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Joppe Blondel
2026-03-20 17:17:33 +01:00
parent 1b6bd537ad
commit f6de696148
9 changed files with 662 additions and 34 deletions
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6
main/bmi160.c
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@@ -236,9 +236,9 @@ esp_err_t imu_read(const bmi160_t *dev, bmi160_value_t *value)
value->acc.y = FIXED_FROM_RATIO(acc_y, 2048, 12);
value->acc.z = FIXED_FROM_RATIO(acc_z, 2048, 12);
value->gyr.x = FIXED_FROM_RATIO((int32_t)gyr_x * 5, 82, 12);
value->gyr.y = FIXED_FROM_RATIO((int32_t)gyr_y * 5, 82, 12);
value->gyr.z = FIXED_FROM_RATIO((int32_t)gyr_z * 5, 82, 12);
value->gyr.x = FIXED_MUL(FIXED_FROM_RATIO((int32_t)gyr_x * 5, 82, 12), FIXED_FROM_RATIO(31416, 1800000, 12), 12); // Scale to rad/s (pi/180 = 0.017453)
value->gyr.y = FIXED_MUL(FIXED_FROM_RATIO((int32_t)gyr_y * 5, 82, 12), FIXED_FROM_RATIO(31416, 1800000, 12), 12); // Scale to rad/s (pi/180 = 0.017453)
value->gyr.z = FIXED_MUL(FIXED_FROM_RATIO((int32_t)gyr_z * 5, 82, 12), FIXED_FROM_RATIO(31416, 1800000, 12), 12); // Scale to rad/s (pi/180 = 0.017453)
uint8_t time[3];
ESP_ERROR_CHECK(bmi160_read_registers(dev, BMI160_REG_SENSORTIME, time, BMI160_SIZE_SENSORTIME));