1. Introduction

This is a demo to show how to get the data of BMI160 by SPI ioctl in ROScube Pico.

The data includes:

• CHIP ID
• PMU STATUS
• SENSOR DATA (ACCEL and GYRO).

NOTE

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The model supported by BMI160 is only the ROScube Pico series.

In this BMI160 demo, by using /dev/spidev2.0.

2. Build

Download the code.

git clone https://github.com/Adlink-ROS/bmi160_spi_demo.git
cd bmi160_spi_demo

3. Usage

Test the demo following the command.

i. Compile the code by gcc

gcc -o bmi160_test main.c bmi160.c

ii. Run the code

./bmi160_test

iii. Result

If successfully worked, it will show data:

• CHIP ID: 0xD1
• PMU STATUS: 0x14
• SENSOR DATA: 50 points

NOTE

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It will show OK message on the first line, that means bmi160_perform_self_test was successful.

WARNING

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When occurred filed or error, please check the Error Value from bmi160.h.