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Zephyr driver for Bosch BMI088 IMU
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teamspatzenhirn/bmi088_zephyr_driver
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This is a west module.You can integrate it in your application by adding the project to your west manifest:
manifest:remotes: -name:teamspatzenhirnurl-base:https://github.com/teamspatzenhirnprojects: -name:bmi088_zephyr_driverremote:teamspatzenhirnrevision:<current commit hash>path:modules/bmi088
Enable the sensor by defining its location and properties in the devicetree (overlay).Gyro and accelerometer are handled separately, since that's how the sensor is built.It would be possible to use just one of the sensors, but it's currently not possible tocompletely deactivate half of the driver, just because we usually need both sensors.
For sensor configuration the gyro provides thebandwidth devicetree setting, theaccelerometer provides oversampling rateosr and output data rateodr, see thedatasheet for valid values.
&lpspi4 {gyro:bmi088_gyr@0 {compatible="bosch,bmi088-gyr";reg=<0>;spi-max-frequency=<10000000>;// datasheet page 39bandwidth=<0x06>;// corner-frequency at 64 Hzstatus="okay"; };acc:bmi088_acc@1 {compatible="bosch,bmi088-acc";reg=<1>;spi-max-frequency=<10000000>;// datasheet page 16 and 29// corner-frequency at 80 Hzodr=<0x0B>;// 800 Hzosr=<0x08>;// 4 times oversampledstatus="okay"; };};
Example of reading sensor values:
#defineGYRO_NODEDT_NODELABEL(gyro)constexprconst device *gyro_sensor_dev = DEVICE_DT_GET(GYRO_NODE);#defineACCELEROMETER_NODEDT_NODELABEL(gyro)constexprconst device *accel_sensor_dev = DEVICE_DT_GET(ACCELEROMETER_NODE);voidsensor_readout() {sensor_sample_fetch(gyro_sensor_dev); sensor_value gyro[3];sensor_channel_get(gyro_sensor_dev, SENSOR_CHAN_GYRO_XYZ, gyro);LOG_INF("Gyro x: %f °/s y: %f °/s z: %f °/s",sensor_value_to_double(gyro[0]),sensor_value_to_double(gyro[1]),sensor_value_to_double(gyro[2]));sensor_sample_fetch(accel_sensor_dev); sensor_value accel[3];sensor_channel_get(accel_sensor_dev, SENSOR_CHAN_ACCEL_XYZ, accel);LOG_INF("Accelerometer x: %f m/s2 y: %f m/s2 z: %f m/s2",sensor_value_to_double(accel[0]),sensor_value_to_double(accel[1]),sensor_value_to_double(accel[2]));}
This driver has been extracted from our Zephyr fork.For the full git history of the driver, refer to this commit in out fork,which is the last version before moving the driver here:https://github.com/teamspatzenhirn/zephyr/tree/858548919eb664fc364dad0226e3dcf71586292b/drivers/sensor/bmi088
Since this was kind of a pain to figure out, here are a few helpful links if you want to do this:
- https://jdelaney.me/posts/zephyr-oot-modules/
- https://interrupt.memfault.com/blog/building-drivers-on-zephyr
- https://blog.golioth.io/adding-an-out-of-tree-sensor-driver-to-zephyr/
- https://github.com/zephyrproject-rtos/zephyr/tree/main/samples/application_development/out_of_tree_driver
- https://jonasotto.com/posts/zephyr_out_of_tree_driver/
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Zephyr driver for Bosch BMI088 IMU
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