Problem with acceleration sensor

Question

I’m using the BMA020 (from ELV) with my Arduino Mega2560 and trying to read acceleration values that doesn’t confuse me. First I connected the sensor in SPI-4 mode. Means

CSB <-> PB0 (SS)

SCK <-> PB1 (SCK)

SDI <-> PB2 (MOSI)

SDO <-> PB3 (MISO)

Also GND and UIN are connected with the GND and 5V Pins of the Arduino board.

Here is the self-written code I use

#include <avr/io.h>
#include <util/delay.h>

#define sensor1     0
typedef int int10_t;

int TBM(uint8_t high, uint8_t low)
{   
    int buffer = 0;
    if(high & (1<<7)) {
        uint8_t high_new = (high & 0x7F);
        buffer = (high_new<<2) | (low>>6);
        buffer = buffer - 512;
    }
    else
        buffer = (high<<2) | (low>>6);


    return buffer;
}

void InitSPI(void);
void AccSensConfig(void);
void WriteByteSPI(uint8_t addr, uint8_t Data, int sensor_select);
uint8_t ReadByteSPI(int8_t addr, int sensor_select);
void Read_all_acceleration(int10_t  *acc_x, int10_t *acc_y, int10_t *acc_z, int sensor_select);


int main(void)
{
    int10_t S1_x_acc = 0, S1_y_acc = 0, S1_z_acc = 0;
    InitSPI();
    AccSensConfig();
    while(1) {
        Read_all_acceleration(&S1_x_acc, &S1_y_acc, &S1_z_acc, sensor1);
    }
}

void InitSPI(void) {

    DDRB |= (1<<DDB2)|(1<<DDB1)|(1<<DDB0);

    PORTB |= (1<<PB0);

    SPCR |= (1<<SPE);
    SPCR |= (1<<MSTR);  
    SPCR |= (0<<SPR0) | (1<<SPR1);  
    SPCR |= (1<<CPOL) | (1<<CPHA);  
}

void AccSensConfig(void) {

    WriteByteSPI(0x0A, 0x02, sensor1);
    _delay_ms(100);

    WriteByteSPI(0x15,0x80,sensor1);    //nur SPI4 einstellen
}

void WriteByteSPI(uint8_t addr, uint8_t Data, int sensor_select) {

    PORTB &= ~(1<<sensor_select);   
    SPDR = addr;                    
    while(!(SPSR & (1<<SPIF)));     

    SPDR = Data;                    
    while(!(SPSR & (1<<SPIF)));     

    PORTB |= (1<<sensor_select);    
}

uint8_t ReadByteSPI(int8_t addr, int sensor_select)
{
    int8_t dummy = 0xAA;

    PORTB &= ~(1<<sensor_select);   

    SPDR = addr;                    
    while(!(SPSR & (1<<SPIF)));     
    SPDR = dummy;                   
    while(!(SPSR & (1<<SPIF)));     

    PORTB |= (1<<sensor_select);    

    addr=SPDR;
    return addr;
}

void Read_all_acceleration(int10_t  *acc_x, int10_t *acc_y, int10_t *acc_z, int sensor_select)
{
    uint8_t addr = 0x82;
    uint8_t dummy = 0xAA;
    uint8_t high = 0;
    uint8_t low = 0;

    PORTB &= ~(1<<sensor_select);   

    SPDR = addr;
    while(!(SPSR & (1<<SPIF)));

    SPDR = dummy;           
    while(!(SPSR & (1<<SPIF)));
    low = SPDR;     
    SPDR = dummy;   
    while(!(SPSR & (1<<SPIF)));
    high = SPDR;                    
    *acc_x = TBM(high, low);

    SPDR = dummy;       
    while(!(SPSR & (1<<SPIF)));
    low = SPDR;     
    SPDR = dummy;   
    while(!(SPSR & (1<<SPIF)));
    high = SPDR;    
    *acc_y = TBM(high, low);

    SPDR = dummy;       
    while(!(SPSR & (1<<SPIF)));
    low = SPDR; 
    SPDR = dummy;   
    while(!(SPSR & (1<<SPIF)));
    high = SPDR;    
    *acc_z = TBM(high, low);

    PORTB |= (1<<sensor_select);    
}

And now here is what really confuses me. I got 5 of this sensors. One is working with this code perfectly fine. The Data I get is what I expect. I measure earth gravity in z-component if Iay the sensor on the table, if I start turning it I measure the earth gravity component wise in x-, y- and z- direction depending on the angle I turn the sensor.

From the other 4 sensors I receive data that is different. The values jump from -314 (about -1.2 g) to +160 (about 0.5g). With the same code, the same wires and the same Arduino.

I checked the register settings of all sensors, they are all the same. I checked the wire connection to the first component at the sensors, they are all around 0.3 Ohm. I used an Oscilloscope and made sure CSB, SCK and MOSI work properly.

Am I missing something? What causes this similar but wrong behavior of 4 out of 5 sensors?

Answer 1

Earlier answer, regarding the self-test

Section 3.3.2 describes how to do the self test, section 3.4.1 describes how to read the result.

There is a note about not overwriting bits 5, 6, and 7 of register 14h at the start of chapter 3, so read that and then check that you have scaling set correctly (bits 0 and 1 of register 14h).

As the chips that are suspect all also fail the self test and voltages on the board are normal, I would blame physical damage (were dropped/thrown during shipping, etc) and ask for an RMA for the parts.

A caution

While the board linked in the question accepts an input voltage of up to 6V, the board features a regulator and level shifters. The chip itself operates at a much lower voltage.