BMI160加速度值异常

发布于 2022-08-08 17:02:11 浏览：804 订阅该版

Hello All

我用rtthread的sensor框架，添加rtt的BMI160软件包，发现读出来的加速度传感器值异常。

当板子平放在桌面上，静止不动，打印的log是
	
![LOG1.png](https://oss-club.rt-thread.org/uploads/20220808/c970a234abb8babf0fcc6fcc4cebc594.png "LOG1.png")

当板子垫一个U盘，使他倾斜一个角度，静止不动，打印的log是
	
![log2.png](https://oss-club.rt-thread.org/uploads/20220808/978ada71e52691e8611b0a9e91af947f.png "log2.png")

感觉像是陀螺仪的数据而不是加速度的。
代码如下
```c
int bmx160_port(void)
{
    struct rt_sensor_config cfg;
    cfg.intf.dev_name = "i2c3";
    cfg.intf.user_data = (void *)0x68;
    cfg.irq_pin.pin = RT_PIN_NONE;
    cfg.irq_pin.mode = PIN_MODE_INPUT_PULLDOWN;
    rt_hw_bmx160_init("bmi160", &cfg);
    return 0;
}

static void sensor_show_data(rt_size_t num, rt_sensor_t sensor, struct rt_sensor_data *sensor_data)
{
    switch (sensor->info.type)
    {
    case RT_SENSOR_CLASS_ACCE:
        rt_kprintf("num:%3d, x:%5d, y:%5d, z:%5d, timestamp:%5d\n", num, sensor_data->data.acce.x, sensor_data->data.acce.y, sensor_data->data.acce.z, sensor_data->timestamp);
        break;
    case RT_SENSOR_CLASS_GYRO:
        rt_kprintf("num:%3d, x:%8d, y:%8d, z:%8d, timestamp:%5d\n", num, sensor_data->data.gyro.x, sensor_data->data.gyro.y, sensor_data->data.gyro.z, sensor_data->timestamp);
        break;
    case RT_SENSOR_CLASS_MAG:
        rt_kprintf("num:%3d, x:%5d, y:%5d, z:%5d, timestamp:%5d\n", num, sensor_data->data.mag.x, sensor_data->data.mag.y, sensor_data->data.mag.z, sensor_data->timestamp);
        break;
    case RT_SENSOR_CLASS_HUMI:
        rt_kprintf("num:%3d, humi:%3d.%d%%, timestamp:%5d\n", num, sensor_data->data.humi / 10, sensor_data->data.humi % 10, sensor_data->timestamp);
        break;
    case RT_SENSOR_CLASS_TEMP:
        rt_kprintf("num:%3d, temp:%3d.%dC, timestamp:%5d\n", num, sensor_data->data.temp / 10, sensor_data->data.temp % 10, sensor_data->timestamp);
        break;
    case RT_SENSOR_CLASS_BARO:
        rt_kprintf("num:%3d, press:%5d, timestamp:%5d\n", num, sensor_data->data.baro, sensor_data->timestamp);
        break;
    case RT_SENSOR_CLASS_STEP:
        rt_kprintf("num:%3d, step:%5d, timestamp:%5d\n", num, sensor_data->data.step, sensor_data->timestamp);
        break;
    default:
        break;
    }
}

int main(void)
{
  rt_device_t dev = RT_NULL;
	rt_size_t res, i=0;
	struct rt_sensor_data data;
	
	
  rt_thread_mdelay(1000);
	bmx160_port();
	
	/* 查找系统中的传感器设备 */
  dev = rt_device_find("acce_bmi");
  if (dev == RT_NULL){
		rt_kprintf("Can't find device\n");
    return 0;
  }
	
	/* 以轮询模式打开传感器设备 */
	if (rt_device_open(dev, RT_DEVICE_FLAG_RDONLY) != RT_EOK){
    rt_kprintf("open device failed!");
    return 0;
  }
	
	
	while (1){
		rt_thread_mdelay(1000);
		/* 从传感器读取一个数据 */
    res = rt_device_read(dev, 0, &data, 1);
    if (res != 1){
			rt_kprintf("read data failed!size is %d\r\n", res);
    }
		else{
			sensor_show_data(i, (rt_sensor_t)dev, &data);
    }
		
	}
}
```