BMI-160 Inertial Measurement Unit (Motion Sensor)

Overview

This library provides functions for interfacing with the BMI-160 I2C/SPI 16-bit Inertial Measurement Unit with three axis accelerometer and three axis gyroscope as used on the CY8CKIT-028-EPD and CY8CKIT-028-TFT shields.

Data Sheet: https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi160.html GitHub: https://github.com/BoschSensortec/BMI160_driver

Quick Start

Follow the steps below to create a simple application which outputs the accelerometer and gyroscope data from the motion sensor to the uart

1. Create an empty PSoC™ 6 application
2. Add this library to the application
3. Add retarget-io library using the Library Manager
4. Place following code in the main.c file.
5. Define I2C SDA and SCL as appropriate for your hardware/shield kit

   #include "cyhal.h"
   #include "cybsp.h"
   #include "cy_retarget_io.h"
   #include "mtb_bmi160.h"
    
   mtb_bmi160_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_bmi160_init_i2c(&motion_sensor, &i2c, MTB_BMI160_DEFAULT_ADDRESS);
       CY_ASSERT(result == CY_RSLT_SUCCESS);
    
       for (;;)
       {
           /* Get the accel and gyro data and print the results to the UART */
           mtb_bmi160_data_t data;
           mtb_bmi160_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);
    
           cyhal_system_delay_ms(1000);
       }
   }

6. Build the application and program the kit.

More information

• API Reference Guide
• Cypress Semiconductor, an Infineon Technologies Company
• Infineon GitHub
• ModusToolbox™
• PSoC™ 6 Code Examples using ModusToolbox™ IDE
• ModusToolbox™ Software
• PSoC™ 6 Resources - KBA223067

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