# RA8P1 Titan Board BMI088 陀螺仪使用说明

**中文** | [**English**](./README_EN.md)

## 简介

本例程主要介绍了如何在 Titan Board 上使用 RT-Thread 的 SPI 框架与 BMI088 陀螺仪通信。

## 硬件说明

Titan Board 使用 SPI0 与 BMI088 陀螺仪通信。

![image-20250731090541599](figures/image-20250731090541599.png)

## FSP配置说明

打开 FSP 工具，新建 Stacks 并选择 r_spi_b：

![image-20250730160421315](figures/image-20250730160421315.png)

配置 SPI0 引脚：

![image-20250730160615804](figures/image-20250730160615804.png)

## RT-Thread Settings配置

打开 RT-Thread Settings 开启 SPI0 与 BMI088 软件包：

![image-20250730160802572](figures/image-20250730160802572.png)

## 示例工程介绍

BMI088 驱动示例程序位于 `./packages/bmi088-latest/samples/bmi088_sample`：

```c
/*
 * Copyright (c) 2006-2020, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author      Notes
 * 2020-03-10     MyGuo       the first version
 */
 
#include <rtthread.h>
#include <rtdbg.h> 
#include "bmi088.h"
#include "sensor_intf_bmi088.h"
#include "drv_spi.h"
#include "bmi088_sample.h"

#define BMI088_BUS_NAME "spi0"
#define BMI088A_SPI_NAME "spi00"
#define BMI088G_SPI_NAME "spi01"

static rt_device_t acce_device_t;
static rt_device_t gyro_device_t;
struct rt_sensor_data acc_test;
struct rt_sensor_data gyr_test;

#define BMI088A_PIN     BSP_IO_PORT_12_PIN_10
#define BMI088G_PIN     BSP_IO_PORT_12_PIN_14

void imu_thread_entry(void* parameter)
{
    // 配置spi,配置片选引脚(要在acc、gyr初始化之前配置,因为器件初始化中涉及到引脚操作)
    rt_hw_spi_device_attach(BMI088_BUS_NAME, BMI088A_SPI_NAME, 0x060C);
    rt_hw_spi_device_attach(BMI088_BUS_NAME, BMI088G_SPI_NAME, 0x0704);

    // 注册传感器
    struct rt_sensor_config acc_cfg = {0};
    struct rt_sensor_config gyr_cfg = {0};
    
    acc_cfg.intf.dev_name = BMI088A_SPI_NAME;
    gyr_cfg.intf.dev_name = BMI088G_SPI_NAME;
    
    rt_hw_bmi088_init("bmi", &acc_cfg, &gyr_cfg);

    acce_device_t = rt_device_find("acce_bmi");
    if (acce_device_t == RT_NULL)
    {
        LOG_E("Can't find acce device\r\n");
    }
    else 
    {
        rt_device_open(acce_device_t, RT_DEVICE_OFLAG_RDWR);
    }
    
    gyro_device_t = rt_device_find("gyro_bmi");
    if (gyro_device_t == RT_NULL)
    {
        LOG_E("Can't find gyro device\r\n");
    }
    else
    {
        rt_device_open(gyro_device_t, RT_DEVICE_OFLAG_RDWR);
    }
    
    while (1)
    {
        _bmi088_get_data((rt_sensor_t) acce_device_t, &acc_test);
        _bmi088_get_data((rt_sensor_t) gyro_device_t, &gyr_test);

        rt_kprintf("acce value:[X]:%d [Y]:%d [Z]:%d\n", acc_test.data.acce.x, acc_test.data.acce.y, acc_test.data.acce.z);
        rt_kprintf("gyro value:[X]:%d [Y]:%d [Z]:%d\n\n", gyr_test.data.gyro.x, gyr_test.data.gyro.y, gyr_test.data.gyro.z);

        rt_thread_mdelay(500);
    }
}

void bmi088_app(void)
{
    rt_thread_t bmi088 = rt_thread_create("bmi088", imu_thread_entry, RT_NULL, 2048, 25, 10);
    if(bmi088 != RT_NULL)
    {
        rt_thread_startup(bmi088);
    }

    return;
}
MSH_CMD_EXPORT(bmi088_app, bmi088_app);
```

## 编译&下载

* RT-Thread Studio：在RT-Thread Studio 的包管理器中下载 Titan Board 资源包，然后创建新工程，执行编译。

编译完成后，将开发板的 Jlink 接口与 PC 机连接，然后将固件下载至开发板。

## 运行效果

打开串口工具，在终端里输入 bmi088_app 指令获取陀螺仪数据：

![PixPin_2025-07-28_10-09-31](figures/PixPin_2025-07-28_10-09-31.png)