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BST-Github-Adminkegov
BST-Github-Admin
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kegov
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Changed the macro datatype for gyro foc comparison. Fixed issue with calling Gyro cross axes sensitivity before axes remap. Delay after soft reset command changed to 2ms from 1.8ms. Fixed issue with nested macros in bmi2.c. Removed config file size macro, now config file will be computed at build time depending on the size of the config file array. Corrected Gyro offset compensation.
1 parent 3407255 commit 0c9d1ad

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lines changed

‎README.md

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Original file line numberDiff line numberDiff line change
@@ -1,15 +1,17 @@
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BMI2xy Sensor API
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# BMI2xy Sensor API
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> This package contains BMI2xy sensor API
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## Sensor Overview
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The BMI2xy is a small, low power, low noise inertial measurement unit designed for use in mobile applications like augmented reality or indoor navigation which require highly accurate, real-time sensor data.
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### Features
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- Indoor navigation, pedestrian dead-reckoning, step-counting
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For more information refer product page [Link](To Be Updated)
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For more information refer [product page](https://www.bosch-sensortec.com/bst/products/all_products/bmi270)
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---
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#### Copyright (C) 2019 Bosch Sensortec GmbH

‎bmi2.c

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@@ -40,8 +40,8 @@
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* patent rights of the copyright holder.
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*
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* @file bmi2.c
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* @date 2019-5-28
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* @version v2.19.0
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* @date 2019-07-24
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* @version v2.34.0
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*
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*/
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@@ -359,14 +359,14 @@
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#define GYRO_FOC_NOISE_LIMIT_POSITIVE UINT8_C(20)
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361361
/* reference value with positive and negative noise range in lsb */
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#define ACC_2G_MAX_NOISE_LIMIT UINT16_C(ACC_FOC_2G_REF + 255)
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#define ACC_2G_MIN_NOISE_LIMIT UINT16_C(ACC_FOC_2G_REF - 255)
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#define ACC_4G_MAX_NOISE_LIMIT UINT16_C(ACC_FOC_4G_REF + 255)
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#define ACC_4G_MIN_NOISE_LIMIT UINT16_C(ACC_FOC_4G_REF - 255)
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#define ACC_8G_MAX_NOISE_LIMIT UINT16_C(ACC_FOC_8G_REF + 255)
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#define ACC_8G_MIN_NOISE_LIMIT UINT16_C(ACC_FOC_8G_REF - 255)
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#define ACC_16G_MAX_NOISE_LIMIT UINT16_C(ACC_FOC_16G_REF + 255)
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#define ACC_16G_MIN_NOISE_LIMIT UINT16_C(ACC_FOC_16G_REF - 255)
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#define ACC_2G_MAX_NOISE_LIMIT (ACC_FOC_2G_REF + UINT16_C(255))
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#define ACC_2G_MIN_NOISE_LIMIT (ACC_FOC_2G_REF - UINT16_C(255))
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#define ACC_4G_MAX_NOISE_LIMIT (ACC_FOC_4G_REF + UINT16_C(255))
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#define ACC_4G_MIN_NOISE_LIMIT (ACC_FOC_4G_REF - UINT16_C(255))
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#define ACC_8G_MAX_NOISE_LIMIT (ACC_FOC_8G_REF + UINT16_C(255))
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#define ACC_8G_MIN_NOISE_LIMIT (ACC_FOC_8G_REF - UINT16_C(255))
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#define ACC_16G_MAX_NOISE_LIMIT (ACC_FOC_16G_REF + UINT16_C(255))
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#define ACC_16G_MIN_NOISE_LIMIT (ACC_FOC_16G_REF - UINT16_C(255))
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#define BMI2_FOC_SAMPLE_LIMIT UINT8_C(128)
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@@ -4180,7 +4180,7 @@ int8_t bmi2_soft_reset(struct bmi2_dev *dev)
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{
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/* Reset bmi2 device */
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rslt = bmi2_set_regs(BMI2_CMD_REG_ADDR, &data, 1, dev);
4183-
dev->delay_us(1800);
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dev->delay_us(2000);
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/* set APS flag as after soft reset the sensor is on advance power save mode */
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dev->aps_status = BMI2_ENABLE;
@@ -5196,16 +5196,11 @@ int8_t bmi2_read_fifo_data(struct bmi2_fifo_frame *fifo, const struct bmi2_dev *
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/* Clear the FIFO data structure */
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reset_fifo_frame_structure(fifo, dev);
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/* Select the interface */
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if (dev->intf == BMI2_SPI_INTERFACE)
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{
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addr = addr | BMI2_SPI_RD_MASK;
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}
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5205-
/* Read FIFO data */
5206-
rslt = dev->read(dev->dev_id, addr, fifo->data, fifo->length);
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/*red fifo data*/
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rslt = bmi2_get_regs(addr, fifo->data, fifo->length, dev);
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if (rslt == BMI2_OK)
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{
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/* Get the set FIFO frame configurations */
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rslt = bmi2_get_regs(BMI2_FIFO_CONFIG_0_ADDR, config_data, 2, dev);
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if (rslt == BMI2_OK)
@@ -5265,6 +5260,7 @@ int8_t bmi2_extract_accel(struct bmi2_sens_axes_data *accel_data,
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/* Parsing the FIFO data in header-less mode */
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if (fifo->header_enable == 0)
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{
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/* Get the number of accelerometer bytes to be read */
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rslt = parse_fifo_accel_len(&data_index, &data_read_length, accel_length, fifo, dev);
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@@ -5333,6 +5329,7 @@ int8_t bmi2_extract_gyro(struct bmi2_sens_axes_data *gyro_data,
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/* Parsing the FIFO data in header-less mode */
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if (fifo->header_enable == 0)
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{
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/* Get the number of gyro bytes to be read */
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rslt = parse_fifo_gyro_len(&data_index, &data_read_length, gyro_length, fifo, dev);
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/* Convert word to byte since all sensor enables are in a byte */
@@ -7673,14 +7670,13 @@ int8_t bmi2_set_act_recg_sett(const struct act_recg_sett *sett, struct bmi2_dev
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{
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/* Define the offset in bytes */
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idx = act_recg_sett.start_addr;
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if((sett->act_rec_4 > 10) || (sett->act_rec_5 > 10)){
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if ((sett->act_rec_4 > 10) || (sett->act_rec_5 > 10))
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{
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rslt = BMI2_E_INVALID_INPUT;
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}
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if (rslt == BMI2_OK)
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{
7681-
feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx],
7682-
BMI2_ACT_RECG_POST_PROS_EN_DIS,
7683-
sett->act_rec_1);
7679+
feat_config[idx] = BMI2_SET_BIT_POS0(feat_config[idx], BMI2_ACT_RECG_POST_PROS_EN_DIS, sett->act_rec_1);
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/* increment idx by 2 to point min gdi thres addres */
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idx = idx + 2;
@@ -13328,11 +13324,12 @@ static int8_t get_gyro_sensor_data(struct bmi2_sens_axes_data *data, uint8_t reg
1332813324
/* Get gyroscope data from the register */
1332913325
get_acc_gyr_data(data, reg_data);
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13327+
/* Get the compensated gyroscope data */
13328+
comp_gyro_cross_axis_sensitivity(data, dev);
13329+
1333113330
/* Get the re-mapped gyroscope data */
1333213331
get_remapped_data(data, dev);
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13334-
/* Get the compensated gyroscope data */
13335-
comp_gyro_cross_axis_sensitivity(data, dev);
1333613333
}
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1333813335
return rslt;
@@ -16562,7 +16559,7 @@ static int8_t perform_accel_foc(const struct accel_foc_g_value *accel_g_value,
1656216559
uint8_t reg_status = 0;
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1656416561
/* Array of structure to store accelerometer data */
16565-
struct bmi2_sens_axes_data accel_value[128];
16562+
struct bmi2_sens_axes_data accel_value[128] = { { 0 } };
1656616563

1656716564
/* Structure to store accelerometer data temporarily */
1656816565
struct foc_temp_value temp = { 0, 0, 0 };

‎bmi2.h

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@@ -40,8 +40,8 @@
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* patent rights of the copyright holder.
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*
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* @file bmi2.h
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* @date 2019-5-28
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* @version v2.19.0
43+
* @date 2019-07-24
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* @version v2.34.0
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*
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*/
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