I have written this basic driver for BMI088 in which I am able to read registers from the sensor.
#include "bmi088.h"
#include <stdio.h>
#include <stdint.h>
#include <math.h>
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "driver/i2c.h"
#define I2C_MASTER_SCL_IO 22 /*!< GPIO number used for I2C master clock */
#define I2C_MASTER_SDA_IO 21 /*!< GPIO number used for I2C master data */
#define I2C_MASTER_NUM 0 /*!< I2C master i2c port number, the number of i2c peripheral interfaces available will depend on the chip */
#define I2C_MASTER_FREQ_HZ 400000 /*!< I2C master clock frequency */
#define I2C_MASTER_TX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
#define I2C_MASTER_RX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
#define I2C_MASTER_TIMEOUT_MS 1000
#define BM1088_ACCEL_ADDRESS 0x18 /*!< Slave address of the BM1088_acceleromter sensor SD01 pull to GND */
#define BM1088_GYRO_ADDRESS 0x68 /*!< Slave address of the BM1088 gyroscope sensor SD02 pull to GND*/
int16_t ret = 0;
/*! Earth's gravity in m/s^2 */
#define GRAVITY_EARTH (9.80665f)
static const char *TAG = "BM1088 Module";
/**
* @brief Memory locations to store BM1088 accel and gyro Sensors data
*/
uint8_t accel_x[2] = {0};
uint8_t accel_y[2] = {0};
uint8_t accel_z[2] = {0};
uint8_t gyro_x[2] = {0};
uint8_t gyro_y[2] = {0};
uint8_t gyro_z[2] = {0};
/**
* @brief Convertion of BM1088 accel and gyro Sensors data into signed integer
*/
float accel_x_int16 = 0;
float accel_y_int16 = 0;
float accel_z_int16 = 0;
float gyro_x_int16 = 0;
float gyro_y_int16 = 0;
float gyro_z_int16 = 0;
/**
* @brief Convertion of BM1088 accel and gyro Sensors signed integer into acceleration
*/
float accel_x_in_mg = 0;
float accel_y_in_mg = 0;
float accel_z_in_mg = 0;
/**
* @brief calculate BM1088 data in signed form from LSB into Degree per second
*/
float gyro_x_in_degree = 0;
float gyro_y_in_degree = 0;
float gyro_z_in_degree = 0;
/**
* @brief Initialize angles
*/
double yaw = 0.0;
double pitch = 0.0;
double roll = 0.0;
/**
* @brief Initialize previous angles
*/
double prev_yaw = 0.0;
double prev_pitch = 0.0;
double prev_roll = 0.0;
/**
* @brief Initialize the previous timestamp
*/
int64_t previous_timestamp = 0;
/* Initialize other variables */
double pitch_acc = 0.0;
double roll_acc = 0.0;
double gyro_x_rad = 0.0;
double gyro_y_rad = 0.0;
double gyro_z_rad = 0.0;
/**
* @brief BM1088 IMU Register Addresses
*/
typedef enum
{
ACC_CHIP_ID = 0X00,
ACC_ERR_REG = 0X02,
ACC_STATUS = 0X03,
ACC_X_LSB = 0X12,
ACC_X_MSB = 0X13,
ACC_Y_LSB = 0X14,
ACC_Y_MSB = 0X15,
ACC_Z_LSB = 0X16,
ACC_Z_MSB = 0X17,
ACC_CONF = 0X40,
ACC_RANGE = 0X41,
ACC_SELF_TEST = 0X6D,
ACC_PWR_CONF = 0X7C,
ACC_PWR_CTRL = 0X7D,
ACC_SOFT_REST = 0X7E,
GYRO_CHIP_ID = 0X00,
GYRO_X_LSB = 0X02,
GYRO_X_MSB = 0X03,
GYRO_Y_LSB = 0X04,
GYRO_Y_MSB = 0X05,
GYRO_Z_LSB = 0X06,
GYRO_Z_MSB = 0X07,
GYRO_RANGE = 0X0F,
GYRO_BANDWIDTH = 0X10,
GYRO_LPM1 = 0X11,
GYRO_SOFT_REST = 0X14,
GYRO_SELF_TEST = 0X3C,
}mpu_register_address;
void BMI088_IMU::IMU_INIT(){
uint8_t data[2];
ESP_ERROR_CHECK(i2c_master_init());
ESP_LOGI(TAG, "I2C initialized successfully");
/* Read the BM1088 GYRO_CHIP_ID REGISTER, on power up the register should have the value 0x0F */
ESP_ERROR_CHECK(bm1088_gyro_read(GYRO_CHIP_ID, data, 1));
ESP_LOGI(TAG, "GYRO_CHIP_ID_REGISTER_VALUE = %X", data[0]);
/* Read the BM1088 ACC_PWR_CTRL REGISTER to check power on reset */
uint8_t check_por[2];
ESP_ERROR_CHECK(bm1088_accel_read(ACC_PWR_CTRL, check_por, 1));
vTaskDelay(1/ portTICK_PERIOD_MS);
/* Enable accel module by writing 0x04 to power control register */
uint8_t acc_pwr_ctr = 0x04;
acc_pwr_ctr |= check_por[0];
ESP_ERROR_CHECK(bm1088_accel_write_byte(ACC_PWR_CTRL, acc_pwr_ctr));
vTaskDelay(50/ portTICK_PERIOD_MS);
ESP_ERROR_CHECK(bm1088_accel_read(ACC_PWR_CTRL, check_por, 1));
if (check_por[0] == acc_pwr_ctr)
{
ESP_LOGI(TAG, "Accelerometer configured successfully");
}
else ESP_LOGI(TAG, "Accelerometer not configured ");
}
/**
* @brief Read a sequence of bytes from a BM1088 accel sensor registers
*/
esp_err_t BMI088_IMU::bm1088_accel_read(uint8_t reg_addr, uint8_t *data, size_t len){
for (size_t i = 0; i < len; i++) {
ret = i2c_master_write_read_device(i2c_port_t(I2C_MASTER_NUM), BM1088_ACCEL_ADDRESS, (®_addr + i), 1,
(data + i), 1, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS );
}
return ret;
}
/**
* @brief Read a sequence of bytes from a BM1088 gyro sensor registers
*/
esp_err_t BMI088_IMU::bm1088_gyro_read(uint8_t reg_addr, uint8_t *data, size_t len){
for (size_t i = 0; i < len; i++) {
ret = i2c_master_write_read_device(i2c_port_t(I2C_MASTER_NUM), BM1088_GYRO_ADDRESS, (®_addr + i), 1,
(data + i), 1, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS );
}
return ret;
}
/**
* @brief Write a byte to a BM1088 accel sensor register
*/
esp_err_t BMI088_IMU::bm1088_accel_write_byte(uint8_t reg_addr, uint8_t data){
uint8_t write_buf[2] = {reg_addr, data};
ret = i2c_master_write_to_device(i2c_port_t(I2C_MASTER_NUM), BM1088_ACCEL_ADDRESS, write_buf, sizeof(write_buf),
I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
return ret;
}
/**
* @brief Write a byte to a BM1088 gyro sensor register
*/
esp_err_t BMI088_IMU::bm1088_gyro_write_byte(uint8_t reg_addr, uint8_t data){
uint8_t write_buf[2] = {reg_addr, data};
ret = i2c_master_write_to_device(i2c_port_t(I2C_MASTER_NUM), BM1088_GYRO_ADDRESS, write_buf, sizeof(write_buf),
I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS);
return ret;
}
/**
* @brief i2c master initialization
*/
esp_err_t BMI088_IMU::i2c_master_init(void){
int i2c_master_port = I2C_MASTER_NUM;
i2c_config_t conf;
conf.mode = I2C_MODE_MASTER;
conf.sda_io_num = I2C_MASTER_SDA_IO;
conf.scl_io_num = I2C_MASTER_SCL_IO;
conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
conf.master.clk_speed = I2C_MASTER_FREQ_HZ;
conf.clk_flags = 0;
i2c_param_config(i2c_port_t(i2c_master_port), &conf);
return i2c_driver_install(i2c_port_t(i2c_master_port), conf.mode, I2C_MASTER_RX_BUF_DISABLE, I2C_MASTER_TX_BUF_DISABLE, 0);
}
/*!
* @brief This function converts lsb to meter per second squared for 16 bit accelerometer at
* range 2G, 4G, 8G or 16G.
*/
float BMI088_IMU::lsb_to_mps2(int16_t val, int8_t g_range, uint8_t bit_width)
{
double power = 2;
float half_scale = (float)((pow((double)power, (double)bit_width) / 2.0f));
return (GRAVITY_EARTH * val * g_range) / half_scale;
}
/*!
* @brief This function converts lsb to degree per second for 16 bit gyro at
* range 125, 250, 500, 1000 or 2000dps.
*/
float BMI088_IMU::lsb_to_dps(int16_t val, float dps, uint8_t bit_width)
{
double power = 2;
float half_scale = (float)((pow((double)power, (double)bit_width) / 2.0f));
return (dps / (half_scale)) * (val);
}
/*!
* @brief This function reads raw accel_x LSB data and converts to degree per second
*/
double BMI088_IMU::accel_read_rawX(){
uint8_t lsb, msb;
uint16_t msblsb;
ESP_ERROR_CHECK(bm1088_accel_read(ACC_X_LSB, accel_x, 2));
lsb = accel_x[0];
msb = accel_x[1];
msblsb = (msb << 8) | lsb;
float x_original_int = ((int16_t) msblsb); /* Data in X axis */
float x = lsb_to_mps2(x_original_int, 24, 16);
return x;
}
/*!
* @brief This function reads raw accel_y LSB data and converts to degree per second
*/
double BMI088_IMU::accel_read_rawY(){
uint8_t lsb, msb;
uint16_t msblsb;
ESP_ERROR_CHECK(bm1088_accel_read(ACC_Y_LSB, accel_y, 2));
lsb = accel_y[0];
msb = accel_y[1];
msblsb = (msb << 8) | lsb;
float y_original_int = ((int16_t) msblsb); /* Data in Y axis */
float y = lsb_to_mps2(y_original_int, 24, 16);
return y;
}
/*!
* @brief This function reads raw accel_z LSB data and converts to degree per second
*/
double BMI088_IMU::accel_read_rawZ(){
uint8_t lsb, msb;
uint16_t msblsb;
ESP_ERROR_CHECK(bm1088_accel_read(ACC_Z_LSB, accel_z, 2));
lsb = accel_z[0];
msb = accel_z[1];
msblsb = (msb << 8) | lsb;
float z_original_int = ((int16_t) msblsb); /* Data in Z axis */
float z = lsb_to_mps2(z_original_int, 24, 16);
return z;
}
/*!
* @brief This function reads raw gyro_x LSB data and converts to degree per second
*/
double BMI088_IMU::gyro_read_rawX(){
uint8_t lsb, msb;
uint16_t msblsb;
ESP_ERROR_CHECK(bm1088_gyro_read(GYRO_X_LSB, gyro_x, 2));
lsb = gyro_x[0];
msb = gyro_x[1];
msblsb = (msb << 8) | lsb;
float x_original_int = ((int16_t) msblsb); /* Data in X axis */
float x = lsb_to_dps(x_original_int, (float)250, 16);
return x;
}
/*!
* @brief This function reads raw gyro_y LSB data and converts to degree per second
*/
double BMI088_IMU::gyro_read_rawY(){
uint8_t lsb, msb;
uint16_t msblsb;
ESP_ERROR_CHECK(bm1088_gyro_read(GYRO_Y_LSB, gyro_y, 2));
lsb = gyro_y[0];
msb = gyro_y[1];
msblsb = (msb << 8) | lsb;
float y_original_int = ((int16_t) msblsb); /* Data in Y axis */
float y = lsb_to_dps(y_original_int, (float)250, 16);
return y;
}
/*!
* @brief This function reads raw gyro_z LSB data and converts to degree per second
*/
double BMI088_IMU::gyro_read_rawZ(){
uint8_t lsb, msb;
uint16_t msblsb;
ESP_ERROR_CHECK(bm1088_gyro_read(GYRO_Z_LSB, gyro_z, 2));
lsb = gyro_z[0];
msb = gyro_z[1];
msblsb = (msb << 8) | lsb;
float z_original_int = ((int16_t) msblsb); /* Data in Z axis */
float z = lsb_to_dps(z_original_int, (float)250, 16);
return z;
}
double BMI088_IMU::angle_read_pitch(){
double x_Buff = gyro_read_rawX();
double y_Buff = gyro_read_rawY();
double z_Buff = gyro_read_rawZ();
double pitch = atan2((- x_Buff) , sqrt(y_Buff * y_Buff + z_Buff * z_Buff)) * 57.3;
return pitch;
}
double BMI088_IMU::angle_read_roll(){
double y_Buff = gyro_read_rawY();
double z_Buff = gyro_read_rawZ();
double roll = atan2(y_Buff , z_Buff) * 57.3;
return roll;
}
double BMI088_IMU::angle_read_yaw(){
return 0;
}
Output:
I (332) app_start: Starting scheduler on CPU0
I (337) app_start: Starting scheduler on CPU1
I (337) main_task: Started on CPU0
I (347) main_task: Calling app_main()
I (347) BM1088 Module: I2C initialized successfully
I (347) BM1088 Module: GYRO_CHIP_ID_REGISTER_VALUE = F
I (407) BM1088 Module: Accelerometer configured successfully
I (407) BM1088 Module: accel_read_rawX = 1.824382
I (407) BM1088 Module: accel_read_rawY = -228.284729
I (407) BM1088 Module: accel_read_rawZ = -229.283112
I (617) BM1088 Module: accel_read_rawX = 1.723825
I (617) BM1088 Module: accel_read_rawY = -228.291916
I (617) BM1088 Module: accel_read_rawZ = -229.168182
I (817) BM1088 Module: accel_read_rawX = 1.766921
I (817) BM1088 Module: accel_read_rawY = -228.356567
I (817) BM1088 Module: accel_read_rawZ = -229.161026
I (1017) BM1088 Module: accel_read_rawX = 0.682347
I (1017) BM1088 Module: accel_read_rawY = -229.003006
I (1017) BM1088 Module: accel_read_rawZ = -229.448318
I (1217) BM1088 Module: accel_read_rawX = 0.624887
I (1217) BM1088 Module: accel_read_rawY = -228.722870
I (1217) BM1088 Module: accel_read_rawZ = -229.017365
I (1417) BM1088 Module: accel_read_rawX = 1.795651
I (1417) BM1088 Module: accel_read_rawY = -228.291916
I (1417) BM1088 Module: accel_read_rawZ = -229.225662
I (1617) BM1088 Module: accel_read_rawX = 0.215478
I (1617) BM1088 Module: accel_read_rawY = -229.139465
I (1617) BM1088 Module: accel_read_rawZ = -228.378113
I (1817) BM1088 Module: accel_read_rawX = 1.292869
I (1817) BM1088 Module: accel_read_rawY = -228.090790
I (1817) BM1088 Module: accel_read_rawZ = -228.234467
However, the output data I get does not make sense. What am I doing wrong?
BMI088 data not making sense
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- Posts: 1692
- Joined: Mon Oct 17, 2022 7:38 pm
- Location: Europe, Germany
Re: BMI088 data not making sense
(®_addr + i) is not what you want, yielding a pointer to some undefined byte on the stack.Code: Select all
ret = i2c_master_write_read_device(i2c_port_t(I2C_MASTER_NUM), BM1088_ACCEL_ADDRESS, (®_addr + i), 1, ...
Try this:
Code: Select all
uint8_t ra = reg_addr + i;
ret = i2c_master_write_read_device(i2c_port_t(I2C_MASTER_NUM), BM1088_ACCEL_ADDRESS, &ra, 1, ...
Re: BMI088 data not making sense
Thanks! that fixed the big discrepancy of the axis values.However it seems that my pitch roll and yaw calculations may be off as they jump massively even though I laid the PCBs flat on a surface. Do you have any thoughts as to what else I'm doing wrong?
I (338) main_task: Started on CPU0
I (348) main_task: Calling app_main()
I (348) BM1088 Module: I2C initialized successfully
I (348) BM1088 Module: GYRO_CHIP_ID_REGISTER_VALUE = F
I (408) BM1088 Module: Accelerometer configured successfully
I (408) BM1088 Module: accel_read_rawX = -0.114922
I (408) BM1088 Module: accel_read_rawY = -0.387861
I (408) BM1088 Module: accel_read_rawZ = 39.217022
I (418) BM1088 Module: pitch = 43.211248
I (418) BM1088 Module: roll = -133.100651
I (628) BM1088 Module: accel_read_rawX = -0.172383
I (628) BM1088 Module: accel_read_rawY = -0.344765
I (628) BM1088 Module: accel_read_rawZ = 39.303215
I (628) BM1088 Module: pitch = 28.000519
I (638) BM1088 Module: roll = -120.972667
I (838) BM1088 Module: accel_read_rawX = -0.158017
I (838) BM1088 Module: accel_read_rawY = -0.272939
I (838) BM1088 Module: accel_read_rawZ = 39.310398
I (838) BM1088 Module: pitch = 80.263620
I (848) BM1088 Module: roll = -176.499250
I (1048) BM1088 Module: accel_read_rawX = -0.265756
I (1048) BM1088 Module: accel_read_rawY = -0.395043
I (1048) BM1088 Module: accel_read_rawZ = 39.662346
I (1048) BM1088 Module: pitch = 42.406332
I (1058) BM1088 Module: roll = -114.655216
I (1258) BM1088 Module: accel_read_rawX = -0.014365
I (1258) BM1088 Module: accel_read_rawY = -0.359130
I (1258) BM1088 Module: accel_read_rawZ = 39.454048
I (1258) BM1088 Module: pitch = 1.045840
I (1268) BM1088 Module: roll = -97.503039
I (1468) BM1088 Module: accel_read_rawX = -0.179565
I (1468) BM1088 Module: accel_read_rawY = -0.330400
I (1468) BM1088 Module: accel_read_rawZ = 39.339127
I (1468) BM1088 Module: pitch = 24.467079
I (1478) BM1088 Module: roll = -119.300149
I (1678) BM1088 Module: accel_read_rawX = -0.014365
I (1678) BM1088 Module: accel_read_rawY = -0.366313
I (1678) BM1088 Module: accel_read_rawZ = 39.231388
I (1678) BM1088 Module: pitch = 9.587834
I (1688) BM1088 Module: roll = -109.863306
I (1888) BM1088 Module: accel_read_rawX = -0.129287
I (1888) BM1088 Module: accel_read_rawY = -0.272939
I (1888) BM1088 Module: accel_read_rawZ = 39.238571
I (1888) BM1088 Module: pitch = 52.756513
I (1898) BM1088 Module: roll = -130.387234
I (2098) BM1088 Module: accel_read_rawX = -0.143652
I (2098) BM1088 Module: accel_read_rawY = -0.416591
I (2098) BM1088 Module: accel_read_rawZ = 39.224205
I (2098) BM1088 Module: pitch = 50.564989
I (2108) BM1088 Module: roll = -96.347288
I (2308) BM1088 Module: accel_read_rawX = -0.150835
I (2308) BM1088 Module: accel_read_rawY = -0.430956
I (2308) BM1088 Module: accel_read_rawZ = 39.339127
I (2308) BM1088 Module: pitch = 38.791491
I (2318) BM1088 Module: roll = -139.408974
I (2518) BM1088 Module: accel_read_rawX = -0.114922
I (2518) BM1088 Module: accel_read_rawY = -0.316035
I (2518) BM1088 Module: accel_read_rawZ = 39.173927
I (2518) BM1088 Module: pitch = 49.727083
I (2528) BM1088 Module: roll = -149.545470
I (2728) BM1088 Module: accel_read_rawX = -0.193930
I (2728) BM1088 Module: accel_read_rawY = -0.409409
I (2728) BM1088 Module: accel_read_rawZ = 39.224205
I (2728) BM1088 Module: pitch = 72.648343
I (2738) BM1088 Module: roll = -138.407327
I (2938) BM1088 Module: accel_read_rawX = -0.136469
I (2938) BM1088 Module: accel_read_rawY = -0.359130
I (2938) BM1088 Module: accel_read_rawZ = 39.260117
I (2938) BM1088 Module: pitch = 3.758720
I (2948) BM1088 Module: roll = -175.853310
I (3148) BM1088 Module: accel_read_rawX = -0.050278
I (3148) BM1088 Module: accel_read_rawY = -0.423774
I (3148) BM1088 Module: accel_read_rawZ = 39.217022
I (3148) BM1088 Module: pitch = 2.460931
I (3158) BM1088 Module: roll = -128.793851
I (3358) BM1088 Module: accel_read_rawX = -0.143652
I (3358) BM1088 Module: accel_read_rawY = -0.359130
I (3358) BM1088 Module: accel_read_rawZ = 39.209843
I (3358) BM1088 Module: pitch = 56.679845
I (3368) BM1088 Module: roll = -154.036952
I (3568) BM1088 Module: accel_read_rawX = -0.079009
I (3568) BM1088 Module: accel_read_rawY = -0.380678
I (3568) BM1088 Module: accel_read_rawZ = 39.260117
I (3568) BM1088 Module: pitch = 59.431913
I (3578) BM1088 Module: roll = -107.361932
I (3778) BM1088 Module: accel_read_rawX = -0.021548
I (3778) BM1088 Module: accel_read_rawY = -0.280122
I (3778) BM1088 Module: accel_read_rawZ = 39.123650
I (3778) BM1088 Module: pitch = 7.579353
I (3788) BM1088 Module: roll = -125.226817
I (3988) BM1088 Module: accel_read_rawX = -0.100556
I (3988) BM1088 Module: accel_read_rawY = -0.373495
I (3988) BM1088 Module: accel_read_rawZ = 39.188293
I (3988) BM1088 Module: pitch = 43.838692
I (3998) BM1088 Module: roll = -137.736456
I (4198) BM1088 Module: accel_read_rawX = 4.108450
I (4198) BM1088 Module: accel_read_rawY = -2.126051
I (4198) BM1088 Module: accel_read_rawZ = 37.550659
I (4198) BM1088 Module: pitch = 39.351621
I (4208) BM1088 Module: roll = -161.576952
I (4408) BM1088 Module: accel_read_rawX = -6.040571
I (4408) BM1088 Module: accel_read_rawY = -3.576937
I (4408) BM1088 Module: accel_read_rawZ = 38.922539
I (338) main_task: Started on CPU0
I (348) main_task: Calling app_main()
I (348) BM1088 Module: I2C initialized successfully
I (348) BM1088 Module: GYRO_CHIP_ID_REGISTER_VALUE = F
I (408) BM1088 Module: Accelerometer configured successfully
I (408) BM1088 Module: accel_read_rawX = -0.114922
I (408) BM1088 Module: accel_read_rawY = -0.387861
I (408) BM1088 Module: accel_read_rawZ = 39.217022
I (418) BM1088 Module: pitch = 43.211248
I (418) BM1088 Module: roll = -133.100651
I (628) BM1088 Module: accel_read_rawX = -0.172383
I (628) BM1088 Module: accel_read_rawY = -0.344765
I (628) BM1088 Module: accel_read_rawZ = 39.303215
I (628) BM1088 Module: pitch = 28.000519
I (638) BM1088 Module: roll = -120.972667
I (838) BM1088 Module: accel_read_rawX = -0.158017
I (838) BM1088 Module: accel_read_rawY = -0.272939
I (838) BM1088 Module: accel_read_rawZ = 39.310398
I (838) BM1088 Module: pitch = 80.263620
I (848) BM1088 Module: roll = -176.499250
I (1048) BM1088 Module: accel_read_rawX = -0.265756
I (1048) BM1088 Module: accel_read_rawY = -0.395043
I (1048) BM1088 Module: accel_read_rawZ = 39.662346
I (1048) BM1088 Module: pitch = 42.406332
I (1058) BM1088 Module: roll = -114.655216
I (1258) BM1088 Module: accel_read_rawX = -0.014365
I (1258) BM1088 Module: accel_read_rawY = -0.359130
I (1258) BM1088 Module: accel_read_rawZ = 39.454048
I (1258) BM1088 Module: pitch = 1.045840
I (1268) BM1088 Module: roll = -97.503039
I (1468) BM1088 Module: accel_read_rawX = -0.179565
I (1468) BM1088 Module: accel_read_rawY = -0.330400
I (1468) BM1088 Module: accel_read_rawZ = 39.339127
I (1468) BM1088 Module: pitch = 24.467079
I (1478) BM1088 Module: roll = -119.300149
I (1678) BM1088 Module: accel_read_rawX = -0.014365
I (1678) BM1088 Module: accel_read_rawY = -0.366313
I (1678) BM1088 Module: accel_read_rawZ = 39.231388
I (1678) BM1088 Module: pitch = 9.587834
I (1688) BM1088 Module: roll = -109.863306
I (1888) BM1088 Module: accel_read_rawX = -0.129287
I (1888) BM1088 Module: accel_read_rawY = -0.272939
I (1888) BM1088 Module: accel_read_rawZ = 39.238571
I (1888) BM1088 Module: pitch = 52.756513
I (1898) BM1088 Module: roll = -130.387234
I (2098) BM1088 Module: accel_read_rawX = -0.143652
I (2098) BM1088 Module: accel_read_rawY = -0.416591
I (2098) BM1088 Module: accel_read_rawZ = 39.224205
I (2098) BM1088 Module: pitch = 50.564989
I (2108) BM1088 Module: roll = -96.347288
I (2308) BM1088 Module: accel_read_rawX = -0.150835
I (2308) BM1088 Module: accel_read_rawY = -0.430956
I (2308) BM1088 Module: accel_read_rawZ = 39.339127
I (2308) BM1088 Module: pitch = 38.791491
I (2318) BM1088 Module: roll = -139.408974
I (2518) BM1088 Module: accel_read_rawX = -0.114922
I (2518) BM1088 Module: accel_read_rawY = -0.316035
I (2518) BM1088 Module: accel_read_rawZ = 39.173927
I (2518) BM1088 Module: pitch = 49.727083
I (2528) BM1088 Module: roll = -149.545470
I (2728) BM1088 Module: accel_read_rawX = -0.193930
I (2728) BM1088 Module: accel_read_rawY = -0.409409
I (2728) BM1088 Module: accel_read_rawZ = 39.224205
I (2728) BM1088 Module: pitch = 72.648343
I (2738) BM1088 Module: roll = -138.407327
I (2938) BM1088 Module: accel_read_rawX = -0.136469
I (2938) BM1088 Module: accel_read_rawY = -0.359130
I (2938) BM1088 Module: accel_read_rawZ = 39.260117
I (2938) BM1088 Module: pitch = 3.758720
I (2948) BM1088 Module: roll = -175.853310
I (3148) BM1088 Module: accel_read_rawX = -0.050278
I (3148) BM1088 Module: accel_read_rawY = -0.423774
I (3148) BM1088 Module: accel_read_rawZ = 39.217022
I (3148) BM1088 Module: pitch = 2.460931
I (3158) BM1088 Module: roll = -128.793851
I (3358) BM1088 Module: accel_read_rawX = -0.143652
I (3358) BM1088 Module: accel_read_rawY = -0.359130
I (3358) BM1088 Module: accel_read_rawZ = 39.209843
I (3358) BM1088 Module: pitch = 56.679845
I (3368) BM1088 Module: roll = -154.036952
I (3568) BM1088 Module: accel_read_rawX = -0.079009
I (3568) BM1088 Module: accel_read_rawY = -0.380678
I (3568) BM1088 Module: accel_read_rawZ = 39.260117
I (3568) BM1088 Module: pitch = 59.431913
I (3578) BM1088 Module: roll = -107.361932
I (3778) BM1088 Module: accel_read_rawX = -0.021548
I (3778) BM1088 Module: accel_read_rawY = -0.280122
I (3778) BM1088 Module: accel_read_rawZ = 39.123650
I (3778) BM1088 Module: pitch = 7.579353
I (3788) BM1088 Module: roll = -125.226817
I (3988) BM1088 Module: accel_read_rawX = -0.100556
I (3988) BM1088 Module: accel_read_rawY = -0.373495
I (3988) BM1088 Module: accel_read_rawZ = 39.188293
I (3988) BM1088 Module: pitch = 43.838692
I (3998) BM1088 Module: roll = -137.736456
I (4198) BM1088 Module: accel_read_rawX = 4.108450
I (4198) BM1088 Module: accel_read_rawY = -2.126051
I (4198) BM1088 Module: accel_read_rawZ = 37.550659
I (4198) BM1088 Module: pitch = 39.351621
I (4208) BM1088 Module: roll = -161.576952
I (4408) BM1088 Module: accel_read_rawX = -6.040571
I (4408) BM1088 Module: accel_read_rawY = -3.576937
I (4408) BM1088 Module: accel_read_rawZ = 38.922539
-
- Posts: 1692
- Joined: Mon Oct 17, 2022 7:38 pm
- Location: Europe, Germany
Re: BMI088 data not making sense
Did you fix the (®_addr + i) in bm1088_gyro_read() too?
Btw, the BMI088 does "auto increment" on the register address, so instead of
it would be up to 4x faster (and easier) to read all the data you want in one go:
This transfers 3+len bytes across the bus instead of len*(3+1).
Btw, the BMI088 does "auto increment" on the register address, so instead of
Code: Select all
for (size_t i = 0; i < len; i++) {
uint8_t ra = reg_addr + i;
ret = i2c_master_write_read_device(i2c_port_t(I2C_MASTER_NUM), BM1088_ACCEL_ADDRESS, &ra, 1,
(data + i), 1, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS );
}
Code: Select all
ret = i2c_master_write_read_device(i2c_port_t(I2C_MASTER_NUM), BM1088_ACCEL_ADDRESS, ®_addr, 1,
data, len, I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS );
-
- Posts: 1692
- Joined: Mon Oct 17, 2022 7:38 pm
- Location: Europe, Germany
Re: BMI088 data not making sense
And, that half_scale part doesn't look right.
Here's an alternative suggestion:
Here's an alternative suggestion:
Code: Select all
esp_err_t BMI088::read_value(const uint8_t addr, const mpu_register_address lsb_reg, const uint16_t scale, float& out) {
int16_t raw;
const esp_err_t ret = i2c_master_write_read_device(i2c_port_t(I2C_MASTER_NUM), addr, &lsb_reg, 1, (uint8_t*)&raw, sizeof(raw), I2C_MASTER_TIMEOUT_MS / portTICK_PERIOD_MS );
if(ret == ESP_OK) {
const int32_t fixedpoint = (int32_t)raw * scale;
out = (float)fixedpoint / 32768;
}
return ret;
}
...
float BMI088_IMU::accel_read_X_mps2() {
const uint16_t acc_range = 24; // 24g full-scale
float acc_gs;
const esp_err_t ret = read_value(BM1088_ACCEL_ADDRESS, ACC_X_LSB, acc_range, acc_gs);
if(ret == ESP_OK) {
// acc_gs now contains the X acceleration in G's
return acc_gs * GRAVITY_EARTH;
} else {
// Error handling, exception, or whatever...
return 0.0f;
}
}
...
Re: BMI088 data not making sense
Thanks, I made the changes you requested and this improved it a lot. I still had problems with pitch roll and yaw however after a lot of combing through I realized I was using gyroscope values instead of accelerometer values for the pitch and roll. So I modified this:
(USING GYROSCOPE)
double BMI088_IMU::angle_read_pitch(){
double x_Buff = gyro_read_rawX();
double y_Buff = gyro_read_rawY();
double z_Buff = gyro_read_rawZ();
double pitch = atan2((- x_Buff) , sqrt(y_Buff * y_Buff + z_Buff * z_Buff)) * 57.3;
return pitch;
}
double BMI088_IMU::angle_read_roll(){
double y_Buff = gyro_read_rawY();
double z_Buff = gyro_read_rawZ();
double roll = atan2(y_Buff , z_Buff) * 57.3;
return roll;
}
To this:
(USING ACCELEROMTETER)
double BMI088_IMU::angle_read_pitch(){
double x_Buff = accel_read_rawX();
double y_Buff = accel_read_rawY();
double z_Buff = accel_read_rawZ();
double pitch = atan2((- x_Buff) , sqrt(y_Buff * y_Buff + z_Buff * z_Buff)) * 57.3;
return pitch;
}
double BMI088_IMU::angle_read_roll(){
double y_Buff = accel_read_rawY();
double z_Buff = accel_read_rawZ();
double roll = atan2(y_Buff , z_Buff) * 57.3;
return roll;
}
This is some of the output data. There are no more excessive jumps (other than the torque I put on it) between each pitch and roll data reading:
I (43648) BM1088 Module: accel_read_rawX = 5.056554
I (43648) BM1088 Module: accel_read_rawY = 4.302381
I (43648) BM1088 Module: accel_read_rawZ = 38.168365
I (43648) BM1088 Module: gyro_read_rawX = 1.220703
I (43658) BM1088 Module: gyro_read_rawY = 0.778198
I (43658) BM1088 Module: gyro_read_rawZ = -1.174927
I (43668) BM1088 Module: pitch = -3.722616
I (43668) BM1088 Module: roll = 8.968992
I (43878) BM1088 Module: accel_read_rawX = 0.660800
I (43878) BM1088 Module: accel_read_rawY = 10.378864
I (43878) BM1088 Module: accel_read_rawZ = 40.452431
I (43878) BM1088 Module: gyro_read_rawX = 4.608154
I (43888) BM1088 Module: gyro_read_rawY = -2.029419
I (43888) BM1088 Module: gyro_read_rawZ = 1.327515
I (43898) BM1088 Module: pitch = -6.031060
I (43898) BM1088 Module: roll = 14.593245
I (44108) BM1088 Module: accel_read_rawX = 5.049372
I (44108) BM1088 Module: accel_read_rawY = 14.243107
I (44108) BM1088 Module: accel_read_rawZ = 34.727894
I (44108) BM1088 Module: gyro_read_rawX = 6.454468
I (44118) BM1088 Module: gyro_read_rawY = -0.549316
I (44118) BM1088 Module: gyro_read_rawZ = -1.281738
I (44128) BM1088 Module: pitch = -6.839497
I (44128) BM1088 Module: roll = 24.001851
I (44338) BM1088 Module: accel_read_rawX = 5.458780
I (44338) BM1088 Module: accel_read_rawY = 20.362686
I (44338) BM1088 Module: accel_read_rawZ = 32.271442
I (44338) BM1088 Module: gyro_read_rawX = 1.647949
I (44348) BM1088 Module: gyro_read_rawY = 0.671387
I (44348) BM1088 Module: gyro_read_rawZ = -3.021240
I (44358) BM1088 Module: pitch = -6.215660
I (44358) BM1088 Module: roll = 31.168653
I (44568) BM1088 Module: accel_read_rawX = 4.596867
I (44568) BM1088 Module: accel_read_rawY = 23.343468
I (44568) BM1088 Module: accel_read_rawZ = 32.034420
I (44568) BM1088 Module: gyro_read_rawX = 2.609253
I (44578) BM1088 Module: gyro_read_rawY = 0.473022
I (44578) BM1088 Module: gyro_read_rawZ = 0.778198
I (44588) BM1088 Module: pitch = -3.989989
I (44588) BM1088 Module: roll = 34.751520
I (44798) BM1088 Module: accel_read_rawX = 5.307945
I (44798) BM1088 Module: accel_read_rawY = 25.807098
I (44798) BM1088 Module: accel_read_rawZ = 29.319393
I (44798) BM1088 Module: gyro_read_rawX = 0.778198
I (44808) BM1088 Module: gyro_read_rawY = -1.007080
I (44808) BM1088 Module: gyro_read_rawZ = 1.708984
I (44818) BM1088 Module: pitch = -6.630353
I (44818) BM1088 Module: roll = 40.365892
I (45028) BM1088 Module: accel_read_rawX = 4.747702
I (45028) BM1088 Module: accel_read_rawY = 25.045744
I (45028) BM1088 Module: accel_read_rawZ = 28.895618
I (45028) BM1088 Module: gyro_read_rawX = 0.259399
I (45038) BM1088 Module: gyro_read_rawY = 0.885010
I (45038) BM1088 Module: gyro_read_rawZ = -0.213623
I (45048) BM1088 Module: pitch = -6.796082
I (45048) BM1088 Module: roll = 42.016977
I (45258) BM1088 Module: accel_read_rawX = 4.388572
I (45258) BM1088 Module: accel_read_rawY = 26.575638
I (45258) BM1088 Module: accel_read_rawZ = 29.017725
I (45258) BM1088 Module: gyro_read_rawX = 0.762939
I (45268) BM1088 Module: gyro_read_rawY = 0.091553
I (45268) BM1088 Module: gyro_read_rawZ = -0.305176
I (45278) BM1088 Module: pitch = -6.166298
I (45278) BM1088 Module: roll = 41.803262
I (45488) BM1088 Module: accel_read_rawX = 4.273650
I (45488) BM1088 Module: accel_read_rawY = 26.180595
I (45488) BM1088 Module: accel_read_rawZ = 29.348125
I (45488) BM1088 Module: gyro_read_rawX = -0.900269
I (45498) BM1088 Module: gyro_read_rawY = 0.717163
I (45498) BM1088 Module: gyro_read_rawZ = 0.183105
I (45508) BM1088 Module: pitch = -6.141952
I (45508) BM1088 Module: roll = 40.452803
I (45718) BM1088 Module: accel_read_rawX = 4.769250
I (45718) BM1088 Module: accel_read_rawY = 23.673866
I (45718) BM1088 Module: accel_read_rawZ = 29.958647
I (45718) BM1088 Module: gyro_read_rawX = -2.731323
I (45728) BM1088 Module: gyro_read_rawY = -0.427246
I (45728) BM1088 Module: gyro_read_rawZ = -0.335693
I (45738) BM1088 Module: pitch = -7.881747
I (45738) BM1088 Module: roll = 38.422626
I (45948) BM1088 Module: accel_read_rawX = 4.223372
I (45948) BM1088 Module: accel_read_rawY = 18.358738
I (45948) BM1088 Module: accel_read_rawZ = 33.557129
I (45948) BM1088 Module: gyro_read_rawX = -7.522583
I (45958) BM1088 Module: gyro_read_rawY = 0.900269
I (45958) BM1088 Module: gyro_read_rawZ = 0.717163
I (45968) BM1088 Module: pitch = -6.124104
I (45968) BM1088 Module: roll = 28.189816
I (46178) BM1088 Module: accel_read_rawX = 4.187459
I (46178) BM1088 Module: accel_read_rawY = 13.869610
I (46178) BM1088 Module: accel_read_rawZ = 35.905846
I (46178) BM1088 Module: gyro_read_rawX = -4.455566
I (46188) BM1088 Module: gyro_read_rawY = 0.610352
I (46188) BM1088 Module: gyro_read_rawZ = 3.692627
I (46198) BM1088 Module: pitch = -6.270813
I (46198) BM1088 Module: roll = 19.751971
I (46408) BM1088 Module: accel_read_rawX = 2.240973
I (46408) BM1088 Module: accel_read_rawY = 6.557718
I (46408) BM1088 Module: accel_read_rawZ = 36.961685
I (46408) BM1088 Module: gyro_read_rawX = -3.631592
I (46418) BM1088 Module: gyro_read_rawY = 1.220703
I (46418) BM1088 Module: gyro_read_rawZ = 0.717163
I (46428) BM1088 Module: pitch = -4.633506
I (46428) BM1088 Module: roll = 12.883423
I (46638) BM1088 Module: accel_read_rawX = 2.944868
I (46638) BM1088 Module: accel_read_rawY = 4.697424
I (46638) BM1088 Module: accel_read_rawZ = 38.491581
I (46638) BM1088 Module: gyro_read_rawX = -1.449585
I (46648) BM1088 Module: gyro_read_rawY = 1.220703
I (46648) BM1088 Module: gyro_read_rawZ = -0.717163
I (46658) BM1088 Module: pitch = -4.749686
I (46658) BM1088 Module: roll = 8.940107
I (46868) BM1088 Module: accel_read_rawX = 1.149217
I (46868) BM1088 Module: accel_read_rawY = -2.355895
I (46868) BM1088 Module: accel_read_rawZ = 36.724659
I (46868) BM1088 Module: gyro_read_rawX = -2.212524
I (46878) BM1088 Module: gyro_read_rawY = 2.731323
I (46878) BM1088 Module: gyro_read_rawZ = 0.579834
I (46888) BM1088 Module: pitch = -3.048920
I (46888) BM1088 Module: roll = 0.149400
I (47098) BM1088 Module: accel_read_rawX = -4.187459
I (47098) BM1088 Module: accel_read_rawY = 1.055843
I (47098) BM1088 Module: accel_read_rawZ = 38.635235
I (47098) BM1088 Module: gyro_read_rawX = 0.289917
I (47108) BM1088 Module: gyro_read_rawY = 1.739502
I (47108) BM1088 Module: gyro_read_rawZ = 0.503540
I (47118) BM1088 Module: pitch = 3.022574
I (47118) BM1088 Module: roll = -6.843277
I (47328) BM1088 Module: accel_read_rawX = -3.325546
I (47328) BM1088 Module: accel_read_rawY = -3.117250
I (47328) BM1088 Module: accel_read_rawZ = 39.870640
I (47328) BM1088 Module: gyro_read_rawX = 0.839233
I (47338) BM1088 Module: gyro_read_rawY = -1.434326
I (47338) BM1088 Module: gyro_read_rawZ = -0.274658
I (47348) BM1088 Module: pitch = 5.797258
I (47348) BM1088 Module: roll = -3.444648
I (47558) BM1088 Module: accel_read_rawX = -2.801216
I (47558) BM1088 Module: accel_read_rawY = -1.307234
I (47558) BM1088 Module: accel_read_rawZ = 39.044640
I (47558) BM1088 Module: gyro_read_rawX = 0.350952
I (47568) BM1088 Module: gyro_read_rawY = 0.274658
I (47568) BM1088 Module: gyro_read_rawZ = 0.335693
I (47578) BM1088 Module: pitch = 3.811644
I (47578) BM1088 Module: roll = -1.844653
(USING GYROSCOPE)
double BMI088_IMU::angle_read_pitch(){
double x_Buff = gyro_read_rawX();
double y_Buff = gyro_read_rawY();
double z_Buff = gyro_read_rawZ();
double pitch = atan2((- x_Buff) , sqrt(y_Buff * y_Buff + z_Buff * z_Buff)) * 57.3;
return pitch;
}
double BMI088_IMU::angle_read_roll(){
double y_Buff = gyro_read_rawY();
double z_Buff = gyro_read_rawZ();
double roll = atan2(y_Buff , z_Buff) * 57.3;
return roll;
}
To this:
(USING ACCELEROMTETER)
double BMI088_IMU::angle_read_pitch(){
double x_Buff = accel_read_rawX();
double y_Buff = accel_read_rawY();
double z_Buff = accel_read_rawZ();
double pitch = atan2((- x_Buff) , sqrt(y_Buff * y_Buff + z_Buff * z_Buff)) * 57.3;
return pitch;
}
double BMI088_IMU::angle_read_roll(){
double y_Buff = accel_read_rawY();
double z_Buff = accel_read_rawZ();
double roll = atan2(y_Buff , z_Buff) * 57.3;
return roll;
}
This is some of the output data. There are no more excessive jumps (other than the torque I put on it) between each pitch and roll data reading:
I (43648) BM1088 Module: accel_read_rawX = 5.056554
I (43648) BM1088 Module: accel_read_rawY = 4.302381
I (43648) BM1088 Module: accel_read_rawZ = 38.168365
I (43648) BM1088 Module: gyro_read_rawX = 1.220703
I (43658) BM1088 Module: gyro_read_rawY = 0.778198
I (43658) BM1088 Module: gyro_read_rawZ = -1.174927
I (43668) BM1088 Module: pitch = -3.722616
I (43668) BM1088 Module: roll = 8.968992
I (43878) BM1088 Module: accel_read_rawX = 0.660800
I (43878) BM1088 Module: accel_read_rawY = 10.378864
I (43878) BM1088 Module: accel_read_rawZ = 40.452431
I (43878) BM1088 Module: gyro_read_rawX = 4.608154
I (43888) BM1088 Module: gyro_read_rawY = -2.029419
I (43888) BM1088 Module: gyro_read_rawZ = 1.327515
I (43898) BM1088 Module: pitch = -6.031060
I (43898) BM1088 Module: roll = 14.593245
I (44108) BM1088 Module: accel_read_rawX = 5.049372
I (44108) BM1088 Module: accel_read_rawY = 14.243107
I (44108) BM1088 Module: accel_read_rawZ = 34.727894
I (44108) BM1088 Module: gyro_read_rawX = 6.454468
I (44118) BM1088 Module: gyro_read_rawY = -0.549316
I (44118) BM1088 Module: gyro_read_rawZ = -1.281738
I (44128) BM1088 Module: pitch = -6.839497
I (44128) BM1088 Module: roll = 24.001851
I (44338) BM1088 Module: accel_read_rawX = 5.458780
I (44338) BM1088 Module: accel_read_rawY = 20.362686
I (44338) BM1088 Module: accel_read_rawZ = 32.271442
I (44338) BM1088 Module: gyro_read_rawX = 1.647949
I (44348) BM1088 Module: gyro_read_rawY = 0.671387
I (44348) BM1088 Module: gyro_read_rawZ = -3.021240
I (44358) BM1088 Module: pitch = -6.215660
I (44358) BM1088 Module: roll = 31.168653
I (44568) BM1088 Module: accel_read_rawX = 4.596867
I (44568) BM1088 Module: accel_read_rawY = 23.343468
I (44568) BM1088 Module: accel_read_rawZ = 32.034420
I (44568) BM1088 Module: gyro_read_rawX = 2.609253
I (44578) BM1088 Module: gyro_read_rawY = 0.473022
I (44578) BM1088 Module: gyro_read_rawZ = 0.778198
I (44588) BM1088 Module: pitch = -3.989989
I (44588) BM1088 Module: roll = 34.751520
I (44798) BM1088 Module: accel_read_rawX = 5.307945
I (44798) BM1088 Module: accel_read_rawY = 25.807098
I (44798) BM1088 Module: accel_read_rawZ = 29.319393
I (44798) BM1088 Module: gyro_read_rawX = 0.778198
I (44808) BM1088 Module: gyro_read_rawY = -1.007080
I (44808) BM1088 Module: gyro_read_rawZ = 1.708984
I (44818) BM1088 Module: pitch = -6.630353
I (44818) BM1088 Module: roll = 40.365892
I (45028) BM1088 Module: accel_read_rawX = 4.747702
I (45028) BM1088 Module: accel_read_rawY = 25.045744
I (45028) BM1088 Module: accel_read_rawZ = 28.895618
I (45028) BM1088 Module: gyro_read_rawX = 0.259399
I (45038) BM1088 Module: gyro_read_rawY = 0.885010
I (45038) BM1088 Module: gyro_read_rawZ = -0.213623
I (45048) BM1088 Module: pitch = -6.796082
I (45048) BM1088 Module: roll = 42.016977
I (45258) BM1088 Module: accel_read_rawX = 4.388572
I (45258) BM1088 Module: accel_read_rawY = 26.575638
I (45258) BM1088 Module: accel_read_rawZ = 29.017725
I (45258) BM1088 Module: gyro_read_rawX = 0.762939
I (45268) BM1088 Module: gyro_read_rawY = 0.091553
I (45268) BM1088 Module: gyro_read_rawZ = -0.305176
I (45278) BM1088 Module: pitch = -6.166298
I (45278) BM1088 Module: roll = 41.803262
I (45488) BM1088 Module: accel_read_rawX = 4.273650
I (45488) BM1088 Module: accel_read_rawY = 26.180595
I (45488) BM1088 Module: accel_read_rawZ = 29.348125
I (45488) BM1088 Module: gyro_read_rawX = -0.900269
I (45498) BM1088 Module: gyro_read_rawY = 0.717163
I (45498) BM1088 Module: gyro_read_rawZ = 0.183105
I (45508) BM1088 Module: pitch = -6.141952
I (45508) BM1088 Module: roll = 40.452803
I (45718) BM1088 Module: accel_read_rawX = 4.769250
I (45718) BM1088 Module: accel_read_rawY = 23.673866
I (45718) BM1088 Module: accel_read_rawZ = 29.958647
I (45718) BM1088 Module: gyro_read_rawX = -2.731323
I (45728) BM1088 Module: gyro_read_rawY = -0.427246
I (45728) BM1088 Module: gyro_read_rawZ = -0.335693
I (45738) BM1088 Module: pitch = -7.881747
I (45738) BM1088 Module: roll = 38.422626
I (45948) BM1088 Module: accel_read_rawX = 4.223372
I (45948) BM1088 Module: accel_read_rawY = 18.358738
I (45948) BM1088 Module: accel_read_rawZ = 33.557129
I (45948) BM1088 Module: gyro_read_rawX = -7.522583
I (45958) BM1088 Module: gyro_read_rawY = 0.900269
I (45958) BM1088 Module: gyro_read_rawZ = 0.717163
I (45968) BM1088 Module: pitch = -6.124104
I (45968) BM1088 Module: roll = 28.189816
I (46178) BM1088 Module: accel_read_rawX = 4.187459
I (46178) BM1088 Module: accel_read_rawY = 13.869610
I (46178) BM1088 Module: accel_read_rawZ = 35.905846
I (46178) BM1088 Module: gyro_read_rawX = -4.455566
I (46188) BM1088 Module: gyro_read_rawY = 0.610352
I (46188) BM1088 Module: gyro_read_rawZ = 3.692627
I (46198) BM1088 Module: pitch = -6.270813
I (46198) BM1088 Module: roll = 19.751971
I (46408) BM1088 Module: accel_read_rawX = 2.240973
I (46408) BM1088 Module: accel_read_rawY = 6.557718
I (46408) BM1088 Module: accel_read_rawZ = 36.961685
I (46408) BM1088 Module: gyro_read_rawX = -3.631592
I (46418) BM1088 Module: gyro_read_rawY = 1.220703
I (46418) BM1088 Module: gyro_read_rawZ = 0.717163
I (46428) BM1088 Module: pitch = -4.633506
I (46428) BM1088 Module: roll = 12.883423
I (46638) BM1088 Module: accel_read_rawX = 2.944868
I (46638) BM1088 Module: accel_read_rawY = 4.697424
I (46638) BM1088 Module: accel_read_rawZ = 38.491581
I (46638) BM1088 Module: gyro_read_rawX = -1.449585
I (46648) BM1088 Module: gyro_read_rawY = 1.220703
I (46648) BM1088 Module: gyro_read_rawZ = -0.717163
I (46658) BM1088 Module: pitch = -4.749686
I (46658) BM1088 Module: roll = 8.940107
I (46868) BM1088 Module: accel_read_rawX = 1.149217
I (46868) BM1088 Module: accel_read_rawY = -2.355895
I (46868) BM1088 Module: accel_read_rawZ = 36.724659
I (46868) BM1088 Module: gyro_read_rawX = -2.212524
I (46878) BM1088 Module: gyro_read_rawY = 2.731323
I (46878) BM1088 Module: gyro_read_rawZ = 0.579834
I (46888) BM1088 Module: pitch = -3.048920
I (46888) BM1088 Module: roll = 0.149400
I (47098) BM1088 Module: accel_read_rawX = -4.187459
I (47098) BM1088 Module: accel_read_rawY = 1.055843
I (47098) BM1088 Module: accel_read_rawZ = 38.635235
I (47098) BM1088 Module: gyro_read_rawX = 0.289917
I (47108) BM1088 Module: gyro_read_rawY = 1.739502
I (47108) BM1088 Module: gyro_read_rawZ = 0.503540
I (47118) BM1088 Module: pitch = 3.022574
I (47118) BM1088 Module: roll = -6.843277
I (47328) BM1088 Module: accel_read_rawX = -3.325546
I (47328) BM1088 Module: accel_read_rawY = -3.117250
I (47328) BM1088 Module: accel_read_rawZ = 39.870640
I (47328) BM1088 Module: gyro_read_rawX = 0.839233
I (47338) BM1088 Module: gyro_read_rawY = -1.434326
I (47338) BM1088 Module: gyro_read_rawZ = -0.274658
I (47348) BM1088 Module: pitch = 5.797258
I (47348) BM1088 Module: roll = -3.444648
I (47558) BM1088 Module: accel_read_rawX = -2.801216
I (47558) BM1088 Module: accel_read_rawY = -1.307234
I (47558) BM1088 Module: accel_read_rawZ = 39.044640
I (47558) BM1088 Module: gyro_read_rawX = 0.350952
I (47568) BM1088 Module: gyro_read_rawY = 0.274658
I (47568) BM1088 Module: gyro_read_rawZ = 0.335693
I (47578) BM1088 Module: pitch = 3.811644
I (47578) BM1088 Module: roll = -1.844653
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