_SKU_SEN0250_Gravity__BMI160_6轴惯性运动传感器 - jimaobian/DFRobotWikiCn GitHub Wiki

#include <DFRobot_BMI160.h>

DFRobot_BMI160 bmi160;
const int8_t i2c_addr = 0x69;
bool readStep = false;

#if defined ARDUINO_AVR_UNO || defined ARDUINO_AVR_MEGA2560 || defined ARDUINO_AVR_PRO
  //interrupt number of uno and mega2560 is 0
  int pbIn = 2;
#elif ARDUINO_AVR_LEONARDO
  //interrupt number of uno and leonardo is 0
  int pbIn = 3;
#else
  int pbIn = 13;
#endif
/*the bmi160 have two interrput interfaces*/
int int1 = 1;
int int2 = 2;

void stepChange()
{
  //once the step conter is changed, the value can be read
  readStep = true;
}

void setup(){
  Serial.begin(115200);
  delay(100);

  //set and init the bmi160 i2c address
  while (bmi160.I2cInit(i2c_addr) != BMI160_OK){
    Serial.println("i2c init fail");
    delay(1000);
  }

  //set interrput number to int1 or int2
  if (bmi160.setInt(int1) != BMI160_OK){
    Serial.println("set interrput fail");
    while(1);
  }

  //set the bmi160 mode to step counter
  if (bmi160.setStepCounter() != BMI160_OK){
    Serial.println("set step fail");
    while(1);
  }
#if defined ARDUINO_AVR_UNO || defined ARDUINO_AVR_MEGA2560 || defined ARDUINO_AVR_LEONARDO || defined ARDUINO_AVR_PRO
  //set the pin in the board to connect to int1 or int2 of bmi160
  attachInterrupt(digitalPinToInterrupt(pbIn), stepChange, FALLING);
#else
  attachInterrupt(pbIn, stepChange, FALLING);
#endif
}

void loop(){
  if (readStep){
    uint16_t stepCounter = 0;
    //read step counter from hardware bmi160
    if (bmi160.readStepCounter(&stepCounter)==BMI160_OK){
      Serial.print("step counter = ");Serial.println(stepCounter);
    }
    readStep = false;
  }
}

#include "DFRobot_BMI160.h"

DFRobot_BMI160 bmi160;
const int8_t i2c_addr = 0x69;
void setup(){
  Serial.begin(115200);
  delay(100);

  //init the hardware bmin160
  if (bmi160.softReset() != BMI160_OK){
    Serial.println("reset false");
    while(1);
  }

  //set and init the bmi160 i2c address
  if (bmi160.I2cInit(i2c_addr) != BMI160_OK){
    Serial.println("init false");
    while(1);
  }
}

void loop(){
  int i = 0;
  int rslt;
  int16_t accelGyro[6]={0};

  //get both accel and gyro data from bmi160
  //parameter accelGyro is the pointer to store the data
  rslt = bmi160.getAccelGyroData(accelGyro);
  if(rslt == 0){
    for(i=0;i<6;i++){
      if (i<3){
        //the first three are gyro datas
        Serial.print(accelGyro[i]*3.14/180.0);Serial.print("\t");
      }else{
        //the following three data are accel datas
        Serial.print(accelGyro[i]/16384.0);Serial.print("\t");
      }
    }
    Serial.println();
  }else{
    Serial.println("err");
  }
}