怎样通过I2C实现motionfx来获取四分位数呢？

您好，我之前已经使用 lsm6dsl 和 lsm303agr 通过 i2c 实现了 motionfx 来获取四分位数，并且一切正常。现在，我将传感器 lsm6dsl 更改为 lsm6dsox，后者在模式 2（spi-to-i2c）中通过 spi 与 stm 和 lsm303agr 进行通信。我以与使用旧传感器相同的方式配置它。但是现在，如果我将棋盘留在桌子上不动，四元数就会从 -0.9 变为 0.9，就像递增一样。我试图改变方向、数据速率、灵敏度，但没有任何改变。我检查了来自传感器的原始数据，看起来还不错，值很稳定，但仍然出现奇怪的四元数。我可以确认读取和写入对所有传感器都有效。

回帖（1）

王希予

2023-1-17 10:27:14

要使用传感器集线器触发信号设置来同步我并将 sh_data_rate 设置为 100hz，我将所有传感器的输出数据速率设置为 100hz。这是我的设置：

while(LSM6DSOX_ID!=whoamI)
{
whoamI = 0;
lsm6dsox_device_id_get(&lsm6dsox, &whoamI);
printf("LSM6DSOX_ID %x=%xn", LSM6DSOX_ID, whoamI);
}
/* Restore default configuration. */
lsm6dsox_reset_set(&lsm6dsox, PROPERTY_ENABLE);
do
{
lsm6dsox_reset_get(&lsm6dsox, &rst);
} while(rst);
/* Disable I3C interface. */
lsm6dsox_i3c_disable_set(&lsm6dsox, LSM6DSOX_I3C_DISABLE);
while(whoamI != LSM303AGR_ID_XL)
{
lsm303agr_xl_device_id_get(&lsm303agr_acc, &whoamI);
printf("LSM303AGR_ID_ACCELOMETER %x=%xn", LSM303AGR_ID_XL,
whoamI);
}
while(whoamI != LSM303AGR_ID_MG)
{
lsm303agr_mag_device_id_get(&lsm303agr_mag, &whoamI);
printf("LSM303AGR_ID_MAGNETOMETER %x=%xn", LSM303AGR_ID_MG,
whoamI);
}
/*Configure Full scale xl and gy*/
lsm6dsox_xl_full_scale_set(&lsm6dsox, LSM6DSOX_2g);
lsm6dsox_gy_full_scale_set(&lsm6dsox, LSM6DSOX_2000dps);
/*lsm303agr mag Set BDU,data rate,fullscale,operating mode,Sensor Hub Slave0*/
lsm303agr_mag_block_data_update_set(&lsm303agr_mag, PROPERTY_ENABLE);
lsm303agr_mag_data_rate_set(&lsm303agr_mag, LSM303AGR_MG_ODR_100Hz);
lsm303agr_mag_set_rst_mode_set(&lsm303agr_mag,
LSM303AGR_SENS_OFF_CANC_EVERY_ODR);
lsm303agr_mag_operating_mode_set(&lsm303agr_mag,LSM303AGR_CONTINUOUS_MODE);
lsm6dsox_sh_slv0_cfg_read(&lsm6dsox, &mag_conf);
/*lsm303agr xl Set BDU,data rate,fullscale,operating mode,Sensor Hub Slave1*/
lsm303agr_xl_block_data_update_set(&lsm303agr_acc, PROPERTY_ENABLE);
lsm303agr_xl_data_rate_set(&lsm303agr_acc, LSM303AGR_XL_ODR_100Hz);
lsm303agr_xl_full_scale_set(&lsm303agr_acc, LSM303AGR_2g);
lsm303agr_xl_operating_mode_set(&lsm303agr_acc, LSM303AGR_LP_8bit);
lsm6dsox_sh_slv1_cfg_read(&lsm6dsox, &acc_conf);
/*lsm6dsox enable Master and set BDU,ODR,number of slaves,Sensor hub trigger signal*/
lsm6dsox_sh_master_set(&lsm6dsox, PROPERTY_ENABLE);
lsm6dsox_xl_data_rate_set(&lsm6dsox, LSM6DSOX_XL_ODR_104Hz);
lsm6dsox_gy_data_rate_set(&lsm6dsox, LSM6DSOX_XL_ODR_104Hz);
lsm6dsox_sh_data_rate_set(&lsm6dsox, LSM6DSOX_SH_ODR_104Hz);
lsm6dsox_sh_slave_connected_set(&lsm6dsox, LSM6DSOX_SLV_0_1);
lsm6dsox_block_data_update_set(&lsm6dsox, PROPERTY_ENABLE);
lsm6dsox_sh_syncro_mode_set(&lsm6dsox,LSM6DSOX_XL_GY_DRDY);
/*After this I m reading the status flags and raw data and multple it with numbers according to datasheet */
lsm6dsox_xl_flag_data_ready_get(&lsm6dsox, &drdy); and the reading the raw data
lsm6dsox_acceleration_raw_get(&lsm6dsox, data_raw.u8bit);
lsm6dsox_sh_read_data_raw_get(&lsm6dsox, (uint8_t*)&emb_sh,18);
/*and for gyro*/
lsm6dsox_gy_flag_data_ready_get(&lsm6dsox, &drdy);
lsm6dsox_angular_rate_raw_get(&lsm6dsox, data_raw.u8bit);

我有个问题？
根据数据表：
“当此位设置为 0 时，加速度计/陀螺仪传感器必须处于活动状态（不处于掉电模式）并且传感器集线器触发信号是加速度计/陀螺仪数据就绪信号。
当此位设置为 1 时，加速度计和陀螺仪之间至少有一个传感器必须处于活动状态，并且传感器集线器触发信号是 INT2 引脚。”
在 lsm6dsox_reg.h 文件中

typedef enum {
LSM6DSOX_EXT_ON_INT2_PIN = 0,
LSM6DSOX_XL_GY_DRDY = 1,
} lsm6dsox_start_config_t;

不应该是相反的吗？
LSM6DSOX_EXT_ON_INT2_PIN = 1
LSM6DSOX_XL_GY_DRDY = 0

要使用传感器集线器触发信号设置来同步我并将 sh_data_rate 设置为 100hz，我将所有传感器的输出数据速率设置为 100hz。这是我的设置：

while(LSM6DSOX_ID!=whoamI)
{
whoamI = 0;
lsm6dsox_device_id_get(&lsm6dsox, &whoamI);
printf("LSM6DSOX_ID %x=%xn", LSM6DSOX_ID, whoamI);
}
/* Restore default configuration. */
lsm6dsox_reset_set(&lsm6dsox, PROPERTY_ENABLE);
do
{
lsm6dsox_reset_get(&lsm6dsox, &rst);
} while(rst);
/* Disable I3C interface. */
lsm6dsox_i3c_disable_set(&lsm6dsox, LSM6DSOX_I3C_DISABLE);
while(whoamI != LSM303AGR_ID_XL)
{
lsm303agr_xl_device_id_get(&lsm303agr_acc, &whoamI);
printf("LSM303AGR_ID_ACCELOMETER %x=%xn", LSM303AGR_ID_XL,
whoamI);
}
while(whoamI != LSM303AGR_ID_MG)
{
lsm303agr_mag_device_id_get(&lsm303agr_mag, &whoamI);
printf("LSM303AGR_ID_MAGNETOMETER %x=%xn", LSM303AGR_ID_MG,
whoamI);
}
/*Configure Full scale xl and gy*/
lsm6dsox_xl_full_scale_set(&lsm6dsox, LSM6DSOX_2g);
lsm6dsox_gy_full_scale_set(&lsm6dsox, LSM6DSOX_2000dps);
/*lsm303agr mag Set BDU,data rate,fullscale,operating mode,Sensor Hub Slave0*/
lsm303agr_mag_block_data_update_set(&lsm303agr_mag, PROPERTY_ENABLE);
lsm303agr_mag_data_rate_set(&lsm303agr_mag, LSM303AGR_MG_ODR_100Hz);
lsm303agr_mag_set_rst_mode_set(&lsm303agr_mag,
LSM303AGR_SENS_OFF_CANC_EVERY_ODR);
lsm303agr_mag_operating_mode_set(&lsm303agr_mag,LSM303AGR_CONTINUOUS_MODE);
lsm6dsox_sh_slv0_cfg_read(&lsm6dsox, &mag_conf);
/*lsm303agr xl Set BDU,data rate,fullscale,operating mode,Sensor Hub Slave1*/
lsm303agr_xl_block_data_update_set(&lsm303agr_acc, PROPERTY_ENABLE);
lsm303agr_xl_data_rate_set(&lsm303agr_acc, LSM303AGR_XL_ODR_100Hz);
lsm303agr_xl_full_scale_set(&lsm303agr_acc, LSM303AGR_2g);
lsm303agr_xl_operating_mode_set(&lsm303agr_acc, LSM303AGR_LP_8bit);
lsm6dsox_sh_slv1_cfg_read(&lsm6dsox, &acc_conf);
/*lsm6dsox enable Master and set BDU,ODR,number of slaves,Sensor hub trigger signal*/
lsm6dsox_sh_master_set(&lsm6dsox, PROPERTY_ENABLE);
lsm6dsox_xl_data_rate_set(&lsm6dsox, LSM6DSOX_XL_ODR_104Hz);
lsm6dsox_gy_data_rate_set(&lsm6dsox, LSM6DSOX_XL_ODR_104Hz);
lsm6dsox_sh_data_rate_set(&lsm6dsox, LSM6DSOX_SH_ODR_104Hz);
lsm6dsox_sh_slave_connected_set(&lsm6dsox, LSM6DSOX_SLV_0_1);
lsm6dsox_block_data_update_set(&lsm6dsox, PROPERTY_ENABLE);
lsm6dsox_sh_syncro_mode_set(&lsm6dsox,LSM6DSOX_XL_GY_DRDY);
/*After this I m reading the status flags and raw data and multple it with numbers according to datasheet */
lsm6dsox_xl_flag_data_ready_get(&lsm6dsox, &drdy); and the reading the raw data
lsm6dsox_acceleration_raw_get(&lsm6dsox, data_raw.u8bit);
lsm6dsox_sh_read_data_raw_get(&lsm6dsox, (uint8_t*)&emb_sh,18);
/*and for gyro*/
lsm6dsox_gy_flag_data_ready_get(&lsm6dsox, &drdy);
lsm6dsox_angular_rate_raw_get(&lsm6dsox, data_raw.u8bit);

typedef enum {
LSM6DSOX_EXT_ON_INT2_PIN = 0,
LSM6DSOX_XL_GY_DRDY = 1,
} lsm6dsox_start_config_t;

不应该是相反的吗？
LSM6DSOX_EXT_ON_INT2_PIN = 1
LSM6DSOX_XL_GY_DRDY = 0

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怎样通过I2C实现motionfx来获取四分位数呢？

回帖（1）

王希予

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