Module bmi270 

Bosch BMI270 6-axis IMU (accelerometer + gyroscope) over I²C.

The BMI270 boots without firmware for its feature engine; until the host uploads Bosch’s 8 KB configuration blob it doesn’t produce data. The blob (CONFIG_FILE) is linked into flash once and streamed to the chip in UPLOAD_CHUNK-byte pieces, so a shared bus is never held for long.

Only polling is supported; the interrupt pins are not used.

Structs

Bmi270

BMI270 driver.

Config

Sensor configuration applied by Bmi270::init.

RawSample

Raw two’s-complement readings, X/Y/Z.

Sample

Scaled readings, X/Y/Z.

Enums

AccelRange

Accelerometer full-scale range.

DataRate

Output data rate shared by both sensors.

Error

Driver errors.

GyroRange

Gyroscope full-scale range.

Constants

ADDRESS_SDO_HIGH

I²C address with SDO pulled high.

ADDRESS_SDO_LOW

I²C address with SDO pulled low.

CHIP_ID

Value of the CHIP_ID register.

UPLOAD_CHUNK

Bytes written per I²C transaction during the config upload. Must be even (the chip addresses its init memory in 16-bit words).

Statics

CONFIG_FILE

Bosch’s configuration file for the BMI270 feature engine, from BMI270_SensorAPI commit 41129fcfe39c (BSD-3-Clause, © Bosch Sensortec; see LICENSE-BOSCH next to this file).