I am trying to use BNO055 with STM32F407VG discovery board. I got the API from here. In the API example file, it says just adjust the read and write functions.
Here is the main code I work on. But I cannot read the acceleration data. What should I be missing? Thanks in advance.`
/* \Brief: The API is used as SPI bus write
* \Return : Status of the SPI write
* \param dev_addr : The device address of the sensor
* \param reg_addr : Address of the first register,
* will data is going to be written
* \param reg_data : It is a value hold in the array,
* will be used for write the value into the register
* \param cnt : The no of byte of data to be write
*/
s8 BNO055_I2C_bus_write(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
{
s32 BNO055_iERROR = BNO055_INIT_VALUE;
u8 array[I2C_BUFFER_LEN];
u8 stringpos = BNO055_INIT_VALUE;
array[BNO055_INIT_VALUE] = reg_addr;
for (stringpos = BNO055_INIT_VALUE; stringpos < cnt; stringpos++)
array[stringpos + BNO055_I2C_BUS_WRITE_ARRAY_INDEX] =
*(reg_data + stringpos);
/*
* Please take the below APIs as your reference for
* write the data using I2C communication
* "BNO055_iERROR = I2C_WRITE_STRING(DEV_ADDR, ARRAY, CNT+1)"
* add your I2C write APIs here
* BNO055_iERROR is an return value of I2C read API
* Please select your valid return value
* In the driver BNO055_SUCCESS defined as 0
* and FAILURE defined as -1
* Note :
* This is a full duplex operation,
* The first read data is discarded, for that extra write operation
* have to be initiated. For that cnt+1 operation done
* in the I2C write string function
* For more information please refer data sheet SPI communication:
*/
HAL_I2C_Mem_Write(&hi2c1, dev_addr, reg_addr, I2C_MEMADD_SIZE_8BIT, array, cnt, 100);
// HAL_I2C_Mem_Write(&hi2c1, dev_addr, reg_addr, I2C_MEMADD_SIZE_8BIT, &array, cnt+1, 100);
// HAL_I2C_Master_Transmit(&hi2c1, dev_addr, &array, I2C_MEMADD_SIZE_8BIT, 100);
return (s8)BNO055_iERROR;
}
/* \Brief: The API is used as I2C bus read
* \Return : Status of the I2C read
* \param dev_addr : The device address of the sensor
* \param reg_addr : Address of the first register,
* will data is going to be read
* \param reg_data : This data read from the sensor,
* which is hold in an array
* \param cnt : The no of byte of data to be read
*/
s8 BNO055_I2C_bus_read(u8 dev_addr, u8 reg_addr, u8 *reg_data, u8 cnt)
{
s32 BNO055_iERROR = BNO055_INIT_VALUE;
u8 array[I2C_BUFFER_LEN] = {BNO055_INIT_VALUE};
u8 stringpos = BNO055_INIT_VALUE;
array[BNO055_INIT_VALUE] = reg_addr;
/* Please take the below API as your reference
* for read the data using I2C communication
* add your I2C read API here.
* "BNO055_iERROR = I2C_WRITE_READ_STRING(DEV_ADDR,
* ARRAY, ARRAY, 1, CNT)"
* BNO055_iERROR is an return value of SPI write API
* Please select your valid return value
* In the driver BNO055_SUCCESS defined as 0
* and FAILURE defined as -1
*/
HAL_I2C_Mem_Read(&hi2c1, dev_addr, reg_addr, I2C_MEMADD_SIZE_8BIT, reg_data, cnt, 100);
// HAL_I2C_Mem_Read(&hi2c1, dev_addr, reg_addr, I2C_MEMADD_SIZE_8BIT, &array, cnt, 100);
// HAL_I2C_Master_Receive(&hi2c1, dev_addr, &array, I2C_MEMADD_SIZE_8BIT, 100);
for (stringpos = BNO055_INIT_VALUE; stringpos < cnt; stringpos++)
*(reg_data + stringpos) = array[stringpos];
return (s8)BNO055_iERROR;
}
