BMI270 Inertial Measurement Unit (Motion Sensor)

Overview

This library provides functions for interfacing with the BMI270 I2C 16-bit inertial measurement unit (IMU) with 3-axis accelerometer and 3-axis gyroscope used on the CY8CKIT-062S2-AI and SHIELD_XENSIV_A.

Datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi270-ds000.pdf

GitHub: https://github.com/boschsensortec/BMI270_SensorAPI

Quick Start

Follow the steps below to create a simple application which outputs the motion sensor data from the sensor to the UART.

1. Create an empty ModusToolbox™ application.
2. Add this (sensor-motion-bmi270) library to the application.
3. Add retarget-io library using the Library Manager.
4. Place following code in the main.c file.

#include "cyhal.h"
#include "cybsp.h"
#include "cy_retarget_io.h"
#include "mtb_bmi270.h"

mtb_bmi270_t imu;

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

#define IMU_I2C_SDA (CYBSP_I2C_SDA)
#define IMU_I2C_SCL (CYBSP_I2C_SCL)

int main(void)
{
    cy_rslt_t result;
    mtb_bmi270_data_t data;

    /* Initialize the device and board peripherals */
    result = cybsp_init();
    if (CY_RSLT_SUCCESS != result)
    {
        CY_ASSERT(0);
    }

    __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);
    if (CY_RSLT_SUCCESS != result)
    {
        CY_ASSERT(0);
    }

    /* Initialize I2C for interfacing with sensor */
    result = cyhal_i2c_init(&i2c, IMU_I2C_SDA, IMU_I2C_SCL, NULL);
    if (CY_RSLT_SUCCESS != result)
    {
        CY_ASSERT(0);
    }
    result = cyhal_i2c_configure(&i2c, &i2c_cfg);
    if (CY_RSLT_SUCCESS != result)
    {
        CY_ASSERT(0);
    }

    /* Initialize the sensor and configure default settings */
    result = mtb_bmi270_init_i2c(&imu, &i2c, MTB_BMI270_ADDRESS_DEFAULT);
    if (CY_RSLT_SUCCESS != result)
    {
        CY_ASSERT(0);
    }
    result = mtb_bmi270_config_default(&imu);
    if (CY_RSLT_SUCCESS != result)
    {
        CY_ASSERT(0);
    }

    for (;;)
    {
        /* Get the accelerometer and gyroscope data and print the results to the UART */
        result = mtb_bmi270_read(&imu, &data);
        printf("\nAcc:  X:%6d Y:%6d Z:%6d\r\n", data.sensor_data.acc.x, data.sensor_data.acc.y,
               data.sensor_data.acc.z);
        printf("Gyro: X:%6d Y:%6d Z:%6d\r\n", data.sensor_data.gyr.x, data.sensor_data.gyr.y,
               data.sensor_data.gyr.z);
        cyhal_system_delay_ms(1000);
    }
}

5. Build the application and program the kit.

More information

For more information, refer to the following documents:

• API Reference Guide
• ModusToolbox Software Environment, Quick Start Guide, Documentation, and Videos
• Infineon Technologies AG

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