, &packet_type); /* prints all the debug packets */ if (packet_type == BHY_DATA_TYPE_DEBUG) { bhy_print_debug_packet(&fifo_packet.data_debug, bhy_printf); } /* the logic here is that if doing a partial parsing of the fifo, then we should not parse */ /* the last 18 bytes (max length of a packet) so that we don't try to parse an incomplete */ /* packet */ } while ((result == BHY_SUCCESS) && (bytes_read > (bytes_remaining ? MAX_PACKET_LENGTH : 0))); bytes_left_in_fifo = 0; if (bytes_remaining) { /* shifts the remaining bytes to the beginning of the buffer */ while (bytes_left_in_fifo < bytes_read) { fifo[bytes_left_in_fifo++] = *(fifoptr++); } } } /* USER CODE BEGIN 3 */ } } When my programm jumps into the function it checks the product_id of the sensor and returns * return BHY_SUCCESS;* which means that the I2C connection is working! Bosch also provides some example code for different sensor readings here. Because i want my rotation data in quaternion's i looked at the rotation_vector_example.c example. There are two functions static void sensors_callback_rotation_vector() and void demo_sensor(), but i cant get this code to work. I put the demo_sensor() in to my main loop and have the Sensor_callback_rotation_vector()  in my main.c file. Maybe there is an other way to use this driver? In the documentation they say that the driver helps you in 3 phases to read out data: initialization, configuration and data readout. But i cant figure out how to actually do it! ... View more