Thanks for your reply. Please kindly find the pin connections for SPI connections.
Also, the piece of the code that I am using to get gyro data is as follows. In this code, I followed the procedure explained in the Bosch GitHub, here. The problem here is that it doesn't update the gyro variable. Also, tested with the logic analyzer. Seems it is not changing on the pins.
Thanks
#include <SPI.h>
#include <bmi160.h>
struct bmi160_dev sensor;
#define A3 SS;
#define D12 MISO;
#define D11 MOSI;
#define D13 SCK;
int16_t gyro_x;
int i;
int8_t user_spi_write(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t length)
{
int8_t rslt = 0; /* Return 0 for Success, non-zero for failure*/
reg_addr = reg_addr & 0x7F;
//SPI.begin();
digitalWrite(SS,LOW);
/* send register address byte */
rslt=SPI.transfer(reg_addr);
delayMicroseconds(15);
/* Communicate len number of bytes: if TX - the procedure doesn't overwrite pData */
for (i = 0; i < length; i++)
{
SPI.transfer(*reg_data++);
}
// SPI.end();
digitalWrite(SS,HIGH);
/* return the status byte value */
return rslt;
}
int8_t user_spi_read(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t len)
{
int8_t rslt = 0; /* Return 0 for Success, non-zero for failure */
//Communicate len number of bytes: if RX - the procedure sends 0x00 to push bytes from slave
reg_addr = reg_addr | 0x80; /* For read operation, the reg_addr should be ORed with 0x80.*/
digitalWrite(SS,LOW);
/* send register address byte */
rslt=SPI.transfer(reg_addr);
delayMicroseconds(15);
/* Communicate len number of bytes: if RX - the procedure sends 0x00 to push bytes from slave*/
for (i = 0; i < len; i++)
{
*reg_data = SPI.transfer(0);
/* Store pData from last pData RX */
reg_data++;
}
digitalWrite(SS,HIGH);
/* return the status byte value */
return(rslt);
}
void user_delay_ms(uint32_t period)
{
int8_t rslt = 0; /* Return 0 for Success, non-zero for failure */
delay(period);
}
void setup() {
// put your setup code here, to run once:
Serial.begin(9600);
SPI.begin();
SPI.setClockDivider(SPI_CLOCK_DIV16);
digitalWrite(SS,LOW);
digitalWrite(SS,HIGH);
sensor.id = 0;
sensor.interface = BMI160_SPI_INTF;
sensor.read = user_spi_read;
sensor.write = user_spi_write;
sensor.delay_ms = user_delay_ms;
int8_t rslt = 0;
rslt = bmi160_init(&sensor);
// Select the Output data rate, range of accelerometer sensor
sensor.accel_cfg.odr = BMI160_ACCEL_ODR_1600HZ;
sensor.accel_cfg.range = BMI160_ACCEL_RANGE_2G;
sensor.accel_cfg.bw = BMI160_ACCEL_BW_NORMAL_AVG4;
// Select the Output data rate, range of Gyroscope sensor
sensor.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ;
sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
//Select the power mode
sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
//Set the Power mode
rslt = bmi160_set_power_mode(&sensor);
//Set the sensor configuration
rslt = bmi160_set_sens_conf(&sensor);
}
void loop() {
// put your main code here, to run repeatedly:
int8_t rslt = 0;
struct bmi160_sensor_data accel;
struct bmi160_sensor_data gyro;
/* To read both Accel and Gyro data */
bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &accel, &gyro, &sensor);
gyro_x=gyro.z;
Serial.println(gyro_x);
delay(100);
}
