cu-bmi088

Copper source component for the BMI088 6-axis IMU (accelerometer + gyroscope). This crate is no_std by default and uses embedded-hal 0.2 traits for portability across embedded platforms.

Overview

The BMI088 is a high-performance inertial measurement unit from Bosch Sensortec, featuring:

• 16-bit triaxial accelerometer (±3g to ±24g range)
• 16-bit triaxial gyroscope (up to ±2000°/s)
• On-chip temperature sensor
• SPI interface (up to 10 MHz)

This driver is commonly used in flight controllers and robotics applications where precise motion sensing is required.

Features

• std: Enable standard library support
• defmt: Enable defmt logging for embedded debugging
• textlogs: Enable text-based logging

Hardware Notes

The BMI088 has separate chip-select lines for the accelerometer and gyroscope. Both sensors share the same SPI bus but require independent CS control:

The accelerometer requires a dummy byte after the register address for reads, while the gyroscope uses standard SPI read protocol.

Configuration

(
    id: "bmi088",
    type: "cu_bmi088::Bmi088Source<MySpi, MyAccCs, MyGyrCs, MyDelay>",
    resources: {
        "spi": "hal.bmi088_spi",
        "acc_cs": "hal.bmi088_acc_cs",
        "gyr_cs": "hal.bmi088_gyr_cs",
        "delay": "hal.bmi088_delay",
    },
)

Output

The driver outputs [cu_sensor_payloads::ImuPayload] containing:

• Acceleration in m/s² (SI units)
• Angular velocity in rad/s (SI units)
• Temperature in °C

Axis Mapping

The driver remaps BMI088 axes to NED (North-East-Down) body frame convention:

• +X: Forward
• +Y: Right
• +Z: Down

Note: The axis mapping in this driver assumes a specific board orientation. You may need to adjust the mapping in read_measure() for your hardware.

Default Settings

• Gyroscope: ±2000°/s range, 2000 Hz ODR, 230 Hz filter bandwidth
• Accelerometer: Uses power-on default range (±3g), active mode

Dependencies

This crate depends on:

• cu29: Copper runtime
• cu-sensor-payloads: Standard sensor payload types
• embedded-hal 0.2: Hardware abstraction traits