如何在加速度计中有一个好的频率？

如何解决如何在加速度计中有一个好的频率？

所以我在互联网上找到了这个代码来使用 3 轴加速度计和 3 轴陀螺仪，并使用 i2c 通信获取其值。在另一个文件中，我用它来打印 csv 文件中的数据，但它打印了很多值，比如在 5 秒内打印了 149k 行，但是按照数据表，我想我只得到了 6667 Hz 的加速度值行accel_config_sel = [0b10100000]。该字节的前 4 位是频率数据，您可以在第 49 页的 https://download.mikroe.com/documents/datasheets/asm330lhh_datasheet.pdf 处看到它。 加速度计代码如下：

import time,smbus2,smbus

def ASM330_start():
 
    #Write to Gyro configuration register
    gyro_config_sel = [0b00010000] # byte registers @12.5Hz
    gyro_config_vals = [250.0] # degrees/sec
    gyro_indx = 0
    bus.write_byte_data(ASM330_ADDR,CTRL2_G,int(gyro_config_sel[gyro_indx]))
    time.sleep(0.1)
    #Write to Accel configuration register
    accel_config_sel = [0b10100000] # byte registers @6667Hz
    accel_config_vals = [2.0] # g (g = 9.81 m/s^2)
    accel_indx = 0
    bus.write_byte_data(ASM330_ADDR,CTRL1_XL,int(accel_config_sel[accel_indx]))
    time.sleep(0.1)
    # interrupt register (related to overflow of data [FIFO])
    bus.write_byte_data(ASM330_ADDR,INT_CFG1,1)
    time.sleep(0.1)
    return gyro_config_vals[gyro_indx],accel_config_vals[accel_indx]

def read_raw_bits(register):
    # read accel and gyro values
    high = bus.read_byte_data(ASM330_ADDR,register)
    low = bus.read_byte_data(ASM330_ADDR,register+1)

    # combine higha and low for unsigned bit value
    value = ((high << 8) | low)

    # convert to +- value
    if(value > 32768):
        value -= 65536
    return value

def ASM330_conv():
    # raw acceleration bits
    acc_x = read_raw_bits(OUTX_H_A)
    acc_y = read_raw_bits(OUTY_H_A)
    acc_z = read_raw_bits(OUTZ_H_A)

    # raw gyroscope bits
    gyro_x = read_raw_bits(OUTX_H_G)
    gyro_y = read_raw_bits(OUTY_H_G)
    gyro_z = read_raw_bits(OUTZ_H_G)

    #convert to acceleration in g and gyro dps
    a_x = (acc_x/(2.0**15.0))*accel_sens
    a_y = (acc_y/(2.0**15.0))*accel_sens
    a_z = (acc_z/(2.0**15.0))*accel_sens

    w_x = (gyro_x/(2.0**15.0))*gyro_sens
    w_y = (gyro_y/(2.0**15.0))*gyro_sens
    w_z = (gyro_z/(2.0**15.0))*gyro_sens

    return a_x,a_y,a_z,w_x,w_y,w_z


# ASM330 Registers

ASM330_ADDR = 0x6A
CTRL2_G  = 0x11
CTRL1_XL = 0x10
INT_CFG1   = 0x58
OUTX_H_A = 0x29
OUTY_H_A = 0x2B
OUTZ_H_A = 0x2D
OUTX_H_G  = 0x23
OUTY_H_G  = 0x25
OUTZ_H_G  = 0x27

# start I2C driver
bus = smbus2.SMBus(0) # start comm with i2c bus
gyro_sens,accel_sens = ASM330_start() # instantiate gyro/accel

这里是获取 2 个独立 csv 文件数据的代码：

from final import *
from dist import *
from gps import *
import Jetson.GPIO as GPIO
import csv
import threading

GPIO.setmode(GPIO.BOARD)
GPIO.setwarnings(False)
###########VARIABLES###############
led_pin = 7
botao_pin = 15
luz = False
contador = 0
GPIO.setup(botao_pin,GPIO.IN)
GPIO.setup(led_pin,GPIO.OUT)

gpsd = gps(mode=WATCH_ENABLE) #starting the stream of info

ax = 0
ay = 0
az = 0
wx = 0
wy = 0
wz = 0
data = 0
lat = 0
lon = 0
alt = 0
vel = 0
errolat = 0
errolon = 0
erroalt = 0
tempo = 0
##############FUNCTIONS############
def leracc():
    while 1:
        global ax,ay,az,wx,wy,wz
        ax,wz = ASM330_conv()

def lerSD():
    while 1:
        global data
        data = SD_start()

def lerGPS():
    while 1:
        global lat,lon,alt,vel,errolat,errolon,erroalt,tempo
        gpsd.next()
        lat = gpsd.fix.latitude
        lon = gpsd.fix.longitude
        alt = gpsd.fix.altitude
        vel = gpsd.fix.speed
        errolat = gpsd.fix.epy
        errolon = gpsd.fix.epx
        erroalt = gpsd.fix.epv
        tempo = gpsd.utc

def botao():
    antes = True
    while 1:
        global luz
        estado = GPIO.input(botao_pin)
        if (antes==True and estado==False):
            luz = not(luz)
        GPIO.output(led_pin,luz)
        antes = estado
#########################THREADS#####################
t1 = threading.Thread(target=leracc)
t2 = threading.Thread(target=lerSD)
t3 = threading.Thread(target=lerGPS)
t4 = threading.Thread(target=botao)

t1.start()
t2.start()
t3.start()
t4.start()
##############HEADERS FROM CSV################
header = ["gX","gY","gZ","Centimetros","Latitude","Longitude","Altitude","Velocidade","ErroLat","ErroLon","ErroAlt","Horas"]
headeracc = ["AccelX","AccelY","AccelZ"]
##################MAIN PROGRAM#################
while 1:
    if(luz==True):
        with open ('/home/built/Desktop/Projetos/final/dados.csv','a') as csvFileData:
            with open ('/home/built/Desktop/Projetos/final/acc.csv','a') as csvFileacc:
                    writeracc = csv.writer(csvFileacc)
                    writerData = csv.writer(csvFileData)
                    while (contador < 1):
                        writeracc.writerow(headeracc)
                        writerData.writerow(header)
                        contador = contador + 1
                    while(luz==True):
                        dados = [wx,wz,data,lat,tempo]
                        dataacc = [ax,tempo]
                        writeracc.writerow(dataacc)
                        writerData.writerow(dados)
                    csvFileacc.close()
                    csvFileData.close()

csv 文件只有大量数据，甚至除了传感器的最大频率。任何人都知道这怎么可能，我如何才能在加速度计 csv 文件中以 6667Hz 打印，在陀螺仪加 GPS csv 文件中以 12.5Hz 打印？感谢您的帮助！