Struct Bmi270 

pub struct Bmi270<I2C> { /* private fields */ }

Implementations

impl<I2C> Bmi270<I2C>

pub const fn new(i2c: I2C) -> Self

pub fn set_accel_offset(&mut self, offset: Vector3)

pub fn set_gyro_offset(&mut self, offset: Vector3)

pub fn release(self) -> I2C

impl<I2C, Error> Bmi270<I2C>

where I2C: I2c<Error = Error>,

pub fn init(&mut self, config: Bmi270Config) -> Result<(), Error>

Initializes the BMI270 register settings that do not require a delay provider.

CoreS3 firmware should prefer Self::init_with_delay because BMI270 requires delays while resetting and loading its mandatory configuration file.

pub fn init_with_delay( &mut self, config: Bmi270Config, delay: &mut impl DelayNs, ) -> Result<(), Error>

pub fn configure(&mut self, config: Bmi270Config) -> Result<(), Error>

pub fn chip_id(&mut self) -> Result<u8, Error>

pub fn is_expected_chip(&mut self) -> Result<bool, Error>

pub fn internal_status(&mut self) -> Result<u8, Error>

Returns the BMI270 internal status register.

After a successful config upload the lower nibble should report 0x01 (init_ok). Other values indicate that acceleration/gyro data may stay invalid or zero.

pub fn interrupt_status_1(&mut self) -> Result<u8, Error>

Returns the BMI270 interrupt/status register used to observe data-ready bits.

pub fn power_control(&mut self) -> Result<u8, Error>

Returns the BMI270 power-control register.

pub fn init_bmm150_aux(&mut self, delay: &mut impl DelayNs) -> Result<u8, Error>

Initializes the CoreS3 BMM150 magnetometer through the BMI270 auxiliary I2C bus.

CoreS3 wires BMM150 behind BMI270’s AUX sensor-hub interface, so it is not reachable as a normal device on the board internal I2C bus.

pub fn bmm150_aux_magnetic_raw(&mut self) -> Result<Vector3, Error>

Reads BMM150 raw magnetic data from BMI270’s auxiliary data window.

pub fn bmm150_aux_magnetic_raw_manual( &mut self, delay: &mut impl DelayNs, ) -> Result<Vector3, Error>

Performs an explicit BMM150 data-register burst read through BMI270’s AUX bus.

This is useful for hardware validation because it does not depend on the BMI270 sensor-hub shadow window updating automatically between samples.

pub fn acceleration_raw(&mut self) -> Result<Vector3, Error>

pub fn gyroscope_raw(&mut self) -> Result<Vector3, Error>