Bosch BHI160(B) Rust Driver

This is an embedded-hal driver for the BHI160 and BHI160B smart sensors from Bosch Sensortec. These sensors include a 6-dof IMU (3-axis accelerometer and 3-axis gyroscope) and support additional sensors (e.g. magnetometer/compass) as slave.

See the sensor's website for more information.

Development of this crate is in very early stages.

Usage

You will need to download the correct firmware for your sensor from here.

Then you can use the following code as a guideline. Note that this example may not be complete and requires heap-allocation for the firmware upload. This is a known issue and is planned to be fixed.

use bhi160::{firmware::Firmware, registers::*, parameters::*};

const FIRMWARE: &'static [u8] = include_bytes!("path/to/firmware.fw");

fn main() {
    let interface = {
        use bhi160::interface::{I2c, I2C_ADDR1};
        let i2c = /* GET PLATFORM SPECIFIC I2C INTERFACE */;
        bhi160::interface::I2c::new(i2c, I2C_ADDR1)
    };

    let mut bhi = bhi160::Bhi160::new(interface);

    // Check that the BHI is connected
    log::info!("ProductId: {:?}", bhi.read_reg::<ProductId>());
    log::info!("RevisionId: {:?}", bhi.read_reg::<RevisionId>());

    // Upload the firmware
    let firmware = Firmware::new(FIRMWARE).expect("Invalid firmware");
    let body: Vec<_> = firmware.body().collect();

    let crc = bhi.upload_raw_firmware(&body).expect("Could not upload firmware");

    assert_eq!(crc, firmware.crc());

    // Start execution
    bhi.write_register(
        ChipControl::new()
            .with_cpu_run_request(true)
            .with_host_upload_enable(false),
    ).expect("Unable to start BHI cpu");

    bhi.write_param(
        sensors::AccelerometerConfig::new()
            .with_0(sensors::SensorConfig::new().with_sample_rate(10)),
    ).expect("Unable to start accellerometer");

    let mut buf = [0; 100];
    loop {
        let fifo = Cursor::new(bhi.read_fifo(&mut buf)?);
        let packet = bhi160::packet::EventReader::new(fifo);
        for event in packet {
            match event.id() {
                SensorId::Accelerometer => {
                    if let SensorData::VectorStatus(vec, _) = event.data() {
                        let vec = vec
                            .clone()
                            .change_elem::<f32>()
                            .elem_mul(Vector([4.789e-3; 3]));
                        // Default scale for accelerometer is 4.789e-3m/s^2 per lsb
                        log::info!("Accel: {vec:?}");
                    } else {
                        unreachable!();
                    }
                }
                _ => log::info!("{:?}", event),
            }
        }
        std::thread::sleep(std::time::Duration::from_millis(10));
    }
}