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Commit 01504d5

Browse files
cvejlbofacchinm
authored andcommitted
Add BMI270 and BMM150 data collection example
1 parent 9a74a01 commit 01504d5

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4 files changed

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-3
lines changed

4 files changed

+721
-3
lines changed
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#include "NDP.h"
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#include "BMI270_Init.h"
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void ledBlueOn(char* label) {
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nicla::leds.begin();
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nicla::leds.setColor(blue);
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delay(200);
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nicla::leds.setColor(off);
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Serial.println(label);
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nicla::leds.end();
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}
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void ledGreenOn() {
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nicla::leds.begin();
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nicla::leds.setColor(green);
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delay(200);
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nicla::leds.setColor(off);
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nicla::leds.end();
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}
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void ledRedBlink() {
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while (1) {
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nicla::leds.begin();
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nicla::leds.setColor(red);
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delay(200);
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nicla::leds.setColor(off);
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delay(200);
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nicla::leds.end();
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}
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}
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uint8_t sensor_all_bytes[16]={0};
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bool debugTrace = false;
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void setup() {
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Serial.begin(115200);
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nicla::begin();
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nicla::disableLDO();
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nicla::leds.begin();
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NDP.onError(ledRedBlink);
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NDP.onMatch(ledBlueOn);
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NDP.onEvent(ledGreenOn);
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Serial.println("Loading synpackages");
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NDP.begin("mcu_fw_120_v91.synpkg");
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NDP.load("dsp_firmware_v91.synpkg");
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NDP.load("alexa_334_NDP120_B0_v11_v91.synpkg");
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Serial.println("packages loaded");
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NDP.getInfo();
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Serial.println("Configure clock");
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NDP.turnOnMicrophone();
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NDP.interrupts();
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// Basic master SPI controls
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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uint8_t s = 0; // flag for error in communication with motion sensor
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uint8_t targetDevice = 0; // "0" or "1". "0": BMI270. "1": BMM150.
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uint8_t ndpCSPISpeedFactor = 4; // this factor can take values 1, 2, 3 or 4. This is a division factor from NDP120 internal
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// clock. The larger the factor, the slower the CSPI speed - which should ease compatibility with slow SPI targets.
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uint32_t bmi_sensor_address = 0;
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uint16_t number_of_bytes = 0;
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uint32_t *bmi270_initialization_pointer;
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// IMPORTANT: All reads to register address in BMI270 will use "Reg4Read" for method. That's because readout
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// from BMI270 using SPI interfaace will come with 1 dummy byte pre-pended to any actual content.
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// That is, whenever a 1 byte content from BMI270 is to be read, it will come through the BMI270 SPI interface
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// prepended by 1 junk byte and 1 dummy byte, before the actual byte of interest comes.
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// BMI270 Initiliztion file to be used:
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bmi270_initialization_pointer = (uint32_t*)bmi270_maximum_fifo_config_file;
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number_of_bytes = sizeof(bmi270_maximum_fifo_config_file);
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//Reading BMI270 Chip ID (twice...to put the device in SPI mode)
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bmi_sensor_address = 0x00;
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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Serial.print("BMI270 chip ID is (expected is 0x24): 0x");
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Serial.println(sensor_all_bytes[0], HEX);
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delay(100);
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//Initialization process. Following BMI270 initialization process: page 18/150
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// disable PWR_CONF.adv_power_save
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bmi_sensor_address = 0x7c;
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sensor_all_bytes[0] = 0x02;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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delay(20); //delay 20ms much longer than reqired 450us
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// prepare config load INIT_CTRL = 0x00
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bmi_sensor_address = 0x59;
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sensor_all_bytes[0] = 0x00;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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delay(20); //delay 20ms much longer than 450us
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// Push bmi270_maximum_fifo_config_file[] to initialize BMI270
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Serial.print("BMI270 config file has number of bytes equal to: ");
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Serial.println(number_of_bytes);
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// burst write to reg INIT_DATA Start with byte 0
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// timing the process of pushing all initialization
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Serial.print("\nStarting the upload of bmi270 config file ...");
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int initialization_process_time = 0;
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initialization_process_time = millis();
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if (debugTrace) {
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Serial.println("Writing data");
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for (int i=0; i<10; i++){
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Serial.print("file index: ");
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Serial.print(i);
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Serial.print("file value: ");
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Serial.println(bmi270_maximum_fifo_config_file[i],HEX);
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}
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}
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delay(20);
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bmi_sensor_address = 0x5e;
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s = NDP.transparentNiclaVoiceBMI270SensorDataInitialization(targetDevice, ndpCSPISpeedFactor, number_of_bytes, bmi270_maximum_fifo_config_file);
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initialization_process_time = (millis() - initialization_process_time)/1000.0;
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Serial.println("\nDone with initialization ...");
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if (debugTrace) {
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Serial.print("\nTime to upload initialization file (seconds): ");
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Serial.println(initialization_process_time);
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}
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delay(20); //delay 20ms much longer than 450us
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// complete config load
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//////////////////////////////////////////////////////////////
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bmi_sensor_address = 0x59;
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sensor_all_bytes[0] = 0x01;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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///////////////////////////////////////////
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delay(20); //delay 20ms much longer than 450us
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// check initialization status
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// read INTERNAL_STATUS
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bmi_sensor_address = 0x21;
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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Serial.print("BMI270 Status Register at address 0x21 is (expected is 0x01): 0x");
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Serial.println(sensor_all_bytes[0], HEX);
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bmi_sensor_address = 0x59;
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sensor_all_bytes[0] = 0x00;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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bmi_sensor_address = 0x5b;
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 2, sensor_all_bytes);
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if (debugTrace) {
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Serial.println("Before writing on 5b/c ");
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Serial.println(sensor_all_bytes[0], HEX);
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Serial.println(sensor_all_bytes[1], HEX);
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}
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sensor_all_bytes[0] = 0x00;
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sensor_all_bytes[1] = 0x00;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 2, sensor_all_bytes);
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delay(20);
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 2, sensor_all_bytes);
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if (debugTrace) {
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Serial.println("After resetting on 5b/c ");
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Serial.println(sensor_all_bytes[0], HEX);
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Serial.println(sensor_all_bytes[1], HEX);
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}
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bmi_sensor_address = 0x5e;
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 10, sensor_all_bytes);
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if (debugTrace) {
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Serial.println("Reading data");
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for (int i = 0; i < 10; i++){
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Serial.println(sensor_all_bytes[i], HEX);
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}
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}
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bmi_sensor_address = 0x5b;
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sensor_all_bytes[0] = 0x0F;
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sensor_all_bytes[1] = 0x09;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 2, sensor_all_bytes);
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delay(20);
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 2, sensor_all_bytes);
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if (debugTrace) {
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Serial.println("After resetting 9F (last 10) on 5b/c ");
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Serial.println(sensor_all_bytes[0], HEX);
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Serial.println(sensor_all_bytes[1], HEX);
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}
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bmi_sensor_address = 0x5e;
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 10, sensor_all_bytes);
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if (debugTrace) {
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Serial.println("Reading data");
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for (int i = 0; i < 10; i++){
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Serial.println(sensor_all_bytes[i], HEX);
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}
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}
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// configuring device to normal power mode with both Accelerometer and gyroscope working
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////////////////////////////////////////////////////////////////////////////////////////
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// setting PWR_CTRL
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bmi_sensor_address = 0x7d;
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sensor_all_bytes[0] = 0x0e;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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delay(20); //delay 20ms much longer than 450us
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//ACC_CONF
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////////////
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bmi_sensor_address = 0x40;
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sensor_all_bytes[0] = 0xa8;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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delay(20); //delay 20ms much longer than 450us
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//ACC_RANGE
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////////////
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bmi_sensor_address = 0x41;
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sensor_all_bytes[0] = 0x00; /* +* 2g */
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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delay(20); //delay 20ms much longer than 450us
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//GYR_CONF
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//////////
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bmi_sensor_address = 0x42;
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sensor_all_bytes[0] = 0xa9;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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delay(20); //delay 20ms much longer than 450us
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//GYR_RANGE
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//////////
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bmi_sensor_address = 0x43;
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sensor_all_bytes[0]= 0x11; /* +-250 */
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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delay(20); //delay 20ms much longer than 450us
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//PWR_CONF
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////////////
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bmi_sensor_address = 0x7c;
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sensor_all_bytes[0] = 0x02;
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 1, sensor_all_bytes);
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delay(20); //delay 20ms much longer than 450us
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///////////////////////////////////////////// BMM 150 test /////////////////////////////////////////////////////
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//Reading BMM 150 CHip ID
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///////////////////////////////////////////
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uint32_t bmm_sensor_address = 0;
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targetDevice = 1; // 0, 1 possible values. 0: ST or BMI270. 1: BMM150
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bmm_sensor_address = 0x4B;
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sensor_all_bytes[0] = 0x1; // Is it equivalent to 0x01?
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmm_sensor_address, 1, sensor_all_bytes);
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmm_sensor_address, 1, sensor_all_bytes);
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Serial.print("BMM150 power control byte at address 0x4B is (expected is 0x01): 0x");
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Serial.println(sensor_all_bytes[0], HEX);
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bmm_sensor_address = 0x4C;
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sensor_all_bytes[0] = 0x00; // Is it in sleep mode by default?
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s = NDP.transparentNiclaVoiceSensorRegWrite(targetDevice, ndpCSPISpeedFactor, bmm_sensor_address, 1, sensor_all_bytes);
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bmm_sensor_address = 0x40;
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmm_sensor_address, 1, sensor_all_bytes);
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Serial.print("BMM150 power chip ID at address 0x40 is (expected is 0x32): 0x");
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Serial.println(sensor_all_bytes[0], HEX);
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}
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#define NUM_LOOPS_PER_SENSOR 15
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void loop() {
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uint8_t s = 0; // flag for error in communication with motion sensor
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uint32_t bmi_sensor_address = 0, bmm_sensor_address = 0;
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uint8_t targetDevice = 0; // 0 or 1. 0: BMI270. 1: BMM150
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uint8_t ndpCSPISpeedFactor = 4; // this factor can take values 1, 2, 3 or 4. This is a division factor from NDP120 reference
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static int loopCounter = 0;
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//read one accel and one gyro datum at a time
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//read acc_x_7_0 and acc_x_15_8
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int16_t x_acc, y_acc, z_acc, x_gyr, y_gyr, z_gyr ;
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int16_t x_mag, y_mag, z_mag, hall;
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if (loopCounter < NUM_LOOPS_PER_SENSOR) {
274+
if (!loopCounter) {
275+
Serial.println("\nTesting Nicla Voice IMU Sensor");
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}
277+
bmi_sensor_address = 0x0C;
278+
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s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmi_sensor_address, 16, sensor_all_bytes);
280+
if (debugTrace) {
281+
Serial.print("number of bytes outputted: ");
282+
Serial.println(s);
283+
}
284+
x_acc = (0x0000 | sensor_all_bytes[0] | sensor_all_bytes[1] << 8);
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y_acc = (0x0000 | sensor_all_bytes[2] | sensor_all_bytes[3] << 8);
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z_acc = (0x0000 | sensor_all_bytes[4] | sensor_all_bytes[5] << 8);
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x_gyr = (0x0000 | sensor_all_bytes[6] | sensor_all_bytes[7] << 8);
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y_gyr = (0x0000 | sensor_all_bytes[8] | sensor_all_bytes[9] << 8);
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z_gyr = (0x0000 | sensor_all_bytes[10] | sensor_all_bytes[11]<< 8);
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Serial.print("\rBMI270 data: Acc X, Acc Y, Acc Z ");
292+
Serial.print(x_acc);
293+
Serial.print(" , ");
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Serial.print(y_acc);
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Serial.print(" , ");
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Serial.print(z_acc);
297+
Serial.print(" , ");
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Serial.print(x_gyr);
299+
Serial.print(" , ");
300+
Serial.print(y_gyr);
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Serial.print(" , ");
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Serial.print(z_gyr);
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Serial.println();
304+
} else if (loopCounter == NUM_LOOPS_PER_SENSOR) {
305+
Serial.println("\nTesting Nicla Voice Magnetometer");
306+
} else { // loopCounter > NUM_LOOPS_PER_SENSOR
307+
bmm_sensor_address = 0x42;
308+
targetDevice = 1;
309+
s = NDP.transparentNiclaVoiceSensorRegRead(targetDevice, ndpCSPISpeedFactor, bmm_sensor_address, 8, sensor_all_bytes);
310+
if (debugTrace) {
311+
Serial.print("number of bytes outputted: ");
312+
Serial.println(s);
313+
314+
for (int index = 0; index < 8; index++){
315+
Serial.println(sensor_all_bytes[index], HEX);
316+
}
317+
}
318+
319+
x_mag = (0x0000 | sensor_all_bytes[0] >> 3 | sensor_all_bytes[1] << 5);
320+
y_mag = (0x0000 | sensor_all_bytes[2] >> 3 | sensor_all_bytes[3] << 5);
321+
z_mag = (0x0000 | sensor_all_bytes[4] >> 1 | sensor_all_bytes[5] << 7);
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hall = (0x0000 | sensor_all_bytes[6] >> 2 | sensor_all_bytes[7] << 6);
323+
324+
Serial.print("\rBMM150 data: Mag X, Mag Y, Mag Z, Hall ");
325+
Serial.print(x_mag);
326+
Serial.print(" , ");
327+
Serial.print(y_mag);
328+
Serial.print(" , ");
329+
Serial.print(z_mag);
330+
Serial.print(" , ");
331+
Serial.print(hall);
332+
Serial.println();
333+
}
334+
delay(100);
335+
336+
// switch to other sensor again
337+
if (++loopCounter > 2 * NUM_LOOPS_PER_SENSOR) {
338+
loopCounter = 0;
339+
}
340+
}
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Original file line numberDiff line numberDiff line change
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1+
// Configuration file for BMI270
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const uint8_t bmi270_maximum_fifo_config_file[] = {
3+
0xc8, 0x2e, 0x00, 0x2e, 0x80, 0x2e, 0x1a, 0x00, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00,
4+
0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0xc8, 0x2e, 0x00, 0x2e, 0x90, 0x32, 0x21, 0x2e, 0x59, 0xf5,
5+
0x10, 0x30, 0x21, 0x2e, 0x6a, 0xf5, 0x1a, 0x24, 0x22, 0x00, 0x80, 0x2e, 0x3b, 0x00, 0xc8, 0x2e, 0x44, 0x47, 0x22,
6+
0x00, 0x37, 0x00, 0xa4, 0x00, 0xff, 0x0f, 0xd1, 0x00, 0x07, 0xad, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1,
7+
0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00,
8+
0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x80, 0x2e, 0x00, 0xc1, 0x00, 0x00,
9+
0x00, 0x00, 0x00, 0x00, 0x11, 0x24, 0xfc, 0xf5, 0x80, 0x30, 0x40, 0x42, 0x50, 0x50, 0x00, 0x30, 0x12, 0x24, 0xeb,
10+
0x00, 0x03, 0x30, 0x00, 0x2e, 0xc1, 0x86, 0x5a, 0x0e, 0xfb, 0x2f, 0x21, 0x2e, 0xfc, 0xf5, 0x13, 0x24, 0x63, 0xf5,
11+
0xe0, 0x3c, 0x48, 0x00, 0x22, 0x30, 0xf7, 0x80, 0xc2, 0x42, 0xe1, 0x7f, 0x3a, 0x25, 0xfc, 0x86, 0xf0, 0x7f, 0x41,
12+
0x33, 0x98, 0x2e, 0xc2, 0xc4, 0xd6, 0x6f, 0xf1, 0x30, 0xf1, 0x08, 0xc4, 0x6f, 0x11, 0x24, 0xff, 0x03, 0x12, 0x24,
13+
0x00, 0xfc, 0x61, 0x09, 0xa2, 0x08, 0x36, 0xbe, 0x2a, 0xb9, 0x13, 0x24, 0x38, 0x00, 0x64, 0xbb, 0xd1, 0xbe, 0x94,
14+
0x0a, 0x71, 0x08, 0xd5, 0x42, 0x21, 0xbd, 0x91, 0xbc, 0xd2, 0x42, 0xc1, 0x42, 0x00, 0xb2, 0xfe, 0x82, 0x05, 0x2f,
15+
0x50, 0x30, 0x21, 0x2e, 0x21, 0xf2, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0xf0, 0x6f, 0x02, 0x30, 0x02, 0x42, 0x20,
16+
0x26, 0xe0, 0x6f, 0x02, 0x31, 0x03, 0x40, 0x9a, 0x0a, 0x02, 0x42, 0xf0, 0x37, 0x05, 0x2e, 0x5e, 0xf7, 0x10, 0x08,
17+
0x12, 0x24, 0x1e, 0xf2, 0x80, 0x42, 0x83, 0x84, 0xf1, 0x7f, 0x0a, 0x25, 0x13, 0x30, 0x83, 0x42, 0x3b, 0x82, 0xf0,
18+
0x6f, 0x00, 0x2e, 0x00, 0x2e, 0xd0, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x00, 0x2e, 0x12, 0x40, 0x52, 0x42, 0x3e, 0x84,
19+
0x00, 0x40, 0x40, 0x42, 0x7e, 0x82, 0xe1, 0x7f, 0xf2, 0x7f, 0x98, 0x2e, 0x6a, 0xd6, 0x21, 0x30, 0x23, 0x2e, 0x61,
20+
0xf5, 0xeb, 0x2c, 0xe1, 0x6f
21+
};

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