FireBeetle 2 ESP32 C6 Arduino 驱动BMI160 获取陀螺仪值

#include <BMI160Gen.h>

const int select_pin = 10;
const int i2c_addr = 0x68;


void setup() {
  Serial1.begin(115200); // initialize Serial communication

  // initialize device
  Serial1.println("Initializing IMU device...");
  //BMI160.begin(BMI160GenClass::SPI_MODE, /* SS pin# = */10);
  BMI160.begin(BMI160GenClass::I2C_MODE);
  uint8_t dev_id = BMI160.getDeviceID();
  Serial1.print("DEVICE ID: ");
  Serial1.println(dev_id, HEX);

   // Set the accelerometer range to 250 degrees/second
  BMI160.setGyroRange(250);
  Serial1.println("Initializing IMU device...done.");
}

void loop() {
  int gxRaw, gyRaw, gzRaw;         // raw gyro values
  float gx, gy, gz;

  // read raw gyro measurements from device
  BMI160.readGyro(gxRaw, gyRaw, gzRaw);

  // convert the raw gyro data to degrees/second
  gx = convertRawGyro(gxRaw);
  gy = convertRawGyro(gyRaw);
  gz = convertRawGyro(gzRaw);

  // display tab-separated gyro x/y/z values
  Serial1.print("g:\t");
  Serial1.print(gx);
  Serial1.print("\t");
  Serial1.print(gy);
  Serial1.print("\t");
  Serial1.print(gz);
  Serial1.println();

  delay(500);
}


float convertRawGyro(int gRaw) {
  // since we are using 250 degrees/seconds range
  // -250 maps to a raw value of -32768
  // +250 maps to a raw value of 32767

  float g = (gRaw * 250.0) / 32768.0;

  return g;
}



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