[设计过程分享] BMI160测试

dcexpert 2017-8-2 17:24 楼主

BMI160是博世的6轴陀螺仪传感器，它的体积小，灵敏度高，支持I2C或SPI接口。

在MAX32630FTHR开发板上，使用了BMI160传感器，利用Mbed以及相关的驱动，我们可以直接测试这个传感器，通过串口查看传感器状态。

#include "mbed.h"
#include "max32630fthr.h"
#include "bmi160.h"
void dumpImuRegisters(BMI160 &imu);
void printRegister(BMI160 &imu, BMI160::Registers reg);
void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);
int main()
{
MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
DigitalOut rLED(LED1, LED_OFF);
DigitalOut gLED(LED2, LED_OFF);
DigitalOut bLED(LED3, LED_OFF);
I2C i2cBus(P5_7, P6_0);
i2cBus.frequency(400000);
BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
printf("\033[H"); //home
printf("\033[0J"); //erase from cursor to end of screen
uint32_t failures = 0;
if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
{
printf("Failed to set gyroscope power mode\n");
failures++;
}
wait_ms(100);
if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
{
printf("Failed to set accelerometer power mode\n");
failures++;
}
wait_ms(100);
BMI160::AccConfig accConfig;
//example of using getSensorConfig
if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
{
printf("ACC Range = %d\n", accConfig.range);
printf("ACC UnderSampling = %d\n", accConfig.us);
printf("ACC BandWidthParam = %d\n", accConfig.bwp);
printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
}
else
{
printf("Failed to get accelerometer configuration\n");
failures++;
}
//example of setting user defined configuration
accConfig.range = BMI160::SENS_4G;
accConfig.us = BMI160::ACC_US_OFF;
accConfig.bwp = BMI160::ACC_BWP_2;
accConfig.odr = BMI160::ACC_ODR_8;
if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
{
printf("ACC Range = %d\n", accConfig.range);
printf("ACC UnderSampling = %d\n", accConfig.us);
printf("ACC BandWidthParam = %d\n", accConfig.bwp);
printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
}
else
{
printf("Failed to set accelerometer configuration\n");
failures++;
}
BMI160::GyroConfig gyroConfig;
if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR)
{
printf("GYRO Range = %d\n", gyroConfig.range);
printf("GYRO BandWidthParam = %d\n", gyroConfig.bwp);
printf("GYRO OutputDataRate = %d\n\n", gyroConfig.odr);
}
else
{
printf("Failed to get gyroscope configuration\n");
failures++;
}
wait(1.0);
printf("\033[H"); //home
printf("\033[0J"); //erase from cursor to end of screen
if(failures == 0)
{
float imuTemperature;
BMI160::SensorData accData;
BMI160::SensorData gyroData;
BMI160::SensorTime sensorTime;
while(1)
{
imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
imu.getTemperature(&imuTemperature);
printf("ACC xAxis = %s%4.3f\r\n", "\033[K", accData.xAxis.scaled);
printf("ACC yAxis = %s%4.3f\r\n", "\033[K", accData.yAxis.scaled);
printf("ACC zAxis = %s%4.3f\r\n\n", "\033[K", accData.zAxis.scaled);
printf("GYRO xAxis = %s%5.1f\r\n", "\033[K", gyroData.xAxis.scaled);
printf("GYRO yAxis = %s%5.1f\r\n", "\033[K", gyroData.yAxis.scaled);
printf("GYRO zAxis = %s%5.1f\r\n\n", "\033[K", gyroData.zAxis.scaled);
printf("Sensor Time = %s%f\r\n", "\033[K", sensorTime.seconds);
printf("Sensor Temperature = %s%5.3f\r\n", "\033[K", imuTemperature);
printf("\033[H"); //home
gLED = !gLED;
Thread::wait(500);
}
}
else
{
while(1)
{
rLED = !rLED;
wait(0.25);
}
}
}
//*****************************************************************************
void dumpImuRegisters(BMI160 &imu)
{
printRegister(imu, BMI160::CHIP_ID);
printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
printRegister(imu, BMI160::CMD);
printf("\n");
}
//*****************************************************************************
void printRegister(BMI160 &imu, BMI160::Registers reg)
{
uint8_t data;
if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
{
printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
}
else
{
printf("Failed to read register\n");
}
}
//*****************************************************************************
void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg)
{
uint8_t numBytes = ((stopReg - startReg) + 1);
uint8_t buff[numBytes];
uint8_t offset = static_cast<uint8_t>(startReg);
if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR)
{
for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
{
printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
}
}
else
{
printf("Failed to read block\n");
}
}

建议使用putty等终端软件，可以方便的查看数据。

附：

BMI160网站：http://www.bosch-sensortec.com/bst/products/all_products/bmi160
BMI160数据手册：https://ae-bst.resource.bosch.co ... BMI160-DS000-07.pdf
BMP160官方驱动：https://github.com/BoschSensortec/BMI160_driver
Mbed驱动：https://developer.mbed.org/users/j3/code/BMI160/
Mbed例程：https://developer.mbed.org/users/j3/code/MAX32630FTHR_IMU_Test/

回复评论（1）

沙发 dcexpert

修改了一下主程序，可以用加速度传感器控制LED了。

#include "mbed.h"
#include "max32630fthr.h"
#include "bmi160.h"
void dumpImuRegisters(BMI160 &imu);
void printRegister(BMI160 &imu, BMI160::Registers reg);
void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg);
int main()
{
uint8_t cnt;
MAX32630FTHR pegasus(MAX32630FTHR::VIO_3V3);
PwmOut rLED(LED1);
PwmOut gLED(LED2);
PwmOut bLED(LED3);
rLED = gLED = bLED = 1;
I2C i2cBus(P5_7, P6_0);
i2cBus.frequency(400000);
BMI160_I2C imu(i2cBus, BMI160_I2C::I2C_ADRS_SDO_LO);
printf("\033[H"); //home
printf("\033[0J"); //erase from cursor to end of screen
uint32_t failures = 0;
if(imu.setSensorPowerMode(BMI160::GYRO, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
{
printf("Failed to set gyroscope power mode\n");
failures++;
}
wait_ms(100);
if(imu.setSensorPowerMode(BMI160::ACC, BMI160::NORMAL) != BMI160::RTN_NO_ERROR)
{
printf("Failed to set accelerometer power mode\n");
failures++;
}
wait_ms(100);
BMI160::AccConfig accConfig;
//example of using getSensorConfig
if(imu.getSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
{
printf("ACC Range = %d\n", accConfig.range);
printf("ACC UnderSampling = %d\n", accConfig.us);
printf("ACC BandWidthParam = %d\n", accConfig.bwp);
printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
}
else
{
printf("Failed to get accelerometer configuration\n");
failures++;
}
//example of setting user defined configuration
accConfig.range = BMI160::SENS_4G;
accConfig.us = BMI160::ACC_US_OFF;
accConfig.bwp = BMI160::ACC_BWP_2;
accConfig.odr = BMI160::ACC_ODR_8;
if(imu.setSensorConfig(accConfig) == BMI160::RTN_NO_ERROR)
{
printf("ACC Range = %d\n", accConfig.range);
printf("ACC UnderSampling = %d\n", accConfig.us);
printf("ACC BandWidthParam = %d\n", accConfig.bwp);
printf("ACC OutputDataRate = %d\n\n", accConfig.odr);
}
else
{
printf("Failed to set accelerometer configuration\n");
failures++;
}
BMI160::GyroConfig gyroConfig;
if(imu.getSensorConfig(gyroConfig) == BMI160::RTN_NO_ERROR)
{
printf("GYRO Range = %d\n", gyroConfig.range);
printf("GYRO BandWidthParam = %d\n", gyroConfig.bwp);
printf("GYRO OutputDataRate = %d\n\n", gyroConfig.odr);
}
else
{
printf("Failed to get gyroscope configuration\n");
failures++;
}
wait(1.0);
printf("\033[H"); //home
printf("\033[0J"); //erase from cursor to end of screen
if(failures == 0)
{
float imuTemperature;
BMI160::SensorData accData;
BMI160::SensorData gyroData;
BMI160::SensorTime sensorTime;
while(1)
{
imu.getGyroAccXYZandSensorTime(accData, gyroData, sensorTime, accConfig.range, gyroConfig.range);
imu.getTemperature(&imuTemperature);
rLED = 1-abs(accData.xAxis.scaled);
gLED = 1-abs(accData.yAxis.scaled);
bLED = 1-abs(accData.zAxis.scaled);
cnt++;
if(cnt > 9)
{
cnt = 0;
printf("ACC xAxis = %s%4.3f\r\n", "\033[K", accData.xAxis.scaled);
printf("ACC yAxis = %s%4.3f\r\n", "\033[K", accData.yAxis.scaled);
printf("ACC zAxis = %s%4.3f\r\n\n", "\033[K", accData.zAxis.scaled);
printf("GYRO xAxis = %s%5.1f\r\n", "\033[K", gyroData.xAxis.scaled);
printf("GYRO yAxis = %s%5.1f\r\n", "\033[K", gyroData.yAxis.scaled);
printf("GYRO zAxis = %s%5.1f\r\n\n", "\033[K", gyroData.zAxis.scaled);
printf("Sensor Time = %s%f\r\n", "\033[K", sensorTime.seconds);
printf("Sensor Temperature = %s%5.3f\r\n", "\033[K", imuTemperature);
printf("\033[H"); //home
}
Thread::wait(50);
}
}
else
{
while(1)
{
rLED = !rLED;
wait(0.25);
}
}
}
//*****************************************************************************
void dumpImuRegisters(BMI160 &imu)
{
printRegister(imu, BMI160::CHIP_ID);
printBlock(imu, BMI160::ERR_REG,BMI160::FIFO_DATA);
printBlock(imu, BMI160::ACC_CONF, BMI160::FIFO_CONFIG_1);
printBlock(imu, BMI160::MAG_IF_0, BMI160::SELF_TEST);
printBlock(imu, BMI160::NV_CONF, BMI160::STEP_CONF_1);
printRegister(imu, BMI160::CMD);
printf("\n");
}
//*****************************************************************************
void printRegister(BMI160 &imu, BMI160::Registers reg)
{
uint8_t data;
if(imu.readRegister(reg, &data) == BMI160::RTN_NO_ERROR)
{
printf("IMU Register 0x%02x = 0x%02x\n", reg, data);
}
else
{
printf("Failed to read register\n");
}
}
//*****************************************************************************
void printBlock(BMI160 &imu, BMI160::Registers startReg, BMI160::Registers stopReg)
{
uint8_t numBytes = ((stopReg - startReg) + 1);
uint8_t buff[numBytes];
uint8_t offset = static_cast<uint8_t>(startReg);
if(imu.readBlock(startReg, stopReg, buff) == BMI160::RTN_NO_ERROR)
{
for(uint8_t idx = offset; idx < (numBytes + offset); idx++)
{
printf("IMU Register 0x%02x = 0x%02x\n", idx, buff[idx - offset]);
}
}
else
{
printf("Failed to read block\n");
}
}

编译后的bin文件，可以直接写入DAPlink运行

bmi160test.ZIP (24.56 KB)
(下载次数: 8, 2017-8-2 17:32 上传)

点赞 2017-8-2 17:33

[设计过程分享] BMI160测试

回复评论 （1）

沙发 dcexpert

回复评论（1）