About JayLynkz

Hi,  I would like to know how to ajust the Mag Data out of a BMX160 device. After ajusting the accel. and gyro data with the appropriate conversions from LSB units, I don't find any conversions for the mag data. I linked pictures of what I get, which turns around 100 for z and around -30 for x and y.  Am I right to be expecting something around 50 in an axis (earth's magnetic field) and close to 0 for the 2 remaining axis ? Thanks for your help!   Jerome ... View more

Hi,  This is my init function for the BMI160. I just want to test the accel and the gyro data.  The data I get doesn't seem valid. When the device is flat, I get around 0 for X and around 0 for Y, and the Z value is around 17 000. If the measurement is in mg, I would expect it to be around 1000. When I add the FOC (as you can see in the code below), the Z value for the same situation turns around 9500 (see picture).  Should I be seeing results around 1000 mg or is it normal to add a formula to set them around 1000 manually ? Thank you  Jerome         int8_t initBMI160(struct bmi160_dev *dev){ int8_t rslt = BMI160_OK; dev->id = BMI_DEVICE_ID; dev->interface = BMI160_SPI_INTF; dev->read = bosch_read_regs; dev->write = bosch_write_regs; dev->delay_ms = nrf_delay_ms; /* Configure device structure for auxiliary sensor parameter BMM150 */ dev->aux_cfg.aux_sensor_enable = 1; // auxiliary sensor enable dev->aux_cfg.aux_i2c_addr = BMI160_AUX_BMM150_I2C_ADDR; // auxiliary sensor address dev->aux_cfg.manual_enable = 1; // setup mode enable dev->aux_cfg.aux_rd_burst_len = 2;// burst read of 2 byte rslt = bmi160_init(dev); /* Select the Output data rate, range of accelerometer sensor */ dev->accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ; dev->accel_cfg.range = BMI160_ACCEL_RANGE_2G; dev->accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4; /* Select the power mode of accelerometer sensor */ dev->accel_cfg.power = BMI160_ACCEL_NORMAL_MODE; /* Select the Output data rate, range of Gyroscope sensor */ dev->gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ; dev->gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS; dev->gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE; /* Select the power mode of Gyroscope sensor */ dev->gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; /* Set the sensor configuration */ rslt = bmi160_set_sens_conf(dev); /* Initialize the auxiliary sensor interface */ rslt = bmi160_aux_init(dev); /* Initialize the Fast Offset Compensation (FOC) */ const struct bmi160_foc_conf foc_conf = { .foc_gyr_en = BMI160_ENABLE, .foc_acc_x = BMI160_FOC_ACCEL_0G, .foc_acc_y = BMI160_FOC_ACCEL_0G, .foc_acc_z = BMI160_FOC_ACCEL_NEGATIVE_G, .acc_off_en = BMI160_ENABLE, .gyro_off_en = BMI160_ENABLE }; struct bmi160_offsets offset; offset.off_acc_x = 0; offset.off_acc_y = 0; offset.off_acc_z = 0; offset.off_gyro_x = 0; offset.off_gyro_y = 0; offset.off_gyro_z = 0; bmi160_start_foc(&foc_conf, &offset, dev); nrf_delay_ms(255); return rslt; }       ... View more