Crate bno08x_rs 

BNO08x IMU Driver

A Rust userspace driver for the BNO08x family of 9-axis IMU sensors from Bosch/Hillcrest Labs.

Overview

The BNO08x is a System-in-Package (SiP) that integrates:

• Triaxial 14-bit accelerometer
• Triaxial 16-bit gyroscope
• Triaxial geomagnetic sensor
• 32-bit microcontroller running sensor fusion firmware

This crate provides a safe Rust interface for communicating with the sensor over SPI, handling the SHTP (Sensor Hub Transport Protocol) and providing high-level access to fused and raw sensor data.

Features

• Sensor Fusion: Rotation vectors (absolute, game, geomagnetic)
• Raw Sensors: Accelerometer, gyroscope, magnetometer
• Derived Data: Linear acceleration, gravity vector
• Configurable Rates: 1 Hz to 1 kHz update rates
• GPIO Integration: Device tree symbolic name support for Linux
• Callbacks: Event-driven sensor data handling

Quick Start

use bno08x_rs::{BNO08x, SENSOR_REPORTID_ACCELEROMETER};

fn main() -> std::io::Result<()> {
    // Create driver using GPIO symbolic names
    let mut imu = BNO08x::new_spi_from_symbol(
        "/dev/spidev1.0", // SPI device
        "IMU_INT",        // Interrupt GPIO name
        "IMU_RST",        // Reset GPIO name
    )?;

    // Initialize and configure
    imu.init()?;
    imu.enable_report(SENSOR_REPORTID_ACCELEROMETER, 100)?; // 10 Hz

    // Main loop
    loop {
        imu.handle_all_messages(100);
        let accel = imu.accelerometer()?;
        println!("Accel: {:?}", accel);
    }
}

Sensor Reports

Enable specific sensor reports using their report ID constants:

Report	Constant	Method	Units
Accelerometer	SENSOR_REPORTID_ACCELEROMETER	accelerometer()	m/s²
Gyroscope	SENSOR_REPORTID_GYROSCOPE	gyro()	rad/s
Magnetometer	SENSOR_REPORTID_MAGNETIC_FIELD	mag_field()	µT
Rotation Vector	SENSOR_REPORTID_ROTATION_VECTOR	rotation_quaternion()	quaternion
Game Rotation	SENSOR_REPORTID_ROTATION_VECTOR_GAME	game_rotation_quaternion()	quaternion
Geomagnetic Rotation	SENSOR_REPORTID_ROTATION_VECTOR_GEOMAGNETIC	geomag_rotation_quaternion()	quaternion
Linear Acceleration	SENSOR_REPORTID_LINEAR_ACCEL	linear_accel()	m/s²
Gravity	SENSOR_REPORTID_GRAVITY	gravity()	m/s²

Hardware Requirements

• Linux with SPI (spidev) and GPIO (gpiod) support
• BNO08x sensor connected via SPI
• GPIO for interrupt (HINTN) and reset (RSTN) signals

More Information

• Repository
• crates.io
• Maivin Platform

Re-exports

pub use constants::SENSOR_REPORTID_ACCELEROMETER;

pub use constants::SENSOR_REPORTID_GRAVITY;

pub use constants::SENSOR_REPORTID_GYROSCOPE;

pub use constants::SENSOR_REPORTID_GYROSCOPE_UNCALIB;

pub use constants::SENSOR_REPORTID_LINEAR_ACCEL;

pub use constants::SENSOR_REPORTID_MAGNETIC_FIELD;

pub use constants::SENSOR_REPORTID_ROTATION_VECTOR;

pub use constants::SENSOR_REPORTID_ROTATION_VECTOR_GAME;

pub use constants::SENSOR_REPORTID_ROTATION_VECTOR_GEOMAGNETIC;

pub use driver::BNO08x;

pub use driver::DriverError;

pub use reports::SensorData;

Modules

constants

Constants for the BNO08x sensor driver.

driver

BNO08x IMU driver implementation.

frs

Flash Record System (FRS) operations for the BNO08x driver.

interface

Communication interface abstractions for the BNO08x driver.

reports

Sensor report handling for the BNO08x driver.

Enums

Error

Low-level errors from the communication interface