bmi055六轴传感器获取数据

BMI055的加速度计和陀螺仪的地址是分开的，在读取的时候要分开读取，我是用的iic的方式读取的
#define ACC_ADDRESS 0X18 //加速度计的地址
#define GYRO_ADDRESS 0X68 //陀螺仪的地址
cpu：stm32f407 ，硬件iic读取
初始化函数：

u8 buff[6];
u8 addr = 0 ;
bmi_read(ACC_ADDRESS,0X00,&buff[0],8);
if(buff[0] != 0xFA)
{
	printf("acc failed!\n");
	return;
}
addr = 0x05;
bmi_write(ACC_ADDRESS,0x0F,&addr,8);  //4g
addr = 0x0F;
bmi_write(ACC_ADDRESS,0x10,&addr,8);  //ODR 1Khz
addr = 0x00;
bmi_write(ACC_ADDRESS,0x11,&addr,8);   //normal model
addr = 0x00;
bmi_write(ACC_ADDRESS,0x12,&addr,8); 
addr = 0x10;
bmi_write(ACC_ADDRESS,0x17,&addr,8);  //int1 en	
addr = 0x0;
bmi_write(ACC_ADDRESS,0x13,&addr,8);
bmi_read(GYRO_ADDRESS,0X00,&buff[1],8);
if(buff[1] != 0x0F)
{
	printf("gyro failed!\n");
	return;
}

addr= 0x02;
bmi_write(GYRO_ADDRESS,0x0F,&addr,8); //500dps
addr = 0x04;
bmi_write(GYRO_ADDRESS,0x10,&addr,8); //odr 200hz
addr = 0x80;
bmi_write(GYRO_ADDRESS,0x15,&addr,8);

读取acc:

bmi_read(ACC_ADDRESS,0X02,&buff[0],8);
bmi_read(ACC_ADDRESS,0X03,&buff[1],8);
		//y
bmi_read(ACC_ADDRESS,0X04,&buff[2],8);
bmi_read(ACC_ADDRESS,0X05,&buff[3],8);
		//z
bmi_read(ACC_ADDRESS,0X06,&buff[4],8);
bmi_read(ACC_ADDRESS,0X07,&buff[5],8);
读取gyro：
bmi_read(GYRO_ADDRESS,0X02,&buff[0],8);
bmi_read(GYRO_ADDRESS,0X03,&buff[1],8);
		//y
 bmi_read(GYRO_ADDRESS,0X04,&buff[2],8);
bmi_read(GYRO_ADDRESS,0X05,&buff[3],8);
	//z
bmi_read(GYRO_ADDRESS,0X06,&buff[4],8);
bmi_read(GYRO_ADDRESS,0X07,&buff[5],8);

读取gyro：

bmi_read(GYRO_ADDRESS,0X02,&buff[0],8);
bmi_read(GYRO_ADDRESS,0X03,&buff[1],8);
		//y
bmi_read(GYRO_ADDRESS,0X04,&buff[2],8);
bmi_read(GYRO_ADDRESS,0X05,&buff[3],8);
		//z
bmi_read(GYRO_ADDRESS,0X06,&buff[4],8);
bmi_read(GYRO_ADDRESS,0X07,&buff[5],8);

下载链接：
https://download.csdn.net/download/liumengyang1992/20481328