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]

I do not understand what you mean by this:

Sunil vignesh said:

but with rslt return data only. i checked

Did you receive the data? If not, I recommend that you check the TWI lines.

[Sunil vignesh]

I print the data which in Acc_i2c_Read() and Acc_i2c_Write();

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

/* Sensor */
#include "bmi160.h"

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

int8_t rslt = BMI160_OK;
uint8_t data = 0;
struct bmi160_sensor_data accel;
struct bmi160_sensor_data gyro;
//struct bmi160_sensor_data.gyro Gyro;

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, data, len + 1, false);
	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 reg_data: %x len: %i\n", dev_id, reg_addr, reg_data, len);
	rslt = nrf_drv_twi_tx(&m_twi, dev_id, &reg_addr, 1, false);
	//nrf_delay_ms(5);
	if (rslt == 0)
	{
		rslt = nrf_drv_twi_rx(&m_twi, dev_id, reg_data, len);
	}
	
	return rslt;
}

void Acc_delay_ms(uint32_t period)
{ 
	// delay time
	
  nrf_delay_ms( period ) ;
} // user_delay_ms()

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);
    if (NRF_SUCCESS == err_code)
	{
		nrf_drv_twi_enable(&m_twi);
		NRF_LOG_INFO("success");	
	}
    APP_ERROR_CHECK(err_code);

    
}

void Acc_Gyro_config(void)
{
/* Select the Output data rate, range of accelerometer sensor */
    sensor.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
    sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
    sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;

    /* Select the power mode of accelerometer sensor */
    sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;

    /* Select the Output data rate, range of Gyroscope sensor */
    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;

    /* Select the power mode of Gyroscope sensor */
    sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 

    /* Set the sensor configuration */

    rslt = bmi160_set_sens_conf(&sensor);
    Acc_delay_ms(100);
    rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, &sensor);

if (rslt == BMI160_OK) {
	data = data >> 1;
	data = data & BMI160_ERR_REG_MASK;
	if (data == 1)
		rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
	else if (data == 2)
		rslt = BMI160_E_GYRO_ODR_BW_INVALID;
	else if (data == 3)
		rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
	else if (data == 7)
	rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
}

NRF_LOG_INFO("setup result is : %d",rslt);



    if(rslt == BMI160_OK){
    NRF_LOG_INFO("sensor Configured... \n");
    } else {
   NRF_LOG_INFO("sensor not Configured... \n");
    }
   
    NRF_LOG_FLUSH();
}
void Acc_Gyro_self_test(void)
{
  rslt = bmi160_perform_self_test(BMI160_ACCEL_ONLY, &sensor);
 
          
          if (rslt == BMI160_OK) {
                  NRF_LOG_INFO("ACCEL SELF TEST RESULT SUCCESS \n");
          } else {
                  NRF_LOG_INFO("ACCEL SELF TEST RESULT FAIL\n");
          }NRF_LOG_FLUSH();
  
  rslt = bmi160_perform_self_test(BMI160_GYRO_ONLY, &sensor);
  
          
          if (rslt == BMI160_OK) {
                  NRF_LOG_INFO("gyro SELF TEST RESULT SUCCESS \n");
          } else {
                  NRF_LOG_INFO("gyro SELF TEST RESULT FAIL \n");
          }

      NRF_LOG_FLUSH();
}


void BMI_mode(void)
{ 
    
    sensor.id = BMI160_I2C_ADDR;
    sensor.interface = BMI160_I2C_INTF;
    sensor.read = Acc_i2c_Read;
    sensor.write = Acc_i2c_Write;
    sensor.delay_ms = Acc_delay_ms;

    rslt = bmi160_init(&sensor);
    if(rslt == BMI160_OK){
    NRF_LOG_INFO("BMI160 Initialized... \n");
    } else {
    NRF_LOG_INFO("BMI160 not Initialized... \n");
    }
    NRF_LOG_FLUSH();
}
 
 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(1000);
    twi_init();
    Acc_delay_ms(300);
    BMI_mode();
    Acc_delay_ms(300);
    Acc_Gyro_config();
    Acc_delay_ms(300);
    Acc_Gyro_self_test();
    Acc_delay_ms(300);
    bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor);
    NRF_LOG_INFO("x is %ld \r\n",accel.x);
    

    rslt = bmi160_get_sensor_data(BMI160_GYRO_SEL, NULL, &gyro, &sensor);
	
	NRF_LOG_INFO("rslt:%d, data: %i", rslt,gyro.x);
    NRF_LOG_FLUSH();
   

 }

<info> app: BMI160 get started.

<info> app: success
<info> app: READ: dev_id: 69 reg_addr: 0 reg_data: 200006D0 len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 7E reg_data: 2000FFBF len: 1

<info> app: BMI160 Initialized...

<info> app: READ: dev_id: 69 reg_addr: 40 reg_data: 2000FFC4 len: 2

<info> app: WRITE: dev_id: 69 reg_addr: 40 reg_data: 2000FFC4 len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 41 reg_data: 2000FFC5 len: 1

<info> app: READ: dev_id: 69 reg_addr: 42 reg_data: 2000FFC4 len: 2

<info> app: WRITE: dev_id: 69 reg_addr: 42 reg_data: 2000FFC4 len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 43 reg_data: 2000FFC5 len: 1

<info> app: READ: dev_id: 69 reg_addr: 40 reg_data: 2000FFAE len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 7E reg_data: 200006D4 len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 7E reg_data: 200006DC len: 1

<info> app: READ: dev_id: 69 reg_addr: 2 reg_data: 2000FFC4 len: 1

<info> app: READ: dev_id: 69 reg_addr: 2 reg_data: 200006BC len: 1

<info> app: setup result is : 0
<info> app: sensor Configured...

<info> app: READ: dev_id: 69 reg_addr: 40 reg_data: 2000FF94 len: 2

<info> app: WRITE: dev_id: 69 reg_addr: 40 reg_data: 2000FF94 len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 41 reg_data: 2000FF95 len: 1

<info> app: READ: dev_id: 69 reg_addr: 42 reg_data: 2000FF94 len: 2

<info> app: WRITE: dev_id: 69 reg_addr: 42 reg_data: 2000FF94 len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 43 reg_data: 2000FF95 len: 1

<info> app: READ: dev_id: 69 reg_addr: 2 reg_data: 2000FF94 len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 40 reg_data: 2000FFBC len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 6D reg_data: 2000FFBC len: 1

<info> app: READ: dev_id: 69 reg_addr: 12 reg_data: 2000FF80 len: 6

<info> app: WRITE: dev_id: 69 reg_addr: 6D reg_data: 2000FFAF len: 1

<info> app: READ: dev_id: 69 reg_addr: 12 reg_data: 2000FF80 len: 6

<info> app: WRITE: dev_id: 69 reg_addr: 7E reg_data: 2000FF97 len: 1

<info> app: ACCEL SELF TEST RESULT SUCCESS

<info> app: WRITE: dev_id: 69 reg_addr: 7E reg_data: 200006DC len: 1

<info> app: READ: dev_id: 69 reg_addr: 6D reg_data: 2000FFBC len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 6D reg_data: 2000FFBC len: 1

<info> app: READ: dev_id: 69 reg_addr: 1B reg_data: 2000FFBC len: 1

<info> app: WRITE: dev_id: 69 reg_addr: 7E reg_data: 2000FF97 len: 1

<info> app: gyro SELF TEST RESULT SUCCESS

<info> app: READ: dev_id: 69 reg_addr: 12 reg_data: 2000FFC8 len: 6

<info> app: x is 0

<info> app: READ: dev_id: 69 reg_addr: C reg_data: 2000FFC8 len: 6

<info> app: rslt:0, data: 0

[Jørgen Holmefjord]

This give no indication if the data is actually transmitted on the bus, it only show that the function is called. 

[Sunil vignesh]

I tried but i don't know how its work.?

If you know please help me to get the data...

[Sunil vignesh]

i try to access acclerometer X value

#define BMI160_ACCEL_DATA_ADDR        UINT8_C(0x12)   // defined in bmi160_defs.h

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

/* Sensor */
#include "bmi160.h"

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

//typedef int8_t (*bmi160_com_fptr_t)(uint8_t dev_addr, uint8_t reg_addr,
		//uint8_t *data, uint16_t len);

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

 #define TWI_ADDRESSES      127
#define LM75B_ADDR          0x12U 

/* 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;
static uint8_t m_sample;


int8_t rslt = BMI160_OK;
uint8_t data = 0;
struct bmi160_sensor_data accel;
struct bmi160_sensor_data gyro;
//struct bmi160_sensor_data.gyro Gyro;



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, data, len + 1, false);
	APP_ERROR_CHECK(rslt);
   // while (m_xfer_done == false);
}


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 reg_data: %x len: %i\n", dev_id, reg_addr, reg_data, len);
	rslt = nrf_drv_twi_tx(&m_twi, dev_id, &reg_addr, 1, true);
        APP_ERROR_CHECK(rslt);
//    while (m_xfer_done == false);
	//nrf_delay_ms(5);
	if (rslt == 0)
	{
		rslt = nrf_drv_twi_rx(&m_twi, dev_id, reg_data, len);
	}
	
	return rslt;
}

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



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("success");	
	}

    
}

static void read_sensor_data()
{
  //  m_xfer_done = false;

    /* Read 1 byte from the specified address - skip 3 bits dedicated for fractional part of temperature. */
    ret_code_t err_code = nrf_drv_twi_rx(&m_twi, LM75B_ADDR, &m_sample, sizeof(m_sample));
    APP_ERROR_CHECK(err_code);
    NRF_LOG_INFO("x: %d ", m_sample);
}

void Acc_Gyro_config(void)
{
/* Select the Output data rate, range of accelerometer sensor */
    sensor.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ;
    sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
    sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;

    /* Select the power mode of accelerometer sensor */
    sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;

    /* Select the Output data rate, range of Gyroscope sensor */
    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;

    /* Select the power mode of Gyroscope sensor */
    sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE; 

    /* Set the sensor configuration */

    rslt = bmi160_set_sens_conf(&sensor);
    Acc_delay_ms(100);
    rslt = bmi160_get_regs(BMI160_ERROR_REG_ADDR, &data, 1, &sensor);

if (rslt == BMI160_OK) {
	data = data >> 1;
	data = data & BMI160_ERR_REG_MASK;
	if (data == 1)
		rslt = BMI160_E_ACCEL_ODR_BW_INVALID;
	else if (data == 2)
		rslt = BMI160_E_GYRO_ODR_BW_INVALID;
	else if (data == 3)
		rslt = BMI160_E_LWP_PRE_FLTR_INT_INVALID;
	else if (data == 7)
	rslt = BMI160_E_LWP_PRE_FLTR_INVALID;
}

NRF_LOG_INFO("setup result is : %d", data);



    if(rslt == BMI160_OK){
    NRF_LOG_INFO("sensor Configured... \n");
    } else {
   NRF_LOG_INFO("sensor not Configured... \n");
    }
   
    NRF_LOG_FLUSH();
}
void Acc_Gyro_self_test(void)
{
  rslt = bmi160_perform_self_test(BMI160_ACCEL_ONLY, &sensor);
 
          
          if (rslt == BMI160_OK) {
                  NRF_LOG_INFO("ACCEL SELF TEST RESULT SUCCESS \n");
          } else {
                  NRF_LOG_INFO("ACCEL SELF TEST RESULT FAIL\n");
          }NRF_LOG_FLUSH();
  
  rslt = bmi160_perform_self_test(BMI160_GYRO_ONLY, &sensor);
  
          
          if (rslt == BMI160_OK) {
                  NRF_LOG_INFO("gyro SELF TEST RESULT SUCCESS \n");
          } else {
                  NRF_LOG_INFO("gyro SELF TEST RESULT FAIL \n");
          }

      NRF_LOG_FLUSH();
}


void BMI_mode(void)
{ 
    
    sensor.id = BMI160_I2C_ADDR;
    sensor.interface = BMI160_I2C_INTF;
    sensor.read = Acc_i2c_Read;
    sensor.write = Acc_i2c_Write;
    sensor.delay_ms = Acc_delay_ms;

    rslt = bmi160_init(&sensor);
    if(rslt == BMI160_OK){
    NRF_LOG_INFO("BMI160 Initialized... \n");
    } else {
    NRF_LOG_INFO("BMI160 not Initialized... \n");
    }
    NRF_LOG_FLUSH();
}
 
 int main(void)
 {
    ret_code_t err_code;
    uint8_t address;
    uint8_t sample_data;
    bool detected_device = false;

  bsp_board_init(BSP_INIT_LEDS);
    APP_ERROR_CHECK(NRF_LOG_INIT(NULL));
    NRF_LOG_DEFAULT_BACKENDS_INIT();
/*
    NRF_LOG_INFO("TWI scanner started.");
    NRF_LOG_FLUSH();
    twi_init();

    for (address = 1; address <= TWI_ADDRESSES; address++)
    {
        //err_code = Acc_i2c_Read(BMI160_I2C_ADDR,address, &sample_data, sizeof(sample_data));
        err_code = nrf_drv_twi_rx(&m_twi, address, &sample_data, sizeof(sample_data));
        if (err_code == NRF_SUCCESS)
        {
            detected_device = true;
            NRF_LOG_INFO("TWI device detected at address 0x%x", address);
            NRF_LOG_INFO("TWI device detected at address 0x%x", sample_data);
        }
        NRF_LOG_FLUSH();
    }

    if (!detected_device)
    {
        NRF_LOG_INFO("No device was found.");
        NRF_LOG_FLUSH();
    }

Acc_delay_ms(10000);*/

    NRF_LOG_INFO("BMI160 get started.\n");
    NRF_LOG_FLUSH();
    Acc_delay_ms(1000);
    twi_init();
    Acc_delay_ms(300);
    BMI_mode();
    Acc_delay_ms(300);
    Acc_Gyro_config();
    Acc_delay_ms(300);
    Acc_Gyro_self_test();
    Acc_delay_ms(300);
    bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor);
    NRF_LOG_INFO("x is %ld \r\n",accel.x);
    

    rslt = bmi160_get_sensor_data(BMI160_GYRO_SEL, NULL, &gyro, &sensor);
	
	NRF_LOG_INFO("rslt:%d, data: %i", rslt,gyro.x);
    NRF_LOG_FLUSH();
   err_code = nrf_drv_twi_rx(&m_twi, BMI160_ACCEL_DATA_ADDR, &sample_data, sizeof(sample_data));
if (err_code == NRF_SUCCESS)
        {
            detected_device = true;
            NRF_LOG_INFO("TWI device detected at address 0x%x", address);
            NRF_LOG_INFO("TWI device detected at address 0x%x", sample_data);
            NRF_LOG_FLUSH();
        }

      // read_sensor_data();
        NRF_LOG_FLUSH();

        ret_code_t err_cod = nrf_drv_twi_rx(&m_twi, LM75B_ADDR, &m_sample, sizeof(m_sample));
    APP_ERROR_CHECK(err_cod);
    NRF_LOG_INFO("x: %d ", m_sample);
    NRF_LOG_FLUSH();
    
 }

 and output side

<info> app: BMI160 get started.

<info> app: success
<info> app: BMI160 Initialized...

<info> app: setup result is : 0
<info> app: sensor Configured...

<info> app: ACCEL SELF TEST RESULT SUCCESS

<info> app: gyro SELF TEST RESULT SUCCESS

<info> app: x is 0

<info> app: rslt:0, data: 0
<error> app: Fatal error