Module imu 

BMI270 IMU on the internal I²C bus (0x69).

The chip’s INT1/INT2 pins are not connected on the Cardputer ADV, so it can only be polled, and it cannot wake the ESP32 from sleep.

Axes

Imu::read returns readings in the board frame. Hold the Cardputer in landscape, screen facing you, keyboard below:

• +X points right,
• +Y points up, toward the top edge (away from the keyboard),
• +Z points out of the screen, toward you.

Lying flat on a table, screen up, acceleration reads about [0, 0, +1] g. Standing on its keyboard edge, screen vertical, it reads [0, +1, 0]. The gyro follows the right-hand rule about the same axes.

The chip is mounted rotated relative to the board; BOARD_AXES is the mapping applied. Only its Z axis is confirmed on hardware so far. The imu_axes example in the repository measures all three in under a minute and prints the constant to use; until then, Imu::set_axes overrides the default and Imu::read_chip gives untranslated readings.

Structs

AxisMap

Which sensor axis each board axis reads.

Config

Sensor configuration applied by Bmi270::init.

Imu

The IMU driver.

ImuResources

Ownership token for the IMU. It has no pins of its own, but borrowing it keeps two drivers from initialising the chip at once.

RawSample

Raw two’s-complement readings, X/Y/Z.

Sample

Scaled readings, X/Y/Z.

Enums

AccelRange

Accelerometer full-scale range.

Axis

One signed axis of the sensor’s own frame.

DataRate

Output data rate shared by both sensors.

GyroRange

Gyroscope full-scale range.

Constants

BOARD_AXES

How the BMI270’s axes map onto the board frame (see the module docs).

Type Aliases

Chip

The raw BMI270 driver on the shared bus.

Error

IMU errors.