ESP32-IDF BMI160姿态解算欧拉角代码

以下是使用ESP32-IDF和BMI160传感器进行姿态解算的欧拉角代码示例：

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

#define I2C_MASTER_SCL_IO 22           // I2C主机时钟引脚
#define I2C_MASTER_SDA_IO 21           // I2C主机数据引脚
#define I2C_MASTER_NUM I2C_NUM_0       // I2C主机端口号
#define I2C_MASTER_TX_BUF_DISABLE 0    // I2C主机发送缓冲区禁用
#define I2C_MASTER_RX_BUF_DISABLE 0    // I2C主机接收缓冲区禁用
#define I2C_MASTER_FREQ_HZ 100000      // I2C主机频率

bmi160_dev_t bmi160;

void i2c_master_init()
{
    i2c_config_t conf;
    conf.mode = I2C_MODE_MASTER;
    conf.sda_io_num = I2C_MASTER_SDA_IO;
    conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
    conf.scl_io_num = I2C_MASTER_SCL_IO;
    conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
    conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
    i2c_param_config(I2C_MASTER_NUM, &conf);
    i2c_driver_install(I2C_MASTER_NUM, conf.mode, I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE, 0);
}

void bmi160_delay_ms(uint32_t ms)
{
    vTaskDelay(ms / portTICK_RATE_MS);
}

int8_t bmi160_i2c_read(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t len)
{
    if (i2c_master_write_read(I2C_MASTER_NUM, dev_id << 1, &reg_addr, 1, reg_data, len, 1000 / portTICK_RATE_MS) == ESP_OK)
    {
        return BMI160_OK;
    }
    else
    {
        return BMI160_E_COM_FAIL;
    }
}

int8_t bmi160_i2c_write(uint8_t dev_id, uint8_t reg_addr, uint8_t *reg_data, uint16_t len)
{
    uint8_t *data = malloc(len + 1);
    data[0] = reg_addr;
    memcpy(&data[1], reg_data, len);
    if (i2c_master_write(I2C_MASTER_NUM, dev_id << 1, data, len + 1, 1000 / portTICK_RATE_MS) == ESP_OK)
    {
        return BMI160_OK;
    }
    else
    {
        return BMI160_E_COM_FAIL;
    }
}

void app_main()
{
    i2c_master_init();

    bmi160.bus_read = bmi160_i2c_read;
    bmi160.bus_write = bmi160_i2c_write;
    bmi160.delay_ms = bmi160_delay_ms;
    bmi160.dev_addr = BMI160_I2C_ADDR;
    bmi160_init(&bmi160);

    bmi160_set_sens_conf(&bmi160);

    while (1)
    {
        struct bmi160_sensor_data accel_data, gyro_data;
        bmi160_get_sensor_data(BMI160_ACCEL_SEL | BMI160_GYRO_SEL, &accel_data, &gyro_data, &bmi160);

        float accel_euler[3], gyro_euler[3];
        bmi160_compute_euler(accel_euler, &accel_data, &bmi160);
        bmi160_compute_euler(gyro_euler, &gyro_data, &bmi160);

        printf("Accelerometer Euler Angles: %.2f, %.2f, %.2f\n", accel_euler[0], accel_euler[1], accel_euler[2]);
        printf("Gyroscope Euler Angles: %.2f, %.2f, %.2f\n", gyro_euler[0], gyro_euler[1], gyro_euler[2]);

        vTaskDelay(1000 / portTICK_RATE_MS);
    }
}

这段代码使用了ESP32的I2C主机接口与BMI160传感器进行通信。首先，我们初始化I2C主机，并设置BMI160的读写和延时函数。然后，在主循环中，我们从BMI160获取加速度和陀螺仪数据，并使用`bmi160_compute_euler`函数计算欧拉角。最后，打印出加速度和陀螺仪的欧拉角。

请注意，这只是一个简单的示例代码，你可能需要根据你的具体需求进行适当的修改和优化。此外，你还需要确保正确连接了ESP32和BMI160传感器，并在ESP32上配置好合适的I2C引脚。