BMI-160 Inertial Measurement Unit (Motion Sensor)

Overview

This library provides functions for interfacing with the BMI-160 I2C/SPI 16-bit Inertial Measurement Unit with three axis accelerometer and three axis gyroscope as used on the CY8CKIT-028-EPD and CY8CKIT-028-TFT shields.

Data Sheet: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi160.html GitHub: https://github.com/BoschSensortec/BMI160_driver

Quick Start

Follow the steps below to create a simple application which outputs the accelerometer and gyroscope data from the motion sensor to the uart

1. Create an empty PSoC™ 6 application
2. Add this library to the application
3. Add retarget-io library using the Library Manager
4. Place following code in the main.c file.
5. Define I2C SDA and SCL as appropriate for your hardware/shield kit

#include "cyhal.h"
#include "cybsp.h"
#include "cy_retarget_io.h"
#include "mtb_bmi160.h"

mtb_bmi160_t motion_sensor;
cyhal_i2c_t i2c;
cyhal_i2c_cfg_t i2c_cfg = {
    .is_slave = false,
    .address = 0,
    .frequencyhal_hz = 400000
};

#define IMU_I2C_SDA (?) // Define me
#define IMU_I2C_SCL (?) // Define me

int main(void)
{
    cy_rslt_t result;

    /* Initialize the device and board peripherals */
    result = cybsp_init();
    CY_ASSERT(result == CY_RSLT_SUCCESS);

    __enable_irq();

    /* Initialize retarget-io to use the debug UART port */
    result = cy_retarget_io_init(CYBSP_DEBUG_UART_TX, CYBSP_DEBUG_UART_RX, CY_RETARGET_IO_BAUDRATE);
    CY_ASSERT(result == CY_RSLT_SUCCESS);

    /* Initialize i2c for motion sensor */
    result = cyhal_i2c_init(&i2c, IMU_I2C_SDA, IMU_I2C_SCL, NULL);
    CY_ASSERT(result == CY_RSLT_SUCCESS);
    result = cyhal_i2c_configure(&i2c, &i2c_cfg);
    CY_ASSERT(result == CY_RSLT_SUCCESS);

    /* Initialize motion sensor */
    result = mtb_bmi160_init_i2c(&motion_sensor, &i2c, MTB_BMI160_DEFAULT_ADDRESS);
    CY_ASSERT(result == CY_RSLT_SUCCESS);

    for (;;)
    {
        /* Get the accel and gyro data and print the results to the UART */
        mtb_bmi160_data_t data;
        mtb_bmi160_read(&motion_sensor, &data);

        printf("Accel: X:%6d Y:%6d Z:%6d\r\n", data.accel.x, data.accel.y, data.accel.z);
        printf("Gyro : X:%6d Y:%6d Z:%6d\r\n\r\n", data.gyro.x, data.gyro.y, data.gyro.z);

        cyhal_system_delay_ms(1000);
    }
}

6. Build the application and program the kit.

More information

• API Reference Guide
• Cypress Semiconductor, an Infineon Technologies Company
• Infineon GitHub
• ModusToolbox™
• PSoC™ 6 Code Examples using ModusToolbox™ IDE
• ModusToolbox™ Software
• PSoC™ 6 Resources - KBA223067

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