bmi160 read fifo config

bmi160 read fifo config

static void Spi_sensor_fifo_init( void ) {

    /* You may assign a chip select identifier to be handled later */
    s_spi_bmi160_sensor.id = 0 ;
    s_spi_bmi160_sensor.interface = BMI160_SPI_INTF ;
    s_spi_bmi160_sensor.read = bmi160_spi_bus_read ;
    s_spi_bmi160_sensor.write = bmi160_spi_bus_write ;
    s_spi_bmi160_sensor.delay_ms = Spi_delay_ms ;
		
    int8_t rslt = BMI160_OK ;
    rslt = bmi160_init( &s_spi_bmi160_sensor ) ;
	
    if ( rslt == 0 ) {
            SEGGER_RTT_printf( 0,"Get bmi160 data success ! \n", rslt ) ; 	
    } // if
    else 
            SEGGER_RTT_printf( 0,"Error : Get bmi160 data fail ! \n", rslt ) ; 

    /* After the above function call, accel_cfg and gyro_cfg parameters in the device 
    structure are set with default values, found in the datasheet of the sensor */

    rslt = BMI160_OK ;

    /* Select the Output data rate, range of accelerometer sensor */
    s_spi_bmi160_sensor.accel_cfg.odr = BMI160_ACCEL_ODR_100HZ ;
    s_spi_bmi160_sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G ;
    s_spi_bmi160_sensor.accel_cfg.bw = BMI160_ACCEL_BW_OSR4_AVG1 ;
    
    /* Select the power mode of accelerometer sensor */
    s_spi_bmi160_sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE ;

    /* Select the Output data rate, range of Gyroscope sensor */
    s_spi_bmi160_sensor.gyro_cfg.odr = BMI160_GYRO_ODR_100HZ ;
    s_spi_bmi160_sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS ;
    s_spi_bmi160_sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE ;

    /* Select the power mode of Gyroscope sensor */
    s_spi_bmi160_sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE ;

    /* Set the sensor configuration */
    rslt = bmi160_set_sens_conf( &s_spi_bmi160_sensor ) ;

    /* Select the power mode */
    s_spi_bmi160_sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE ;
    s_spi_bmi160_sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE ;  

    /*  Set the Power mode  */
    rslt = bmi160_set_power_mode( &s_spi_bmi160_sensor ) ;
    nrf_delay_ms( 10 ) ; // delay_10ms

    //rslt = start_foc(&s_spi_bmi160_sensor);		
    SEGGER_RTT_printf(0,"foc rslt=%d\n",rslt);
    
    nrf_delay_ms(200);	
    struct bmi160_offsets sensor_offset;
    rslt = bmi160_get_offsets(&sensor_offset,&s_spi_bmi160_sensor);	
    SEGGER_RTT_printf(0,"calibration value: ax=%d,ay=%d,az=%d,gx=%d,gy=%d,gz=%d\n",sensor_offset.off_acc_x,sensor_offset.off_acc_y,sensor_offset.off_acc_z,sensor_offset.off_gyro_x,sensor_offset.off_gyro_y,sensor_offset.off_gyro_z);

    /* Link the FIFO memory location */
    fifo_frame.data = FIFO_BUFF;
    fifo_frame.length = FIFO_LEN;
    fifo_frame.fifo_time_enable =BMI160_ENABLE;
    s_spi_bmi160_sensor.fifo = &fifo_frame;

    /*Enable fifo*/
    uint8_t fifo_config = BMI160_FIFO_HEADER | BMI160_FIFO_ACCEL | BMI160_FIFO_GYRO | BMI160_FIFO_TIME ; 
    rslt = bmi160_set_fifo_config(fifo_config, BMI160_ENABLE, &s_spi_bmi160_sensor);
    if (rslt != BMI160_OK)
    {
        SEGGER_RTT_printf(0,"BMI160 failed FIFO setting");
    }
    // instance for interrupt settings
    struct bmi160_int_settg int_config;
    int_config.int_channel = BMI160_INT_CHANNEL_1;
    int_config.int_type = BMI160_ACC_GYRO_FIFO_WATERMARK_INT; // choose FIFO watermark IRQ (fires when a certain level of fullness is reached)

    rslt = bmi160_set_fifo_wm((uint8_t) (FIFO_LEN - 20), &s_spi_bmi160_sensor);
    if (rslt != BMI160_OK)
    {
        SEGGER_RTT_printf(0,"BMI160 failed FIFO wm setting");
    }

    int_config.int_pin_settg.output_en = BMI160_ENABLE; // enable output via INT_1 and INT_2 on BMI160
    int_config.int_pin_settg.output_mode = BMI160_DISABLE; // push-pull mode
    int_config.int_pin_settg.output_type = BMI160_ENABLE; // active high
    int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE; // edge-triggered
    int_config.int_pin_settg.input_en = BMI160_DISABLE; // don't act as input
    int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE; // non-latched output (no need to clear manually)
    int_config.fifo_WTM_int_en = BMI160_ENABLE; // enable FIFO WM IRQ

    rslt = bmi160_set_int_config(&int_config, &s_spi_bmi160_sensor);
    if (rslt != BMI160_OK)
    {
        SEGGER_RTT_printf(0,"BMI160 failed IRQ config,rslt =%d\n",rslt);
    }

    

} // Spi_sensor_fifo_init()


//after trigger call get_bmi160_fifo_data
static void get_bmi160_fifo_data(void){

    //s_spi_bmi160_sensor.fifo->length=FIFO_SIZE;
    int8_t res = BMI160_OK;
    uint8_t acc_frames = ACCEL_BUF_LEN;

    res = bmi160_get_fifo_data(&s_spi_bmi160_sensor);
    if (res != BMI160_OK)
    {
        SEGGER_RTT_printf(0,"BMI160 failed to get FIFO data,res=%x\n",res);
    }
    SEGGER_RTT_printf(0,"there are %d data in the fifo\n",s_spi_bmi160_sensor.fifo->length);

    res = bmi160_extract_accel(s_AccData, &acc_frames, &s_spi_bmi160_sensor);
    if (res != BMI160_OK)
    {
        SEGGER_RTT_printf(0,"BMI160 failed to extract FIFO accel data\n");
    }
    res = bmi160_extract_gyro(s_GyroData, &acc_frames, &s_spi_bmi160_sensor);
    if (res != BMI160_OK)
    {
        SEGGER_RTT_printf(0,"BMI160 failed to extract FIFO gyro data\n");
    }

    // print the acc and gyro
    for (uint8_t i = 0; i < acc_frames; ++i)
    {
        SEGGER_RTT_printf(0,"s_AccDataX[%d]=%d, s_AccDataY[%d]=%d, s_AccDataZ[%d]=%d\n", i, s_AccData[i].x,i,s_AccData[i].y,i,s_AccData[i].z);
    }
    for (uint8_t i = 0; i < acc_frames; ++i)
    {
        SEGGER_RTT_printf(0,"s_AccDataX[%d]=%d, s_AccDataY[%d]=%d, s_AccDataZ[%d]=%d\n", i, s_GyroData[i].x,i,s_GyroData[i].y,i,s_GyroData[i].z);
    }

    SEGGER_RTT_printf(0," skipped_frame_count= %d\n",fifo_frame.skipped_frame_count);
}

//spi read interface
int8_t Spi_read_transfer(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
	ret_code_t ret ;
	uint8_t read_temp[ length + 1 ] ;
	
        ret = nrf_drv_spi_transfer(&s_spi, &reg_addr, 1, read_temp, length + 1 ) ;	
	nrf_delay_ms(5); 
	
	for( int i = 1 ; i < length + 1 ; i ++ )
	  reg_data[i-1] = read_temp[i] ;
	
	return (int8_t)ret;	
}

//spi write interface
int8_t Spi_write_transfer(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
	ret_code_t ret;
	uint8_t write_temp[ length + 1 ] ;
	write_temp[0] = reg_addr ;
	for( int i = 1 ; i < length + 1 ; i ++ )
	  write_temp[i] = reg_data[i-1] ;

        ret = nrf_drv_spi_transfer(&s_spi, write_temp, length + 1, &no_use, 1 ) ;
	nrf_delay_ms(5) ;
	
	return (int8_t)ret;	
}

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

        //spi bmi160 fifo 
        Spi_pin_init();
        Spi_sensor_fifo_init();
        //gpio_config(); //wait for wm trigger
        nrf_delay_ms(1000);
        get_bmi160_fifo_data();	
	
	}