bmi270

六轴运动传感器示例

六轴传感器由三轴加速度计和三轴陀螺仪组成，可测量三维空间的线性加速度和角速度，广泛应用于姿态控制、运动追踪等领域。BMI270是博世推出的高性能IMU，集成16位三轴加速度计和陀螺仪，适用于低功耗场景。示例功能：通过以下示例，可实现ESP32-S3与BMI270的硬件连接、数据采集及姿态解算。

预装库：SparkFun_BMI270_Arduino_Library

硬件连接：

ESP32-S3 BMI270 3.3V ----------- V GND ----------- G GPIO4 ----------- D GPIO5 ----------- C

#include <Wire.h>
#include "SparkFun_BMI270_Arduino_Library.h"

// 定义I2C引脚
#define SDA_PIN 4
#define SCL_PIN 5

// Create a new sensor object
BMI270 imu;

// I2C address selection
uint8_t i2cAddress = BMI2_I2C_PRIM_ADDR;  // 0x68
//uint8_t i2cAddress = BMI2_I2C_SEC_ADDR; // 0x69

void setup() {
  // Start serial
  Serial.begin(115200);
  Wire.begin(SDA_PIN, SCL_PIN);  // 初始化硬件 I2C
  Serial.println("BMI270 Example 1 - Basic Readings I2C");

  // Initialize the I2C library
  Wire.begin();

  // Check if sensor is connected and initialize
  // Address is optional (defaults to 0x68)
  while (imu.beginI2C(i2cAddress) != BMI2_OK) {
    // Not connected, inform user
    Serial.println("Error: BMI270 not connected, check wiring and I2C address!");

    // Wait a bit to see if connection is established
    delay(1000);
  }

  Serial.println("BMI270 connected!");
}

void loop() {
  // Get measurements from the sensor. This must be called before accessing
  // the sensor data, otherwise it will never update
  imu.getSensorData();

  // Print acceleration data
  Serial.print("Acceleration in g's");
  Serial.print("\t");
  Serial.print("X: ");
  Serial.print(imu.data.accelX, 3);
  Serial.print("\t");
  Serial.print("Y: ");
  Serial.print(imu.data.accelY, 3);
  Serial.print("\t");
  Serial.print("Z: ");
  Serial.print(imu.data.accelZ, 3);

  Serial.print("\t");

  // Print rotation data
  Serial.print("Rotation in deg/sec");
  Serial.print("\t");
  Serial.print("X: ");
  Serial.print(imu.data.gyroX, 3);
  Serial.print("\t");
  Serial.print("Y: ");
  Serial.print(imu.data.gyroY, 3);
  Serial.print("\t");
  Serial.print("Z: ");
  Serial.println(imu.data.gyroZ, 3);

  // Print 50x per second
  delay(20);
}