bmx055_driver/
├── code/
│   ├── bmx055.py      # BMX055 九轴 IMU 复合驱动
│   ├── bma2x2.py      # BMA2X2 三轴加速度计驱动
│   ├── bmg160.py      # BMG160 三轴陀螺仪驱动
│   ├── bmm050.py      # BMM050 三轴磁力计驱动
│   ├── attitude.py    # 姿态解算工具（roll/pitch）
│   └── main.py        # 测试示例代码
├── package.json       # mip 包配置
├── README.md          # 说明文档
└── LICENSE            # MIT 许可证

from machine import I2C, Pin
from bmx055 import BMX055
from attitude import angles

# 初始化 I2C 总线
i2c = I2C(0, scl=Pin(5), sda=Pin(4))

# 初始化 BMX055
bmx = BMX055(i2c)

# 读取九轴数据
accel = bmx.accel.xyz()   # (x, y, z) 加速度 (g)
gyro = bmx.gyro.xyz()     # (x, y, z) 角速度 (deg/s)
mag = bmx.mag.xyz()       # (x, y, z) 磁场强度 (μT)
temp = bmx.accel.temperature()  # 温度 (℃)

# 计算姿态角
roll, pitch = angles(accel)

print("Accel: X=%.3f Y=%.3f Z=%.3f g" % accel)
print("Gyro:  X=%.1f Y=%.1f Z=%.1f deg/s" % gyro)
print("Mag:   X=%.1f Y=%.1f Z=%.1f uT" % mag)
print("Roll=%.2f Pitch=%.2f Temp=%.1fC" % (roll, pitch, temp))

# Python env   : MicroPython v1.23.0
# -*- coding: utf-8 -*-
# @Time    : 2026/07/24
# @Author  : Sebastian Plamauer
# @File    : main.py
# @Description : Bosch BMX055 九轴 IMU 测试代码
# @License : MIT


# ======================================== 导入相关模块 =========================================
import time
from machine import I2C, Pin

from bmx055 import BMX055
from attitude import angles

# ======================================== 全局变量 ============================================
# 打印间隔 (ms)
_PRINT_INTERVAL_MS = 1000

# BMX055 内部固定 I2C 地址
_EXPECTED_ACCEL_ADDR = 24   # BMA2X2: 0x18
_EXPECTED_GYRO_ADDR = 104   # BMG160: 0x68
_EXPECTED_MAG_ADDR = 16     # BMM050: 0x10

# BMA2X2 芯片 ID 寄存器与期望值
_CHIP_ID_REG_ACCEL = 0x00
_CHIP_ID_EXPECT_ACCEL = 0x03


# ======================================== 功能函数 ============================================
def test_range_switch(sensor: BMX055) -> None:
    """
    测试加速度计量程切换功能（正常/边界场景）
    可在 REPL 中手动调用：test_range_switch(bmx)
    """
    # 正常量程测试
    for r in (2, 4, 8, 16):
        sensor.accel.set_range(r)
        readback = sensor.accel.get_range()
        print("set_range(%d) -> get_range() = %d" % (r, readback))
    # 边界值测试
    sensor.accel.set_range(2)
    print("range restored to 2g")

    # 异常量程测试
    try:
        sensor.accel.set_range(3)
    except ValueError as e:
        print("Expected ValueError for range=3: %s" % e)


def test_gyro_range_switch(sensor: BMX055) -> None:
    """
    测试陀螺仪量程切换功能
    可在 REPL 中手动调用：test_gyro_range_switch(bmx)
    """
    for r in (125, 250, 500, 1000, 2000):
        sensor.gyro.set_range(r)
        readback = sensor.gyro.get_range()
        print("set_range(%d) -> get_range() = %d" % (r, readback))
    sensor.gyro.set_range(125)
    print("range restored to 125deg/s")


def test_filter_bw_switch(sensor: BMX055) -> None:
    """
    测试加速度计滤波器带宽切换功能（正常/边界场景）
    可在 REPL 中手动调用：test_filter_bw_switch(bmx)
    """
    valid_bw = (8, 16, 32, 64, 128, 256, 512, 1024)
    for bw in valid_bw:
        sensor.accel.set_filter_bw(bw)
        readback = sensor.accel.get_filter_bw()
        print("set_filter_bw(%d) -> get_filter_bw() = %d" % (bw, readback))
    sensor.accel.set_filter_bw(128)
    print("filter restored to 125Hz")

    # 异常带宽测试
    try:
        sensor.accel.set_filter_bw(100)
    except ValueError as e:
        print("Expected ValueError for bw=100: %s" % e)


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


# ======================================== 初始化配置 ==========================================
time.sleep(3)
print("FreakStudio: Using Bosch BMX055 9-axis IMU ...")

# I2C 总线初始化
i2c = I2C(0, scl=Pin(5), sda=Pin(4))

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

# 验证目标设备地址
for expected_addr, name in (
    (_EXPECTED_ACCEL_ADDR, "BMA2X2 accelerometer"),
    (_EXPECTED_GYRO_ADDR, "BMG160 gyroscope"),
    (_EXPECTED_MAG_ADDR, "BMM050 magnetometer"),
):
    if expected_addr in addresses:
        print("%s found at 0x%02X" % (name, expected_addr))
    else:
        print("WARNING: %s not found at 0x%02X" % (name, expected_addr))

# 芯片 ID 验证（加速度计）
try:
    chip_id = i2c.readfrom_mem(_EXPECTED_ACCEL_ADDR, _CHIP_ID_REG_ACCEL, 1)[0]
    if chip_id == _CHIP_ID_EXPECT_ACCEL:
        print("BMA2X2 chip ID verified: 0x%02X" % chip_id)
    else:
        print("BMA2X2 chip ID mismatch: expected 0x%02X, got 0x%02X" % (_CHIP_ID_EXPECT_ACCEL, chip_id))
except OSError as e:
    print("Failed to read chip ID: %s" % e)

# BMX055 复合驱动初始化
bmx = BMX055(i2c)
print("BMX055 initialized successfully")

last_print_time = time.ticks_ms()

# ========================================  主程序  ===========================================
try:
    while True:
        current_time = time.ticks_ms()
        if time.ticks_diff(current_time, last_print_time) >= _PRINT_INTERVAL_MS:
            # 读取加速度计数据
            accel_data = bmx.accel.xyz()
            # 读取陀螺仪数据
            gyro_data = bmx.gyro.xyz()
            # 读取磁力计数据
            mag_data = bmx.mag.xyz()
            # 读取芯片温度
            temp = bmx.accel.temperature()
            # 计算横滚角和俯仰角
            roll, pitch = angles(accel_data)

            print("Accel(g):  X=%7.3f  Y=%7.3f  Z=%7.3f" % accel_data)
            print("Gyro(d/s): X=%7.1f  Y=%7.1f  Z=%7.1f" % gyro_data)
            print("Mag(uT):   X=%7.1f  Y=%7.1f  Z=%7.1f" % mag_data)
            print("Roll=%6.2f  Pitch=%6.2f  Temp=%.1fC" % (roll, pitch, temp))
            print("---")

            last_print_time = current_time

        # 高频测试函数 — 注释默认执行，可在 REPL 中手动调用
        # test_range_switch(bmx)
        # test_gyro_range_switch(bmx)
        # test_filter_bw_switch(bmx)

        time.sleep_ms(10)

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...")
    bmx.deinit()
    del bmx
    print("Program exited")