BMX-160 Absolute Orientation Sensor

Overview

This library provides functions for interfacing with the BMX-160 I2C/SPI 16-bit Absolute Orientation Sensor with three axis accelerometer, three axis gyroscope, and three axis magnetometer as used on the CY8CKIT-028-SENSE shield.

NOTE: Bosch does not provide a driver for the BMX160, instead the supported flow is to use the BMI160 and BMM150 drivers together. Unfortunately, this requires a manual edit to the BMI160 driver source code to update the device ID. See the Bosch community forum for details. To help mitigate this, a bmx160_fix.sh script is provided that will automatically update the header file to allow the device ID to a custom value via an external define. This can be done for the BMX160 by adding the following to the project makefile:

PREBUILD=$(SEARCH_sensor-orientation-bmx160)/bmx160_fix.bash "libs/BMI160_driver/bmi160_defs.h"
DEFINES+=BMI160_CHIP_ID=UINT8_C\(0xD8\)

NOTE: The BMI160_driver library should be set as a local asset (instead of shared) when using this script.

Data Sheet: https://www.bosch-sensortec.com/products/motion-sensors/absolute-orientation-sensors/bmx160/ GitHub Accelerometer & Gyroscope: https://github.com/BoschSensortec/BMI160_driver GitHub Magnetometer: https://github.com/BoschSensortec/BMM150-Sensor-API

Quick Start

Follow the steps below to create a simple application which outputs the accelerometer, gyroscope, and magnetometer data from the sensor to the UART

Create an empty PSoC™ 6 application
Add this library to the application
Add retarget-io library using the Library Manager
Update the Device ID in the BMI160_driver as mentioned in the Overview
Place following code in the main.c file; defining IMU_I2C_SDA and IMU_I2C_SCL as appropriate for your hardware/shield kit

#include "cyhal.h"
#include "cybsp.h"
#include "cy_retarget_io.h"
#include "mtb_bmx160.h"

mtb_bmx160_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_bmx160_init_i2c(&motion_sensor, &i2c, MTB_BMX160_DEFAULT_ADDRESS);
    CY_ASSERT(result == CY_RSLT_SUCCESS);

    for (;;)
    {
        /* Get the accel, gyro, and mag data and print the results to the UART */
        mtb_bmx160_data_t data;
        mtb_bmx160_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);
        printf("Mag  : X:%6d Y:%6d Z:%6d\r\n\r\n", data.mag.x, data.mag.y, data.mag.z);

        cyhal_system_delay_ms(1000);
    }
}

Build the application and program the kit.

sensor-orientation-bmx160/README.md

BMX-160 Absolute Orientation Sensor

Overview

Quick Start

More information