code stuck with nrf52-mpu-easydma-using-timers-and-drivers

RE: code stuck with nrf52-mpu-easydma-using-timers-and-drivers

MartinBL — Mon, 16 Apr 2018 12:08:36 GMT

Unfortunately I don't know anything about the AHRS algorithm.

RE: code stuck with nrf52-mpu-easydma-using-timers-and-drivers

Waqas Qammar — Fri, 13 Apr 2018 04:37:55 GMT

Thank you for help brother. Now I am using a simple example and convert it according to my requirements. everything is fine but when I applied Mahony AHRS the yaw keep changing from 180 to 0 then 360 to 180 even if I never touch the sensor. can you help me on this? Now I am porting embedded motion driver from Invesense for higher functionality.

RE: code stuck with nrf52-mpu-easydma-using-timers-and-drivers

MartinBL — Tue, 10 Apr 2018 11:06:22 GMT

Hi,

There seems to be a weird relationship between the timer used to trigger the TWI transfers and the size of the buffer. If you use 20 ms intervals and a >82 bytes long buffer the timer doesn't seem to trigger any interrupts (or TWI transfers) at all. And even stranger, if you use a buffer of 75 bytes, the timer seems to trigger events at ~4 ms intervals even though it is configured for 20 ms intervals. If you decrease the intervals to 50 ms you can use 14x7 bytes buffers. I'll have to do some further debugging on this one.