ESP32-IDF BMI160四元数滤波解算欧拉角代码

以下是使用ESP32-IDF和BMI160传感器进行四元数滤波解算欧拉角的示例代码：

#include <stdio.h>
#include <math.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "bmi160.h"

#define SPI_BUS       HSPI_HOST
#define GPIO_CS       5
#define SPI_CLOCK     1000000

struct bmi160_dev sensor;

void app_main()
{
    int8_t rslt = BMI160_OK;

    /* Initialize SPI bus */
    spi_bus_config_t bus_cfg = {
        .mosi_io_num = 13,
        .miso_io_num = 12,
        .sclk_io_num = 14,
        .quadwp_io_num = -1,
        .quadhd_io_num = -1,
        .max_transfer_sz = 6
    };
    spi_bus_initialize(SPI_BUS, &bus_cfg, 1);

    /* Initialize BMI160 sensor */
    struct bmi160_dev sensor;
    sensor.id = BMI160_I2C_ADDR;
    sensor.interface = BMI160_SPI_INTF;
    sensor.read = spi_read;
    sensor.write = spi_write;
    sensor.delay_ms = delay_ms;
    rslt = bmi160_init(&sensor);
    if (rslt != BMI160_OK) {
        printf("BMI160 initialization failed (%d)\n", rslt);
        return;
    }

    /* Configure BMI160 sensor */
    rslt = bmi160_set_sens_conf(&sensor);
    if (rslt != BMI160_OK) {
        printf("BMI160 configuration failed (%d)\n", rslt);
        return;
    }

    /* Enable accelerometer */
    rslt = bmi160_set_sensor_conf(BMI160_ACCEL_SEL, &sensor);
    if (rslt != BMI160_OK) {
        printf("BMI160 accelerometer enable failed (%d)\n", rslt);
        return;
    }

    /* Enable gyroscope */
    rslt = bmi160_set_sensor_conf(BMI160_GYRO_SEL, &sensor);
    if (rslt != BMI160_OK) {
        printf("BMI160 gyroscope enable failed (%d)\n", rslt);
        return;
    }

    /* Main loop */
    while (1) {
        struct bmi160_sensor_data accel_data, gyro_data;
        float quaternion[4], euler_angles[3];

        /* Read accelerometer and gyroscope data */
        rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL | BMI160_GYRO_SEL, &accel_data, &gyro_data, &sensor);
        if (rslt == BMI160_OK) {
            /* Calculate quaternion */
            bmi160_get_quaternion(&quaternion[0], &sensor);

            /* Convert quaternion to euler angles */
            euler_angles[0] = atan2f(2.0f * (quaternion[0] * quaternion[1] + quaternion[2] * quaternion[3]),
                                     1.0f - 2.0f * (quaternion[1] * quaternion[1] + quaternion[2] * quaternion[2]));
            euler_angles[1] = asinf(2.0f * (quaternion[0] * quaternion[2] - quaternion[3] * quaternion[1]));
            euler_angles[2] = atan2f(2.0f * (quaternion[0] * quaternion[3] + quaternion[1] * quaternion[2]),
                                     1.0f - 2.0f * (quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3]));

            /* Print euler angles */
            printf("Roll: %.2f, Pitch: %.2f, Yaw: %.2f\n", euler_angles[0], euler_angles[1], euler_angles[2]);
        }

        vTaskDelay(100 / portTICK_PERIOD_MS);
    }
}

这段代码使用ESP32-IDF和BMI160库进行四元数滤波解算欧拉角。它通过SPI接口与BMI160传感器通信，并使用四元数滤波算法将传感器的原始数据转换为欧拉角。代码中的主循环读取加速度计和陀螺仪数据，然后计算四元数，并将其转换为欧拉角，最后打印出来。请确保正确配置SPI总线和引脚，并且已正确安装BMI160库。