Arduino_BOSCH_BMI270

This is an Arduino library for the BOSCH BMI270 IMU sensor like it is used in the Arduino Nano 33 BLE Sense. The library supports several ways of reading the sensor data, including the provided mechanisms of the sensor like One-Shot mode, Continuous mode and also Interrupt generation. A main goal of the library is to provide a simple and also efficent way of reading the sensor data.

This library uses the BOSCH BMI270 Sensor API.

Data sheets

• Datasheet

Usage

Object creation

#include "bosch_bmi270.h"
andrgrue::sensor::bosch_bmi270 Imu(Wire1,
                                   BMI2_I2C_PRIM_ADDR,
                                   p11);

float acc_x, acc_y, acc_z;
float gyro_x, gyro_y, gyro_z;
andrgrue::sensor::bosch_bmi270::Data acc_data;
andrgrue::sensor::bosch_bmi270::Data gyro_data;
volatile bool imuInterruptFlag = false;

Interrupt handler

void imu_interrupt_handler() {
  imuInterruptFlag = true;
}

Setup

void setup() {

  // wire must be initialized first
  Wire1.begin();
  Wire1.setClock(400000);

  imuInterruptFlag = false;
  if(!Imu.initialize(BMI2_ACC_ODR_100HZ, BMI2_ACC_RANGE_8G,
                     BMI2_GYR_ODR_100HZ, BMI2_GYR_RANGE_2000,
                     BMM150_DATA_RATE_25HZ,
                     imu_interrupt_handler)) {
    Serial.println("IMU init failed!");
    while (1);
  }

  Serial.print("sample rate: acc=");
  Serial.println(Imu.accelerationSampleRate());
  Serial.print("sample rate: gyro=");
  Serial.println(Imu.angularrateSampleRate());
}

Loop

void loop() {

  if(imuInterruptFlag){
    if(Imu.accelerationAvailable()){
      Imu.acceleration(acc_data);
      acc_count++;
    }
    if(Imu.angularrateAvailable()){
      Imu.angularrate(gyro_data);
      gyro_count++;
    }
    imuInterruptFlag = false;
  }

}

Credits

This project was inspired and includes several elements from the following projects. Special thanks to the authors.

• Arduino_BMI270_BMM150

License

Copyright © 2024, André Grüttner. All rights reserved.

This project is licensed under the GNU Lesser General Public License v2.1 (LGPL-2.1). You may use, modify, and distribute this software under the terms of the LGPL-2.1 license. See the LICENSE file for details, or visit GNU’s official LGPL-2.1 page for the full license text.