Max32630（五）——BMI160传感器

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Max32630（五）——BMI160传感器 [复制链接]

Bosch最新款单颗六轴惯性测量元件产品：BMI160，内置16-bit加速度传感器和16-bit陀螺仪，既能通过加速度追踪线性运动，也能通过陀螺仪追踪Z轴原地翻转运动，可适应智能手机上更多动感游戏要求。Bosch的陀螺仪具备多种运作模式，6轴全开模式功耗仅960uA,节省电力；休眠时耗电量减至5成，而唤醒时间仅需10毫秒，借由加速度所侦测到的动作即可触发。配合高精度16-bit加速度传感器，为陀螺仪提供高精度校准，从而获得稳定的6轴运动数据。Max32630开发板自带BMI160传感器，可以用他来做一个简单的计步；
首先官方提供了驱动程序，很方便，也很简单；

读取的数据

使用时，只需要增加自己的驱动即可；
Max32630开发板和BMI160传感器使用IIC通信；
所以首先需要初始化IIC，然后
struct bmi160_dev sensor;sensor.id = BMI160_I2C_ADDR;sensor.interface = BMI160_I2C_INTF;sensor.read = user_i2c_read;sensor.write = user_i2c_write;sensor.delay_ms = user_delay_ms;int8_t rslt = BMI160_OK;rslt = bmi160_init(&sensor);提供IIC的读写函数和延时函数；user_i2c_read;user_i2c_write;user_delay_ms;其他按照提供的README.md操作。驱动部分：

1. #include "bmi160_i2c.h"
   
2. #include "i2cm.h"
   
3. 
   
4. const sys_cfg_i2cm_t bmi160_sys_cfg = {
   
5.         .clk_scale = CLKMAN_SCALE_AUTO,
   
6.         .io_cfg = IOMAN_I2CM2(IOMAN_MAP_A, 1)
   
7. };
   
8. 
   
9. struct bmi160_dev sensor;
   
10. struct bmi160_cfg prev_accel_cfgure;
    
11. struct bmi160_cfg prev_gyro_cfgure;
    
12. struct bmi160_aux_cfg aux_cfgure;
    
13. struct bmi160_aux_cfg prev_aux_cfgure;
    
14. 
    
15. struct bmi160_cfg accel_cfgure = {
    
16.         .power = BMI160_ACCEL_NORMAL_MODE,
    
17.         .odr = BMI160_ACCEL_ODR_1600HZ,
    
18.         .range = BMI160_ACCEL_RANGE_2G,
    
19.         .bw = BMI160_ACCEL_BW_NORMAL_AVG4,
    
20. };
    
21. 
    
22. 
    
23. 
    
24. struct bmi160_cfg gyro_cfgure = {
    
25.         .power = BMI160_GYRO_NORMAL_MODE,
    
26.         .odr = BMI160_GYRO_ODR_3200HZ,
    
27.         .range = BMI160_GYRO_RANGE_2000_DPS,
    
28.         .bw = BMI160_GYRO_BW_NORMAL_MODE,
    
29. };
    
30. 
    
31. 
    
32. 
    
33. 
    
34. 
    
35. 
    
36. 
    
37. 
    
38. #define BMI160_I2CM       MXC_I2CM2
    
39. 
    
40. void BMI160_Init(void)
    
41. {
    
42.         uint8_t ui8Status = 0;
    
43.     uint8_t ui8Attempts = 20;
    
44.         s8 rslt = BMI160_OK;
    
45.         u8 temp = 0;
    
46. //        u8 *temp = NULL;
    
47. //        u8 reg_adr = 0;
    
48.         
    
49. 
    
50.         sensor.id = BMI160_I2C_ADDR;               
    
51.         sensor.interface = BMI160_I2C_INTF;        /*! 0 - I2C , 1 - SPI Interface */
    
52.         sensor.read = bmi_i2c_read;
    
53.         sensor.write = bmi_i2c_write;
    
54.         sensor.delay_ms = delay_ms;
    
55.         rslt = I2CM_Init(BMI160_I2CM, &bmi160_sys_cfg, I2CM_SPEED_400KHZ);
    
56.         
    
57. 
    
58.         rslt = bmi160_init(&sensor);                //Init
    
59.         if(BMI160_OK == rslt)
    
60.                 printf("BMI160 Init OK!\r\n");
    
61.         else
    
62.                 printf("BMI160 Init Erro: %d!\r\n",rslt);
    
63.         
    
64.         BMI160_Set_PowerMode();
    
65.         
    
66. 
    
67.         /* Select the Output data rate, range of accelerometer sensor */
    
68.         sensor.accel_cfg.odr = BMI160_ACCEL_ODR_800HZ;
    
69.         sensor.accel_cfg.range = BMI160_ACCEL_RANGE_4G;
    
70.         sensor.accel_cfg.bw = BMI160_ACCEL_BW_OSR2_AVG2;
    
71. 
    
72.         /* Select the power mode of accelerometer sensor */
    
73.         sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
    
74. 
    
75.         /* Select the Output data rate, range of Gyroscope sensor */
    
76. //        sensor.gyro_cfg.odr = BMI160_GYRO_ODR_3200HZ;
    
77. //        sensor.gyro_cfg.range = BMI160_GYRO_RANGE_2000_DPS;
    
78. //        sensor.gyro_cfg.bw = BMI160_GYRO_BW_NORMAL_MODE;
    
79. 
    
80. //        /* Select the power mode of Gyroscope sensor */
    
81. //        sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
    
82. 
    
83.         /* Set the sensor configuration */
    
84.         rslt = bmi160_set_sens_conf(&sensor);
    
85.         if(BMI160_OK == rslt)
    
86.                 printf("BMI160 Conf OK!\r\n");
    
87.         else
    
88.                 printf("BMI160 Conf Erro: %d!\r\n",rslt);
    
89.         
    
90. 
    
91.         
    
92.         
    
93. }
    
94. int8_t bmi_i2c_read(uint8_t dev_addr, uint8_t reg_addr,uint8_t *data, uint16_t len)
    
95. {
    
96.         if( I2CM_Read(BMI160_I2CM, dev_addr, ®_addr, 1, data, len) < 0)
    
97.                 return BMI160_E_DEV_NOT_FOUND;
    
98.         
    
99.         return BMI160_OK;
    
100. }
     
101. 
     
102. int8_t bmi_i2c_write(uint8_t dev_addr, uint8_t reg_addr,uint8_t *data, uint16_t len)
     
103. {
     
104.         if(I2CM_Write(BMI160_I2CM, dev_addr, ®_addr, 1, data, len)<0)
     
105.                 return BMI160_E_DEV_NOT_FOUND;
     
106.         return BMI160_OK;
     
107. 
     
108.         
     
109. }
     
110. 
     

复制代码

读取数据部分：

1. #include "bmi160_app.h"
   
2. #include "bmi160_i2c.h"
   
3. 
   
4. 
   
5. //struct bmi160_sensor_data accel_data;
   
6. //struct bmi160_sensor_data gyro_data;
   
7. 
   
8. struct bmi160_sensor_data accel;
   
9. struct bmi160_sensor_data gyro;
   
10. 
    
11. void BMI160_Task(void)
    
12. {
    
13.         u8 temp = BMI160_ACCEL_NORMAL_MODE;
    
14.         u16 Step = 0;
    
15.         static u32 PointM = 0;
    
16.         static u8 mState = 0;
    
17.         if( ( OsDelayCCnt - PointM ) >= T_1S)
    
18.         {
    
19.                 PointM = OsDelayCCnt;
    
20.                
    
21.                 int8_t rslt = BMI160_OK;
    
22.                
    
23.                 bmi160_read_step_counter(&User.StepCount,&sensor);
    
24. 
    
25.                 /* To read only Accel data */
    
26.                 rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL, &accel, NULL, &sensor);
    
27.                
    
28.                 /* To read only Gyro data */
    
29.                 rslt = bmi160_get_sensor_data(BMI160_GYRO_SEL, NULL, &gyro, &sensor);
    
30.                
    
31.                 /* To read both Accel and Gyro data */
    
32.                 bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL), &accel, &gyro, &sensor);
    
33. 
    
34.                 /* To read Accel data along with time */
    
35.                 rslt = bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_TIME_SEL) , &accel, NULL, &sensor);
    
36.                
    
37.                 /* To read Gyro data along with time */
    
38.                 rslt = bmi160_get_sensor_data((BMI160_GYRO_SEL | BMI160_TIME_SEL), NULL, &gyro, &sensor);
    
39. 
    
40.                 /* To read both Accel and Gyro data along with time*/
    
41.                 bmi160_get_sensor_data((BMI160_ACCEL_SEL | BMI160_GYRO_SEL | BMI160_TIME_SEL), &accel, &gyro, &sensor);
    
42. 
    
43.         }
    
44.         
    
45.         
    
46. }
    
47. 
    
48. void BMI160_Set_PowerMode(void)
    
49. {
    
50.         int8_t rslt = BMI160_OK;
    
51. 
    
52.         /* Select the power mode */
    
53.         sensor.accel_cfg.power = BMI160_ACCEL_NORMAL_MODE;
    
54.         sensor.gyro_cfg.power = BMI160_GYRO_NORMAL_MODE;
    
55. 
    
56.         /*  Set the Power mode  */
    
57.         rslt = bmi160_set_power_mode(&sensor);
    
58.         if (rslt == BMI160_OK) {
    
59.                 printf("\r\n Set PowerMode SUCCESS\r\n");
    
60.         } else {
    
61.                 printf("\r\n Set PowerMode FAIL\r\n");
    
62.         }
    
63. }
    
64. 
    
65. void BMI160_Reset(void)
    
66. {
    
67.         int8_t rslt = BMI160_OK;
    
68.         rslt = bmi160_soft_reset(&sensor);
    
69.         if (rslt == BMI160_OK) {
    
70.                 printf("\r\n Reset SUCCESS\r\n");
    
71.         } else {
    
72.                 printf("\r\n Reset FAIL\r\n");
    
73.         }
    
74. }
    
75. void BMI160_Set_StepInt(void)
    
76. {
    
77.         struct bmi160_int_settg int_config;
    
78. 
    
79.         /* Select the Interrupt channel/pin */
    
80.         int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
    
81. 
    
82.         /* Select the Interrupt type */
    
83.         int_config.int_type = BMI160_STEP_DETECT_INT;// Choosing Step Detector interrupt
    
84. 
    
85.         /* Select the interrupt channel/pin settings */
    
86.         int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
    
87.         int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
    
88.         int_config.int_pin_settg.output_type = BMI160_ENABLE;// Choosing active High output
    
89.         int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
    
90.         int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
    
91.         int_config.int_pin_settg.latch_dur =BMI160_LATCH_DUR_NONE;// non-latched output
    
92. 
    
93.         /* Select the Step Detector interrupt parameters, Kindly use the recommended settings for step detector */
    
94.         int_config.int_type_cfg.acc_step_detect_int.step_detector_mode = BMI160_STEP_DETECT_NORMAL;
    
95.         int_config.int_type_cfg.acc_step_detect_int.step_detector_en = BMI160_ENABLE;// 1-enable, 0-disable the step detector
    
96. 
    
97.         /* Set the Step Detector interrupt */
    
98.         bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev */
    
99.         
    
100. }
     
101. 
     
102. void BMI160_Any_Motion_Interrupt(void)
     
103. {
     
104.         struct bmi160_int_settg int_config;
     
105. 
     
106.         /* Select the Interrupt channel/pin */
     
107.         int_config.int_channel = BMI160_INT_CHANNEL_1;// Interrupt channel/pin 1
     
108. 
     
109.         /* Select the Interrupt type */
     
110.         int_config.int_type = BMI160_ACC_ANY_MOTION_INT;// Choosing Any motion interrupt
     
111. 
     
112.         /* Select the interrupt channel/pin settings */
     
113.         int_config.int_pin_settg.output_en = BMI160_ENABLE;// Enabling interrupt pins to act as output pin
     
114.         int_config.int_pin_settg.output_mode = BMI160_DISABLE;// Choosing push-pull mode for interrupt pin
     
115.         int_config.int_pin_settg.output_type = BMI160_DISABLE;// Choosing active low output
     
116.         int_config.int_pin_settg.edge_ctrl = BMI160_ENABLE;// Choosing edge triggered output
     
117.         int_config.int_pin_settg.input_en = BMI160_DISABLE;// Disabling interrupt pin to act as input
     
118.         int_config.int_pin_settg.latch_dur = BMI160_LATCH_DUR_NONE;// non-latched output
     
119. 
     
120.         /* Select the Any-motion interrupt parameters */
     
121.         int_config.int_type_cfg.acc_any_motion_int.anymotion_en = BMI160_ENABLE;// 1- Enable the any-motion, 0- disable any-motion
     
122.         int_config.int_type_cfg.acc_any_motion_int.anymotion_x = BMI160_ENABLE;// Enabling x-axis for any motion interrupt
     
123.         int_config.int_type_cfg.acc_any_motion_int.anymotion_y = BMI160_ENABLE;// Enabling y-axis for any motion interrupt
     
124.         int_config.int_type_cfg.acc_any_motion_int.anymotion_z = BMI160_ENABLE;// Enabling z-axis for any motion interrupt
     
125.         int_config.int_type_cfg.acc_any_motion_int.anymotion_dur = 0;// any-motion duration
     
126.         int_config.int_type_cfg.acc_any_motion_int.anymotion_thr = 20;// (2-g range) -> (slope_thr) * 3.91 mg, (4-g range) -> (slope_thr) * 7.81 mg, (8-g range) ->(slope_thr) * 15.63 mg, (16-g range) -> (slope_thr) * 31.25 mg
     
127. 
     
128.         /* Set the Any-motion interrupt */
     
129.         bmi160_set_int_config(&int_config, &sensor); /* sensor is an instance of the structure bmi160_dev  */
     
130. }
     
131. 
     
132. void BMI160_User_Space(void)
     
133. {
     
134.         int8_t rslt = BMI160_OK;
     
135.         uint8_t step_enable = 1;//enable the step counter
     
136. 
     
137.         rslt = bmi160_set_step_counter(step_enable,  &sensor);
     
138.         if (rslt == BMI160_OK) {
     
139.                 printf("\r\n User Space SUCCESS\r\n");
     
140.         } else {
     
141.                 printf("\r\n User Space FAIL\r\n");
     
142.         }
     
143. }
     
144. void BMI160_ISR(void)
     
145. {
     
146.         int8_t rslt = BMI160_OK;
     
147.         uint16_t step_count = 0;//stores the step counter value
     
148. 
     
149.         rslt = bmi160_read_step_counter(&step_count,  &sensor);
     
150.         if (rslt == BMI160_OK) {
     
151.                 printf("\r\n BMI160 ISR SUCCESS\r\n");
     
152.         } else {
     
153.                 printf("\r\n BMI160 ISR FAIL\r\n");
     
154.         }
     
155. }
     
156. 
     
157. void BMI160_SelfTest(void)
     
158. {
     
159.         s8 rslt;
     
160.         /* Call the "bmi160_init" API as a prerequisite before performing self test
     
161. * since invoking self-test will reset the sensor */
     
162. 
     
163.         rslt = bmi160_perform_self_test(BMI160_ACCEL_ONLY, &sensor);
     
164.         /* Utilize the enum BMI160_GYRO_ONLY instead of BMI160_ACCEL_ONLY
     
165.            to perform self test for gyro */
     
166.         if (rslt == BMI160_OK) {
     
167.                 printf("\r\n ACCEL SELF TEST RESULT SUCCESS\r\n");
     
168.         } else {
     
169.                 printf("\r\n ACCEL SELF TEST RESULT FAIL\r\n");
     
170.         }
     
171. }
     
172. 
     
173. 
     
174. 
     

复制代码

附件是官方驱动。 BMI160_driver-master.zip (44.38 KB, 下载次数: 28)

2017-9-15 14:44 上传

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29447945

更正一个错误，IIC的发送函数有错，
int8_t bmi_i2c_write(uint8_t dev_addr, uint8_t reg_addr,uint8_t *data, uint16_t len)
{
        u8 temp_data[3];
        temp_data[0] = reg_addr;
        temp_data[1] = *data;
        if(I2CM_Write(BMI160_I2CM, dev_addr, NULL, 0, temp_data, 2) != 2)
                return BMI160_E_DEV_NOT_FOUND;
        return BMI160_OK;
       
       
}
用这个才可以正确的写BMI160的寄存器
原因是：
直接调用I2CM_Write函数先写了reg后不会发送stop位