为什么用BMI160软件包读出来的加速度传感器值是异常的呢

我用rtthread的sensor框架，添加rtt的BMI160软件包，发现读出来的加速度传感器值异常。

当板子平放在桌面上，静止不动，打印的log是

当板子垫一个U盘，使他倾斜一个角度，静止不动，打印的log是

感觉像是陀螺仪的数据而不是加速度的。

代码如下

int bmx160_port(void)

{

struct rt_sensor_config cfg;

cfg.intf.dev_name = “i2c3”;

cfg.intf.user_data = (void *)0x68;

cfg.irq_pin.pin = RT_PIN_NONE;

cfg.irq_pin.mode = PIN_MODE_INPUT_PULLDOWN;

rt_hw_bmx160_init(“bmi160”, &cfg);

return 0;

}

static void sensor_show_data(rt_size_t num, rt_sensor_t sensor, struct rt_sensor_data *sensor_data)

{

switch (sensor->info.type)

{

case RT_SENSOR_CLASS_ACCE:

rt_kprintf(“num:%3d, x:%5d, y:%5d, z:%5d, timestamp:%5d\n”, num, sensor_data->data.acce.x, sensor_data->data.acce.y, sensor_data->data.acce.z, sensor_data->timestamp);

break;

case RT_SENSOR_CLASS_GYRO:

rt_kprintf(“num:%3d, x:%8d, y:%8d, z:%8d, timestamp:%5d\n”, num, sensor_data->data.gyro.x, sensor_data->data.gyro.y, sensor_data->data.gyro.z, sensor_data->timestamp);

break;

case RT_SENSOR_CLASS_MAG:

rt_kprintf(“num:%3d, x:%5d, y:%5d, z:%5d, timestamp:%5d\n”, num, sensor_data->data.mag.x, sensor_data->data.mag.y, sensor_data->data.mag.z, sensor_data->timestamp);

break;

case RT_SENSOR_CLASS_HUMI:

rt_kprintf(“num:%3d, humi:%3d.%d%%, timestamp:%5d\n”, num, sensor_data->data.humi / 10, sensor_data->data.humi % 10, sensor_data->timestamp);

break;

case RT_SENSOR_CLASS_TEMP:

rt_kprintf(“num:%3d, temp:%3d.%dC, timestamp:%5d\n”, num, sensor_data->data.temp / 10, sensor_data->data.temp % 10, sensor_data->timestamp);

break;

case RT_SENSOR_CLASS_BARO:

rt_kprintf(“num:%3d, press:%5d, timestamp:%5d\n”, num, sensor_data->data.baro, sensor_data->timestamp);

break;

case RT_SENSOR_CLASS_STEP:

rt_kprintf(“num:%3d, step:%5d, timestamp:%5d\n”, num, sensor_data->data.step, sensor_data->timestamp);

break;

default:

break;

}

}

int main(void)

{

rt_device_t dev = RT_NULL;

rt_size_t res, i=0;

struct rt_sensor_data data;

rt_thread_mdelay(1000);

bmx160_port();

/* 查找系统中的传感器设备 */

dev = rt_device_find(“acce_bmi”);

if (dev == RT_NULL){

rt_kprintf(“Can’t find device\n”);

return 0;

}

/* 以轮询模式打开传感器设备 */

if (rt_device_open(dev, RT_DEVICE_FLAG_RDONLY) != RT_EOK){

rt_kprintf("open device failed!");

return 0;

}

while (1){

rt_thread_mdelay(1000);

/* 从传感器读取一个数据 */

res = rt_device_read(dev, 0, &data, 1);

if (res != 1){

rt_kprintf("read data failed!size is %d\r\n", res);

}

else{

    sensor_show_data(i, (rt_sensor_t)dev, &data);

}

}

}