ESP32-IDF 4线SD卡读写BMI160陀螺仪加速度数据代码

以下是使用ESP32-IDF读写SD卡并获取BMI160数据的示例代码：

#include <stdio.h>
#include <string.h>
#include <sys/unistd.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <esp_err.h>
#include <esp_log.h>
#include <esp_vfs_fat.h>
#include <driver/sdmmc_host.h>
#include <driver/sdspi_host.h>
#include <driver/gpio.h>
#include "bmi160.h"

#define SD_CS_PIN GPIO_NUM_5
#define TAG "SD_IO"

static const char *SD_MOSI_PIN = "GPIO12";
static const char *SD_MISO_PIN = "GPIO13";
static const char *SD_CLK_PIN = "GPIO14";
static const char *SD_CS_PIN = "GPIO15";

static spi_device_handle_t spi;

static void sdcard_init(void)
{
    ESP_LOGI(TAG, "Initializing SD card");

    esp_err_t ret;

    sdmmc_host_t host = SDSPI_HOST_DEFAULT();
    sdspi_slot_config_t slot_config = SDSPI_SLOT_CONFIG_DEFAULT();

    gpio_set_pull_mode(SD_CS_PIN, GPIO_PULLUP_ONLY);

    slot_config.gpio_cs = SD_CS_PIN;
    slot_config.gpio_miso = gpio_num_t;
    slot_config.gpio_mosi = gpio_num_t;
    slot_config.gpio_sck = gpio_num_t;

    ret = gpio_set_direction(SD_CS_PIN, GPIO_MODE_OUTPUT);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "Failed to set direction for CS GPIO");
        return;
    }

    ret = gpio_set_level(SD_CS_PIN, 1);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "Failed to set level for CS GPIO");
        return;
    }

    spi_bus_config_t bus_config = {
        .mosi_io_num = SD_MOSI_PIN,
        .miso_io_num = SD_MISO_PIN,
        .sclk_io_num = SD_CLK_PIN,
        .quadwp_io_num = -1,
        .quadhd_io_num = -1
    };

    ret = spi_bus_initialize(host.slot, &bus_config, 1);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "Failed to initialize SPI bus");
        return;
    }

    ret = spi_bus_add_device(host.slot, &slot_config, &spi);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "Failed to add SPI device");
        return;
    }

    esp_vfs_fat_sdmmc_mount_config_t mount_config = {
        .format_if_mount_failed = true,
        .max_files = 5,
        .allocation_unit_size = 16 * 1024
    };
    sdmmc_card_t *card;

    ret = esp_vfs_fat_sdmmc_mount("/sdcard", &host, &slot_config, &mount_config, &card);

    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "Failed to mount filesystem");
        return;
    }

    sdmmc_card_print_info(stdout, card);
}

void app_main(void)
{
    sdcard_init();

    struct bmi160_dev bmi160;
    int8_t rslt;

    rslt = bmi160_init(&bmi160);
    if (rslt != BMI160_OK) {
        ESP_LOGE(TAG, "Failed to initialize BMI160");
        return;
    }

    rslt = bmi160_set_power_mode(BMI160_NORMAL_MODE, &bmi160);
    if (rslt != BMI160_OK) {
        ESP_LOGE(TAG, "Failed to set BMI160 power mode");
        return;
    }

    struct bmi160_sensor_data accel = {0};
    struct bmi160_sensor_data gyro = {0};

    FILE *f = fopen("/sdcard/data.csv", "w");

    if (f == NULL) {
        ESP_LOGE(TAG, "Failed to open file for writing");
        return;
    }

    while (1) {
        rslt = bmi160_get_sensor_data(BMI160_ACCEL_SEL | BMI160_GYRO_SEL, &accel, &gyro, &bmi160);
        if (rslt != BMI160_OK) {
            ESP_LOGE(TAG, "Failed to get sensor data");
            continue;
        }

        fprintf(f, "%d,%d,%d,%d,%d,%d,%d\n",
            accel.x, accel.y, accel.z,
            gyro.x, gyro.y, gyro.z,
            (int) (esp_timer_get_time() / 1000));

        fflush(f);
        vTaskDelay(pdMS_TO_TICKS(100));
    }

    fclose(f);
}

这个示例代码使用SPI协议与SD卡通信，并在SD卡上创建一个名为“data.csv”的文件，将获取的BMI160加速度和陀螺仪数据写入文件中。 请注意，此代码仅用于演示目的。 在实际应用中，您需要根据具体需求进行修改和优化。