Crate bmi160

Expand description

This is a platform agnostic Rust driver for the BMI160 inertial measurement unit using the embedded-hal traits.

This driver allows you to:

Get the latest sensor data. See: data().
Set the accelerometer, gyroscope and magnetometer power mode. See: set_accel_power_mode().
Get the sensor status. See: status().
Get power mode. See: power_mode().
Get chip ID. See: chip_id().

§The devices

The BMI160 is an inertial measurement unit (IMU) consisting of a state-of-the-art 3-axis, low-g accelerometer and a low power 3-axis gyroscope. It has been designed for low power, high precision 6-axis and 9-axis applications in mobile phones, tablets, wearable devices, remote controls, game controllers, head-mounted devices and toys.

The BMI160 is available in a compact 14-pin 2.5 × 3.0 × 0.83 mm3 LGA package. When accelerometer and gyroscope are in full operation mode, power consumption is typically 925 μA, enabling always-on applications in battery driven devices.

Further Bosch Sensortec sensors, e.g. geomagnetic (BMM150) can be connected as slave via a secondary I2C interface. In this configuration, the BMI160 controls the data acquisition of the external sensor and the synchronized data of all sensors is stored the register data and can be additionally stored in the built-in FIFO.

Besides the flexible primary interface (I2C or SPI) that is used to connect to the host, BMI160 provides an additional secondary interface. This secondary interface can be used in SPI mode for OIS (optical image stabilization) applications in conjunction with camera modules, or in advanced gaming use cases.

Datasheet

§Usage examples (see also examples folder)

To use this driver, import this crate and an embedded_hal implementation, then create an instance of the driver either in I2C or SPI mode.

Please find additional examples using hardware in this repository: driver-examples

§Create an instance of the driver in I2C mode and print the chip id

extern crate linux_embedded_hal as hal;
use bmi160::{Bmi160, SlaveAddr};

let dev = hal::I2cdev::new("/dev/i2c-1").unwrap();
let address = SlaveAddr::default();
let mut imu = Bmi160::new_with_i2c(dev, address);
let id = imu.chip_id().unwrap_or(0);
println!("Chip ID: {}", id);

§Create an instance of the driver in SPI mode and print the chip id

extern crate linux_embedded_hal as hal;
use bmi160::Bmi160;

let spi = hal::SpidevDevice::open("/dev/spidev0.0").unwrap();
let mut imu = Bmi160::new_with_spi(spi);
let id = imu.chip_id().unwrap_or(0);
println!("Chip ID: {}", id);

§Enable accelerometer and gyroscope and read data

extern crate linux_embedded_hal as hal;
use bmi160::{
    Bmi160, AccelerometerPowerMode, GyroscopePowerMode, SlaveAddr,
    SensorSelector
};

let dev = hal::I2cdev::new("/dev/i2c-1").unwrap();
let address = SlaveAddr::default();
let mut imu = Bmi160::new_with_i2c(dev, address);
imu.set_accel_power_mode(AccelerometerPowerMode::Normal).unwrap();
imu.set_gyro_power_mode(GyroscopePowerMode::Normal).unwrap();
loop {
    let data = imu.data(SensorSelector::new().accel().gyro()).unwrap();
    let accel = data.accel.unwrap();
    let gyro = data.gyro.unwrap();
    println!(
        "Accelerometer: x {:5} y {:5} z {:5}, \
         Gyroscope: x {:5} y {:5} z {:5}",
        accel.x, accel.y, accel.z, gyro.x, gyro.y, gyro.z);
}

Re-exports§

pub use crate::interface::SlaveAddr;

Modules§

interface: I2C/SPI interfaces

Structs§

Bmi160: BMI160 device driver
Data: Sensor data read
DataScaled: Sensor data read
MagnetometerData: Magnetometer data
Sensor3DData: Sensor data read selector
Sensor3DDataScaled: Floating point 3D data
SensorPowerMode: Sensor power mode
SensorSelector: Sensor data read selector
Status: Sensor status flags

Enums§

AccelerometerPowerMode: Accelerometer power mode
AccelerometerRange: Accelerometer Range
Error: All possible errors in this crate
GyroscopePowerMode: Gyroscope power mode
GyroscopeRange: Gyroscope range
MagnetometerPowerMode: Magnetometer power mode

Crate bmi160Copy item path