BMI160 + NRF52832 + I2C

[Sunil vignesh]

HI,

I want to develop a program to access Accelerometer and gyroscope value from BMI160 sensor. I have used this BMI160 library 

I alter the TWI_SENSOR code and it works for self testing ACC code. but i need to calibrate the x, y, z axis value and i want to add BLE stack to read in mobile app.

1. How to collect all the X,Y,Z axis value

2. i need to see the LOGS in Bluetooth app by using BLE_UART. how to edit the BLE_UART code to get the respective ACC and GYRO value in BLE APP.

Is there any code for reading X,Y,Z axis for BMI160??

[Jørgen Holmefjord]

Hi,

1. There is API in the library you linked for getting sensor data. What have you done to integrate the library in your application? Did you follow the User Guide?
2. You need to integrate the library in order to get the data first. The data can be sent over BLE using the function ble_nus_data_send().

Best regards,
Jørgen

[klcheung]

I am doing a similar project, hoping to use 52840 to communicate with the BMI160. I re-configured the pin assignments and tried to programme it. I used same code. Can you offer me some help?

#include <stdio.h>
#include "boards.h"
#include "app_util_platform.h"
#include "app_error.h"
#include "nrf_drv_twi.h"
#include "nrf_delay.h"


#include "nrf_log.h"
#include "nrf_log_ctrl.h"
#include "nrf_log_default_backends.h"

#include "bmi160.h"

/* TWI instance ID. */
#define TWI_INSTANCE_ID     0


/* Indicates if operation on TWI has ended. */
static volatile bool m_xfer_done = false;

/* TWI instance. */
static const nrf_drv_twi_t m_twi = NRF_DRV_TWI_INSTANCE(TWI_INSTANCE_ID);

struct bmi160_dev sensor;
struct bmi160_sensor_data accel;
struct bmi160_sensor_data gyro;


int8_t rslt = BMI160_OK;


/*TWI initialization*/

void twi_init (void)
{
    ret_code_t err_code;

    const nrf_drv_twi_config_t twi_config = {
       .scl                = ARDUINO_SCL_PIN,
       .sda                = ARDUINO_SDA_PIN,
       .frequency          = NRF_DRV_TWI_FREQ_100K,
       .interrupt_priority = APP_IRQ_PRIORITY_HIGH,
       .clear_bus_init     = false
    };

    err_code = nrf_drv_twi_init(&m_twi, &twi_config, NULL, NULL);
    
    APP_ERROR_CHECK(err_code);
    if (NRF_SUCCESS == err_code)
	{
		nrf_drv_twi_enable(&m_twi);
		NRF_LOG_INFO("TWI init success...");	
	}
}

int8_t Acc_i2c_Write(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t len)
{

    //  NRF_LOG_INFO("WRITE: dev_id: %x reg_addr: %x reg_data: %x len: %i\n", dev_id, reg_addr, *reg_data, len);
	int8_t rslt = 0;
	uint8_t data[len + 1];
	data[0] = reg_addr;
	for (uint16_t i = 0; i < len; i++) {
		data[i + 1] = reg_data[i];
	}
	
	rslt = nrf_drv_twi_tx(&m_twi, dev_id, reg_data, len + 1, false);
	APP_ERROR_CHECK(rslt);
        return rslt;
  
}


int8_t Acc_i2c_Read(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t len)
{
	int8_t rslt = 0;
   //     NRF_LOG_INFO("READ: dev_id: %x reg_addr: %x len: %i\n", dev_id, reg_addr, len);
	rslt = nrf_drv_twi_tx(&m_twi, dev_id, &reg_addr, 1, false);
        APP_ERROR_CHECK(rslt);

	if (rslt == 0)
	{
		rslt = nrf_drv_twi_rx(&m_twi, dev_id, reg_data, len);
	}
    //    NRF_LOG_INFO("READ: %x",*reg_data);
	return rslt;
}

void Acc_delay_ms(uint32_t period)
{ 
	
/*if (period==NULL){
period = 1;
}// delay time*/
	
  nrf_delay_ms( period ) ;
}


void BMI160_init (void)
{
    sensor.id = BMI160_I2C_ADDR;         //0x69
    sensor.interface = BMI160_I2C_INTF;  //0x00
    sensor.read = &Acc_i2c_Read;
    sensor.write = &Acc_i2c_Write;
    sensor.delay_ms = &Acc_delay_ms;

    rslt = bmi160_init(&sensor);
    APP_ERROR_CHECK(rslt);

    if(rslt == BMI160_OK){
    NRF_LOG_INFO("BMI160 Initialized...");
    } else {
    NRF_LOG_INFO("BMI160 not Initialized...");
    }NRF_LOG_FLUSH();

    sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
    sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
    sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
    sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;

    sensor.gyro_cfg.odr = BMI160_GYRO_ODR_100HZ;
    sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
    sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
    sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;

    rslt = bmi160_set_sens_conf(&sensor);
    APP_ERROR_CHECK(rslt);

     if(rslt == BMI160_OK){
    NRF_LOG_INFO("sensor Configured...");
    } else {
    NRF_LOG_INFO("sensor not Configured...");
    }NRF_LOG_FLUSH();
}

static void read_sensor_data()
{
      m_xfer_done = false;
      bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor);
      NRF_LOG_INFO("DataX:%d", accel.x);
      NRF_LOG_INFO("DataY:%d", accel.y);
      NRF_LOG_INFO("DataZ:%d", accel.z);
}


int main(void)
{
    bsp_board_init(BSP_INIT_LEDS);
    APP_ERROR_CHECK(NRF_LOG_INIT(NULL));
    NRF_LOG_DEFAULT_BACKENDS_INIT();

    NRF_LOG_INFO("BMI160 get started.\n");
    NRF_LOG_FLUSH();
    Acc_delay_ms(100);

    twi_init();
    Acc_delay_ms(50);

    BMI160_init();
    Acc_delay_ms(100);

    while(true)
    {
      nrf_delay_ms( 1000 ) ;
      /* do
        {
            __WFE();
        }while (m_xfer_done == false);*/
        read_sensor_data();
        NRF_LOG_FLUSH();
    }
}

[Sunil vignesh]

can you explain it deep.

where did you got the breakpoints

double click here it will show the error occur on which line