code/
├── __init__.py       # 可选包初始化文件
├── bmi160.py         # BMI160 核心驱动
├── i2c_helpers.py    # I2C 通信辅助类（CBits / RegisterStruct）
├── main.py           # 测试示例代码
└── README.md         # 说明文档

/lib/
├── __init__.py
├── bmi160.py
└── i2c_helpers.py

from machine import Pin, I2C
from bmi160 import BMI160

# 初始化 I2C 总线
i2c = I2C(0, scl=Pin(22), sda=Pin(21), freq=400000)

# 实例化 BMI160 驱动
bmi = BMI160(i2c, address=0x69)

# 读取数据
acc_x, acc_y, acc_z = bmi.acceleration
gyr_x, gyr_y, gyr_z = bmi.gyro
temp = bmi.temperature

print("Acc (m/s²): %.3f, %.3f, %.3f" % (acc_x, acc_y, acc_z))
print("Gyro (°/s): %.1f, %.1f, %.1f" % (gyr_x, gyr_y, gyr_z))
print("Temp (°C): %.2f" % temp)

# Python env   : MicroPython v1.23.0
# -*- coding: utf-8 -*-
# @Time    : 2026/07/24
# @Author  : FreakStudio
# @File    : main.py
# @Description : 测试 BMI160 6轴惯性测量单元驱动类
# @License : MIT

import time
from machine import Pin, I2C
from bmi160 import BMI160
from bmi160 import (
    ACCEL_RANGE_2G, ACCEL_RANGE_4G, ACCEL_RANGE_8G, ACCEL_RANGE_16G,
    BANDWIDTH_25, BANDWIDTH_50, BANDWIDTH_100, BANDWIDTH_200,
    BANDWIDTH_400, BANDWIDTH_800, BANDWIDTH_1600, BANDWIDTH_3200,
    GYRO_RANGE_125, GYRO_RANGE_250, GYRO_RANGE_500,
    GYRO_RANGE_1000, GYRO_RANGE_2000,
    ACC_POWER_SUSPEND, ACC_POWER_NORMAL, ACC_POWER_LOWPOWER,
    NO_UNDERSAMPLE, UNDERSAMPLE,
    FILTER, AVERAGING,
    GYRO_NORMAL, GYRO_OSR2, GYRO_OSR4,
    GYRO_POWER_SUSPEND, GYRO_POWER_NORMAL, GYRO_POWER_FASTSTARTUP,
)

# ======================================== 导入相关模块 =========================================

# ======================================== 全局变量 ============================================

# I2C 总线配置
I2C_SCL_PIN = 22     # SCL 引脚号（请按实际接线修改）
I2C_SDA_PIN = 21     # SDA 引脚号（请按实际接线修改）
I2C_FREQ = 400000    # I2C 频率 400 kHz

# BMI160 芯片参数
BMI160_I2C_ADDR = 0x69        # 默认 I2C 地址
BMI160_WHO_AM_I_REG = 0x00    # WHO_AM_I 寄存器地址
BMI160_WHO_AM_I_VAL = 0xD1    # 期望芯片 ID

# 定时打印间隔（ms）
PRINT_INTERVAL = 2000
# 存储上次打印时刻（ticks_ms 值）
last_print_time = time.ticks_ms()

# ======================================== 功能函数 ============================================


def print_realtime_data(bmi):
    """
    打印实时高频数据（高频，默认注释调用，可 REPL 手动调用）。
    一次性输出加速度、陀螺仪、温度的全部原始值。
    """
    acc = bmi.acceleration
    gyr = bmi.gyro
    tmp = bmi.temperature
    print("  Acc (m/s²): X=%.3f Y=%.3f Z=%.3f" % acc)
    print("  Gyro (°/s): X=%.1f Y=%.1f Z=%.1f" % gyr)
    print("  Temp (°C): %.2f" % tmp)


def change_acc_range(bmi, range_val):
    """
    修改加速度计量程并回读验证（模式切换，可 REPL 手动触发）。

    Args:
        bmi (BMI160): 传感器实例
        range_val: 量程常量（如 ACCEL_RANGE_2G）
    """
    print("Setting acceleration range to %s ..." % str(range_val))
    bmi.acceleration_range = range_val
    print("  Current range: %s" % bmi.acceleration_range)


def change_gyro_range(bmi, range_val):
    """
    修改陀螺仪量程并回读验证（模式切换，可 REPL 手动触发）。

    Args:
        bmi (BMI160): 传感器实例
        range_val: 量程常量（如 GYRO_RANGE_2000）
    """
    print("Setting gyro range to %s ..." % str(range_val))
    bmi.gyro_range = range_val
    print("  Current range: %s" % bmi.gyro_range)


def change_acc_odr(bmi, odr_val):
    """
    修改加速度计输出数据率并回读验证（模式切换，可 REPL 手动触发）。
    """
    print("Setting acceleration ODR to %s ..." % str(odr_val))
    bmi.acceleration_output_data_rate = odr_val
    print("  Current ODR: %s" % bmi.acceleration_output_data_rate)


def change_gyro_odr(bmi, odr_val):
    """
    修改陀螺仪输出数据率并回读验证（模式切换，可 REPL 手动触发）。
    """
    print("Setting gyro ODR to %s ..." % str(odr_val))
    bmi.gyro_output_data_rate = odr_val
    print("  Current ODR: %s" % bmi.gyro_output_data_rate)


def debug_error_codes(bmi):
    """
    读取并打印错误码寄存器（调试用途，可 REPL 手动触发）。
    """
    print("--- Error Code Register ---")
    bmi.error_code()
    print("--- Power Mode Status ---")
    bmi.power_mode_status()


def test_config_walkthrough(bmi):
    """
    遍历加速度计和陀螺仪各项配置的读写验证（可 REPL 一键执行）。
    测试量程、ODR、带宽参数、欠采样、电源模式等全部可写属性。
    """
    print("=== Configuration Walkthrough ===")

    # 加速度计量程遍历
    for rng in (ACCEL_RANGE_2G, ACCEL_RANGE_4G, ACCEL_RANGE_8G, ACCEL_RANGE_16G):
        bmi.acceleration_range = rng
        print("  Acc range set: %s" % bmi.acceleration_range)

    # 加速度计 ODR 遍历（只测试几个常用值）
    for odr in (BANDWIDTH_25, BANDWIDTH_100, BANDWIDTH_400):
        bmi.acceleration_output_data_rate = odr
        print("  Acc ODR set: %s" % bmi.acceleration_output_data_rate)

    # 加速度计欠采样模式
    bmi.acceleration_undersample = NO_UNDERSAMPLE
    print("  Acc undersample: %s" % bmi.acceleration_undersample)
    bmi.acceleration_undersample = UNDERSAMPLE
    print("  Acc undersample: %s" % bmi.acceleration_undersample)

    # 加速度计带宽参数
    bmi.acceleration_bandwidth_parameter = FILTER
    print("  Acc bandwidth: %s" % bmi.acceleration_bandwidth_parameter)
    bmi.acceleration_bandwidth_parameter = AVERAGING
    print("  Acc bandwidth: %s" % bmi.acceleration_bandwidth_parameter)

    # 恢复默认 ODR
    bmi.acceleration_output_data_rate = BANDWIDTH_100
    bmi.acceleration_range = ACCEL_RANGE_2G
    bmi.acceleration_undersample = NO_UNDERSAMPLE

    # 陀螺仪量程遍历
    for rng in (GYRO_RANGE_125, GYRO_RANGE_250, GYRO_RANGE_500, GYRO_RANGE_1000, GYRO_RANGE_2000):
        bmi.gyro_range = rng
        print("  Gyro range set: %s" % bmi.gyro_range)

    # 陀螺仪 ODR 遍历
    for odr in (BANDWIDTH_50, BANDWIDTH_100, BANDWIDTH_400):
        bmi.gyro_output_data_rate = odr
        print("  Gyro ODR set: %s" % bmi.gyro_output_data_rate)

    # 陀螺仪带宽参数
    for bw in (GYRO_OSR4, GYRO_OSR2, GYRO_NORMAL):
        bmi.gyro_bandwidth_parameter = bw
        print("  Gyro bandwidth: %s" % bmi.gyro_bandwidth_parameter)

    # 恢复默认
    bmi.gyro_output_data_rate = BANDWIDTH_100
    bmi.gyro_range = GYRO_RANGE_2000
    print("=== Walkthrough Done ===")


def test_exception_scenarios(bmi):
    """
    测试异常参数场景，验证 ValueError 是否正确抛出（可 REPL 一键执行）。
    """
    print("=== Exception Scenario Tests ===")

    # 加速度计量程非法值
    try:
        bmi.acceleration_range = 0xFF
        print("  FAIL: should have raised ValueError")
    except ValueError as e:
        print("  OK: Acc range invalid → ValueError: %s" % e)

    # 加速度计 ODR 非法值
    try:
        bmi.acceleration_output_data_rate = 0xFF
        print("  FAIL: should have raised ValueError")
    except ValueError as e:
        print("  OK: Acc ODR invalid → ValueError: %s" % e)

    # 陀螺仪量程非法值
    try:
        bmi.gyro_range = 0xFF
        print("  FAIL: should have raised ValueError")
    except ValueError as e:
        print("  OK: Gyro range invalid → ValueError: %s" % e)

    # 陀螺仪 ODR 非法值
    try:
        bmi.gyro_output_data_rate = 0xFF
        print("  FAIL: should have raised ValueError")
    except ValueError as e:
        print("  OK: Gyro ODR invalid → ValueError: %s" % e)

    # 加速度计电源模式非法值
    try:
        bmi.acc_power_mode(0xFF)
        print("  FAIL: should have raised ValueError")
    except ValueError as e:
        print("  OK: Acc power mode invalid → ValueError: %s" % e)

    # 陀螺仪电源模式非法值
    try:
        bmi.gyro_power_mode = 0xFF
        print("  FAIL: should have raised ValueError")
    except ValueError as e:
        print("  OK: Gyro power mode invalid → ValueError: %s" % e)

    print("=== Exception Tests Done ===")


# ======================================== 自定义类 ============================================

# ======================================== 初始化配置 ==========================================

# 上电稳定延时
time.sleep(3)

print("FreakStudio: BMI160 6-axis IMU test")

# 初始化 I2C 总线
i2c = I2C(0, scl=Pin(I2C_SCL_PIN), sda=Pin(I2C_SDA_PIN), freq=I2C_FREQ)
print("I2C initialized: scl=%d, sda=%d, freq=%d" % (I2C_SCL_PIN, I2C_SDA_PIN, I2C_FREQ))

# I2C 设备扫描
print("Scanning I2C bus...")
devices = i2c.scan()
if not devices:
    raise RuntimeError("No I2C device found on bus")
print("I2C devices found: %s" % [hex(d) for d in devices])

# 验证目标设备是否在扫描列表中
if BMI160_I2C_ADDR not in devices:
    raise RuntimeError(
        "Device not found at expected address 0x%02X" % BMI160_I2C_ADDR
    )
print("Device found at 0x%02X" % BMI160_I2C_ADDR)

# 读取 WHO_AM_I 寄存器验证芯片 ID
whoami_raw = i2c.readfrom_mem(BMI160_I2C_ADDR, BMI160_WHO_AM_I_REG, 1)
if whoami_raw[0] == BMI160_WHO_AM_I_VAL:
    print("WHO_AM_I verified: 0x%02X (BMI160 confirmed)" % whoami_raw[0])
else:
    print(
        "WHO_AM_I mismatch: expected 0x%02X, got 0x%02X"
        % (BMI160_WHO_AM_I_VAL, whoami_raw[0])
    )

# 实例化 BMI160 驱动（debug=False 静默模式）
bmi = BMI160(i2c, address=BMI160_I2C_ADDR, debug=False)
print("BMI160 driver initialized successfully")

# 打印初始配置状态
print("--- Initial Configuration ---")
print("Acc range: %s" % bmi.acceleration_range)
print("Acc ODR: %s" % bmi.acceleration_output_data_rate)
print("Gyro range: %s" % bmi.gyro_range)
print("Gyro ODR: %s" % bmi.gyro_output_data_rate)
print("Gyro power mode: %s" % bmi.gyro_power_mode)
print("-----------------------------")

# ========================================  主程序  ===========================================

try:
    while True:
        # 获取当前时间
        current_time = time.ticks_ms()

        # 定时打印低频传感器数据
        if time.ticks_diff(current_time, last_print_time) >= PRINT_INTERVAL:
            # 读取加速度、陀螺仪、温度
            acc = bmi.acceleration
            gyr = bmi.gyro
            tmp = bmi.temperature

            print("--- BMI160 Data ---")
            print(
                "Acc (m/s²): X=%.3f Y=%.3f Z=%.3f" % acc
            )
            print(
                "Gyro (°/s): X=%.1f Y=%.1f Z=%.1f" % gyr
            )
            print("Temp (°C): %.2f" % tmp)
            print("-------------------")

            # 更新时间戳
            last_print_time = current_time

        # === 以下函数默认注释，可在 REPL 中手动调用 ===

        # print_realtime_data(bmi)       # 高频数据打印，REPL 手动调用
        # debug_error_codes(bmi)         # 错误码/电源状态打印，REPL 手动触发

        # === 量程切换（按需取消注释，REPL 手动触发） ===
        # change_acc_range(bmi, ACCEL_RANGE_8G)
        # change_gyro_range(bmi, GYRO_RANGE_500)

        # === ODR 切换（按需取消注释，REPL 手动触发） ===
        # change_acc_odr(bmi, BANDWIDTH_400)
        # change_gyro_odr(bmi, BANDWIDTH_200)

        # === 配置遍历测试 ===
        # test_config_walkthrough(bmi)   # 遍历所有配置，REPL 手动执行

        # === 异常场景测试 ===
        # test_exception_scenarios(bmi)  # 非法参数测试，REPL 手动执行

        # 休眠 100ms 降低 CPU 占用
        time.sleep_ms(100)

except KeyboardInterrupt:
    print("Program interrupted by user")
except OSError as e:
    print("Hardware communication error: %s" % str(e))
except Exception as e:
    print("Unknown error: %s" % str(e))
finally:
    print("Cleaning up resources...")
    bmi.deinit()
    del bmi
    print("Program exited")