arduino-libraries / arduino_bmi270_bmm150

Arduino_BMI270_BMM150

Allows you to read the accelerometer, magnetometer and gyroscope values from the combo BMI270+BMM150 IMU on your Arduino Nano 33 BLE Sense Rev2.

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arduino_bmi270_bmm150's Issues

[Feature Request] Please add API documentation

Are there any API docs for this library?

Some Basic Code improvements

I found some code improvements:

in the header arduino::Stream& is used. some arduino cores do not have stream under the arduino namespace (teensy for example)
Stream is usually used directly:
void debug(Stream&);

Some functions do not return a value but should:

int BoschSensorClass::readAcceleration(float& x, float& y, float& z) {
  struct bmi2_sens_data sensor_data;
  bmi2_get_sensor_data(&sensor_data, &bmi2);
  x = sensor_data.acc.x;
  y = sensor_data.acc.y;
  z = sensor_data.acc.z;
  return 1;//<- this is missing
}
int BoschSensorClass::readGyroscope(float& x, float& y, float& z) {
  struct bmi2_sens_data sensor_data;
  bmi2_get_sensor_data(&sensor_data, &bmi2);
  x = sensor_data.gyr.x;
  y = sensor_data.gyr.y;
  z = sensor_data.gyr.z;
  return 1; //<- this is missing
}

// Magnetometer
int BoschSensorClass::readMagneticField(float& x, float& y, float& z) {
  struct bmm150_mag_data mag_data;
  bmm150_read_mag_data(&mag_data, &bmm1);
  x = mag_data.x;
  y = mag_data.y;
  z = mag_data.z;
  return 1;//<- this is missing
}

also:

• there is no need to declare all functions virtual if no class inheritance is used
• the end() and getTemperature() function are declared in the .h file but is missing in the .cpp
• the same is true for interrupt_handler if mbed is not defined as it is only removed in the .cpp by ifdef but is always defined in the .h
• in begin, there is no (working) check for chip id. so begin can not fail. it would be good to check the chip id reg (0x00) for value 0x24 to make sure an imu is actually connected to I2c. same goes for the mag device id
• the debug print result only uses the bmi270 result codes but is also called for results of the BMM150. there should be a second print results for bmi result codes like BMM150_E_NULL_PTR, BMM150_E_DEV_NOT_FOUND etc
• i2c reads should have the following structure:

beginTransmission
write
endTransmission(false) <- this is important
requestFrom(...)
read
endTransmission() <- only end transmission after interaction is done

[Feature Request] Provide scaled values instead of raw sensor data

Pls update the library to provide scaled values instead of raw sensor data.

add FOC and CRT calibration

Hi!
Using Arduino BLE sense rev2 gyroscope drift is very hard.
I suggest to add the FOC and CRT functions (gyroscope and accelerometer calibration), these could help to improve the sensor fusioning.

Here some links:

• an interesting post in bosch forum
• some complains in arduino forum

thanks!

No member named 'onInterrupt' ?

The "Simple" examples work, but the "Interrupts_subclassing" example fails to compile with two separate problems:

There is an error regarding Wire1 (which I assume should be Wire).

There is also this:

Compilation error: 'class MyBoschSensor' has no member named 'onInterrupt'

I'm just trying to get the example to run - no changes.

Provide SPI support for this library.

Hi,
I was trying to see if we can use SPI for these sensor instead of I2C.
Is there way to use SPI on this library?

Missing implementation of getTemperature()

The library declares a BoschSensorClass::getTemperature() function:

Arduino_BMI270_BMM150/src/BoschSensorClass.h

Line 67 in aabdaf6

float getTemperature();

But if you try to use it:

#include <Arduino_BMI270_BMM150.h>
void setup() {
  IMU.getTemperature();
}
void loop() {}

compilation fails due to the declared function not being implemented:

C:\Users\per\AppData\Local\Temp\.arduinoIDE-unsaved2023718-18988-8022i1.jjmfp\sketch_aug18a/sketch_aug18a.ino:3: undefined reference to `BoschSensorClass::getTemperature()'

I see from its datasheet that the sensor does support temperature readings.

Magnetic Field Sample Rate unit Change

Hello, I noticed that the units for the magnetic field sample rate changed from microTesla to Hz and was wondering if I will need to make this change in the scripts that I have been using with the BMM150. Thank you.

[Feature Request] Fix CI Build

Exclude boards without Wire1 from building examples/Interrupts_subclassing.

arduino is not declared error

In file included from /home/hu/Arduino/libraries/Arduino_BMI270_BMM150/src/Arduino_BMI270_BMM150.h:23:0,
                 from /tmp/.arduinoIDE-unsaved2023218-79256-177af8o.lu7x/sketch_mar18a/sketch_mar18a.ino:1:
/home/hu/Arduino/libraries/Arduino_BMI270_BMM150/src/BoschSensorClass.h:38:16: error: 'arduino' has not been declared
     void debug(arduino::Stream&);
                ^~~~~~~
/home/hu/Arduino/libraries/Arduino_BMI270_BMM150/src/BoschSensorClass.h:38:31: error: expected ',' or '...' before '&' token
     void debug(arduino::Stream&);
                               ^

exit status 1

Compilation error: exit status 1

I am getting arduino not declared error, any possible cause?

how to increase the sample rate

Dear everyone,

I am struggling in increasing the sample rate of BMI270 on Arduino nano BLE sense Rev2.

I slightly modify the example of examples/interrupts, and I change the line of ODR.
It turns out my code can successfully go to 200Hz, but fail to go to 400Hz or higher.
It is hard to believe it occurs because of the upper bound of Arduino, since I can achieve much better sample rate on others.
I attach my code as follows:

#include "Arduino_BMI270_BMM150.h"

class MyBoschSensor: public BoschSensorClass {

  public:
    MyBoschSensor(TwoWire& wire = Wire) : BoschSensorClass(wire) {};

  protected:
    virtual int8_t configure_sensor(struct bmi2_dev *dev)
    {
      int8_t rslt;
      uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_GYRO };

      struct bmi2_int_pin_config int_pin_cfg;
      int_pin_cfg.pin_type = BMI2_INT1;
      int_pin_cfg.int_latch = BMI2_INT_NON_LATCH;
      int_pin_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_HIGH;
      int_pin_cfg.pin_cfg[0].od = BMI2_INT_PUSH_PULL;
      int_pin_cfg.pin_cfg[0].output_en = BMI2_INT_OUTPUT_ENABLE;
      int_pin_cfg.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE;

      struct bmi2_sens_config sens_cfg[2];
      sens_cfg[0].type = BMI2_ACCEL;
      sens_cfg[0].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
      sens_cfg[0].cfg.acc.odr = BMI2_ACC_ODR_400HZ;
      sens_cfg[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
      sens_cfg[0].cfg.acc.range = BMI2_ACC_RANGE_4G;
      sens_cfg[1].type = BMI2_GYRO;
      sens_cfg[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
      sens_cfg[1].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
      sens_cfg[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
      sens_cfg[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
      sens_cfg[1].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;

      rslt = bmi2_set_int_pin_config(&int_pin_cfg, dev);
      if (rslt != BMI2_OK)
        return rslt;

      rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, dev);
      if (rslt != BMI2_OK)
        return rslt;

      rslt = bmi2_set_sensor_config(sens_cfg, 2, dev);
      if (rslt != BMI2_OK)
        return rslt;

      rslt = bmi2_sensor_enable(sens_list, 2, dev);
      if (rslt != BMI2_OK)
        return rslt;

      return rslt;
    }
};

MyBoschSensor myIMU(Wire1);


float x, y, z;
volatile unsigned int count = 0;
unsigned int time_start;
void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
  while (!Serial);
  myIMU.debug(Serial);
  myIMU.onInterrupt(print_data);
  myIMU.begin();

  Serial.print("Accelerometer sample rate = ");
  Serial.println(myIMU.accelerationSampleRate());
  time_start = millis();
}
void print_data() {
  // we can also read accelerometer / gyro data here!
  Serial.println("Got new data!");
  myIMU.readAcceleration(x, y, z);
  count +=1;
}

void loop() {
  if ((millis() - time_start) > 2000)
  {
    Serial.println(count/2);
    count = 0;
    time_start = millis();
  }
  }

Can't get the interrupts to work consistently

Hi, I'm trying to run the interrupts_subclassing example (with a small change: a bool flag instead of a print statement in the interrupt function) and I'm experiencing inconsistent behavior. When I upload the code to the board or push the button to restart the program, sometimes the interrupts will come in ("Got new data!" will be printed in my Serial monitor, as expected), sometimes they won't come in (nothing will be printed). I tried with a blinking led in the interrupt function, that results in the same observation (behavior is sometimes as I expect, sometimes nothing happens). I have tried on a different (brand new) board, the same happens.
I added my code below:

#include <Arduino.h>
#include <Arduino_BMI270_BMM150.h>

class MyBoschSensor: public BoschSensorClass {

  public:
    MyBoschSensor(TwoWire& wire = Wire) : BoschSensorClass(wire) {};

  protected:
    virtual int8_t configure_sensor(struct bmi2_dev *dev)
    {
      int8_t rslt;
      uint8_t sens_list[2] = { BMI2_ACCEL, BMI2_GYRO };

      struct bmi2_int_pin_config int_pin_cfg;
      int_pin_cfg.pin_type = BMI2_INT1;
      int_pin_cfg.int_latch = BMI2_INT_NON_LATCH;
      int_pin_cfg.pin_cfg[0].lvl = BMI2_INT_ACTIVE_HIGH;
      int_pin_cfg.pin_cfg[0].od = BMI2_INT_PUSH_PULL;
      int_pin_cfg.pin_cfg[0].output_en = BMI2_INT_OUTPUT_ENABLE;
      int_pin_cfg.pin_cfg[0].input_en = BMI2_INT_INPUT_DISABLE;

      struct bmi2_sens_config sens_cfg[2];
      sens_cfg[0].type = BMI2_ACCEL;
      sens_cfg[0].cfg.acc.bwp = BMI2_ACC_OSR2_AVG2;
      sens_cfg[0].cfg.acc.odr = BMI2_ACC_ODR_25HZ;
      sens_cfg[0].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE;
      sens_cfg[0].cfg.acc.range = BMI2_ACC_RANGE_4G;
      sens_cfg[1].type = BMI2_GYRO;
      sens_cfg[1].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE;
      sens_cfg[1].cfg.gyr.bwp = BMI2_GYR_OSR2_MODE;
      sens_cfg[1].cfg.gyr.odr = BMI2_GYR_ODR_25HZ;
      sens_cfg[1].cfg.gyr.range = BMI2_GYR_RANGE_2000;
      sens_cfg[1].cfg.gyr.ois_range = BMI2_GYR_OIS_2000;

      rslt = bmi2_set_int_pin_config(&int_pin_cfg, dev);
      if (rslt != BMI2_OK)
        return rslt;

      rslt = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, dev);
      if (rslt != BMI2_OK)
        return rslt;

      rslt = bmi2_set_sensor_config(sens_cfg, 2, dev);
      if (rslt != BMI2_OK)
        return rslt;

      rslt = bmi2_sensor_enable(sens_list, 2, dev);
      if (rslt != BMI2_OK)
        return rslt;

      return rslt;
    }
};

volatile bool interruptDetected;
MyBoschSensor customIMU(Wire1);

void handleInterrupt() {
  interruptDetected = true;
  //digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
}

void setup() {
  Serial.begin(9600);
  while (!Serial);

  //pinMode(LED_BUILTIN, OUTPUT);

  customIMU.debug(Serial);
  customIMU.onInterrupt(handleInterrupt);
  customIMU.begin();
}

void loop() {
  if (interruptDetected) {
    Serial.println("Got new data!");
    interruptDetected = false;
  }
}

Is anyone experiencing something similar, could it be something in my setup? I'm using platformio in VSCode, the following is my ini file:

[env:nano33ble]
platform = [email protected]
board = nano33ble
framework = arduino

board_build.mcu = nrf52840

monitor_speed = 9600

I'm using a Nano 33 BLE Sense Rev 2 obviously, should I change something in the ini file? I haven't found an option to select the sense rev 2 in platformIO.

Any clues on what might be going on are much appreciated !