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[driver] Bosch Sensortec BMI270 IMU #1340

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f6eac5f
[driver] bmi270 imu driver
hshose Mar 6, 2026
f901265
[driver] bmi270 examples
hshose Mar 6, 2026
e0a6e76
[driver] bmi270 fixes for PR review
hshose Mar 9, 2026
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33 changes: 17 additions & 16 deletions README.md
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Expand Up @@ -83,12 +83,12 @@ git clone --recurse-submodules --jobs 8 https://github.com/modm-io/modm.git

## Microcontrollers

modm can create a HAL for <!--allcount-->4003<!--/allcount--> devices of these vendors:
modm can create a HAL for <!--allcount-->3991<!--/allcount--> devices of these vendors:

- STMicroelectronics STM32: <!--stmcount-->3240<!--/stmcount--> devices.
- Microchip SAM: <!--samcount-->355<!--/samcount--> devices.
- Microchip AVR: <!--avrcount-->388<!--/avrcount--> devices.
- Nordic nRF: <!--nrfcount-->19<!--/nrfcount--> devices.
- Nordic nRF: <!--nrfcount-->7<!--/nrfcount--> devices.
- Raspberry Pi: <!--rpicount-->1<!--/rpicount--> device.

Here is a table with all device families and the peripheral drivers they support:
Expand Down Expand Up @@ -957,99 +957,100 @@ your specific needs.
<td align="center"><a href="https://modm.io/reference/module/modm-driver-block-device-spi-flash">SPI Flash</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bme280">BME280</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmi088">BMI088</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmp085">BMP085</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmi270">BMI270</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmp085">BMP085</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmp581">BMP581</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bno055">BNO055</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cat24aa">CAT24AA</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cycle_counter">CYCLE-COUNTER</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-drv832x_spi">DRV832X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1302">DS1302</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1302">DS1302</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1631">DS1631</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds18b20">DS18B20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-dw3110">DW3110</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">Encoder Input</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">Encoder Input BitBang</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">Encoder Input BitBang</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">Encoder Output BitBang</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft245">FT245</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6x06</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">Gpio Sampler</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc6343">HMC6343</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-iwr6843aop">IWR6843AOP</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ixm42xxx">IXM42XXX</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6dso">LSM6DSO</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31855">MAX31855</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31865">MAX31865</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23x17</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp3008">MCP3008</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp990x">MCP990X</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp990x">MCP990X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5611">MS5611</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5837">MS5837</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-qmc5883l">QMC5883L</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-qmc5883l">QMC5883L</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx128x">SX128X</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx128x">SX128X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
Expand Down
194 changes: 194 additions & 0 deletions examples/nucleo_h723zg/bmi270/calibration/main.cpp
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/*
* Copyright (c) 2026, Henrik Hose
*
* This file is part of the modm project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this
* file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
// ----------------------------------------------------------------------------

#include <modm/board.hpp>
#include <modm/driver/inertial/bmi270.hpp>
#include <modm/processing.hpp>

using namespace Board;

using I2c = I2cMaster1;
using Scl = GpioB8; // D15
using Sda = GpioB9; // D14

using Transport = modm::Bmi270I2cTransport<I2c>;
using Imu = modm::Bmi270<Transport>;

Imu imu{Transport::I2cAddress::SdoLow};

namespace
{

struct CalibrationSnapshot
{
Imu::GyroUserGain gyroUserGainOut;
};

bool
initializeImu()
{
while (!imu.initialize())
{
MODM_LOG_ERROR << "Initialization failed, retrying..." << modm::endl;
modm::this_fiber::sleep_for(500ms);
}

bool ok = true;
ok &= imu.setAccRate(Imu::AccRate::Rate100Hz_Normal);
ok &= imu.setAccRange(Imu::AccRange::Range4g);
ok &= imu.setGyroRate(Imu::GyroRate::Rate100Hz_Normal);
ok &= imu.setGyroRange(Imu::GyroRange::Range2000dps);
ok &= imu.setPowerControl(Imu::PowerControl::Accelerometer | Imu::PowerControl::Gyroscope |
Imu::PowerControl::Temperature);
return ok;
}

void
printGyroUserGain(const char* label, const Imu::GyroUserGain& gain)
{
MODM_LOG_INFO << label << " x=" << int(gain.x) << " y=" << int(gain.y) << " z=" << int(gain.z)
<< modm::endl;
}

bool
equalGyroUserGain(const Imu::GyroUserGain& lhs, const Imu::GyroUserGain& rhs)
{
return (lhs.x == rhs.x) and (lhs.y == rhs.y) and (lhs.z == rhs.z);
}

} // namespace

int
main()
{
Board::initialize();
Leds::setOutput();
I2c::connect<Scl::Scl, Sda::Sda>(I2c::PullUps::External);
I2c::initialize<Board::SystemClock, 1_MHz, 10_pct>();

MODM_LOG_INFO << "BMI270 calibration example (CRT + gyro user gain restore)" << modm::endl;
MODM_LOG_INFO << "Keep sensor stable while CRT runs" << modm::endl;

if (!imu.reset()) { MODM_LOG_ERROR << "Initial soft reset command failed" << modm::endl; }
if (!initializeImu()) { MODM_LOG_ERROR << "Initial IMU configuration failed" << modm::endl; }

if (const auto userGain = imu.getGyroUserGain())
{
printGyroUserGain("Pre-CRT gyro user gain out", *userGain);
}

MODM_LOG_INFO << "Starting component retrim (CRT)..." << modm::endl;
if (!imu.doCrt())
{
MODM_LOG_ERROR << "CRT failed" << modm::endl;
} else
{
MODM_LOG_INFO << "CRT completed" << modm::endl;
}

const auto userGainOut = imu.getGyroUserGain();
if (!userGainOut)
{
MODM_LOG_ERROR << "Reading user gain out after CRT failed" << modm::endl;
return 1;
}

CalibrationSnapshot savedCalibration{};
savedCalibration.gyroUserGainOut = *userGainOut;

printGyroUserGain("Saved gyro user gain out", savedCalibration.gyroUserGainOut);

MODM_LOG_INFO << "Soft resetting sensor..." << modm::endl;
if (!imu.reset()) { MODM_LOG_ERROR << "Soft reset command failed" << modm::endl; }
if (!initializeImu())
{
MODM_LOG_ERROR << "Re-initialization after reset failed" << modm::endl;
}

if (const auto userGainBeforeRestore = imu.getGyroUserGain())
{
printGyroUserGain("After reset, before restore gyro user gain out", *userGainBeforeRestore);
}

MODM_LOG_INFO << "Restoring saved calibration values..." << modm::endl;
bool writeOk = true;
writeOk &= imu.setGyroUserGain(savedCalibration.gyroUserGainOut);
if (!writeOk) { MODM_LOG_ERROR << "Writing calibration values failed" << modm::endl; }

const auto restoredUserGain = imu.getGyroUserGain();

bool userGainMatch = false;
if (restoredUserGain)
{
userGainMatch = equalGyroUserGain(savedCalibration.gyroUserGainOut, *restoredUserGain);
printGyroUserGain("Restored gyro user gain out", *restoredUserGain);
}

MODM_LOG_INFO << "Verification: userGainOut=" << userGainMatch << modm::endl;

const bool restoreOk = writeOk and userGainMatch;
MODM_LOG_INFO << (restoreOk ? "Calibration restore PASSED" : "Calibration restore FAILED")
<< modm::endl;

static constexpr float LowPassAlpha{1e-3f};
bool filterInitialized = false;
modm::Vector3f filteredAcc{0.f, 0.f, 0.f};
modm::Vector3f filteredGyro{0.f, 0.f, 0.f};

modm::PeriodicTimer printTimer{1s};
while (true)
{
if (const auto data = imu.readData())
{
const auto acc = data->acc.getFloat();
const auto gyro = data->gyro.getFloat();

if (!filterInitialized)
{
filteredAcc = acc;
filteredGyro = gyro;
filterInitialized = true;
} else
{
filteredAcc[0] += LowPassAlpha * (acc[0] - filteredAcc[0]);
filteredAcc[1] += LowPassAlpha * (acc[1] - filteredAcc[1]);
filteredAcc[2] += LowPassAlpha * (acc[2] - filteredAcc[2]);
filteredGyro[0] += LowPassAlpha * (gyro[0] - filteredGyro[0]);
filteredGyro[1] += LowPassAlpha * (gyro[1] - filteredGyro[1]);
filteredGyro[2] += LowPassAlpha * (gyro[2] - filteredGyro[2]);
}
}

if (printTimer.execute())
{
if (filterInitialized)
{
MODM_LOG_INFO << "LPF (Bias) Acc [mg] x=" << filteredAcc[0]
<< " y=" << filteredAcc[1] << " z=" << filteredAcc[2] << modm::endl;
MODM_LOG_INFO << "LPF (Bias) Gyr [deg/s] x=" << filteredGyro[0]
<< " y=" << filteredGyro[1] << " z=" << filteredGyro[2] << modm::endl;
} else
{
MODM_LOG_ERROR << "No IMU sample received yet" << modm::endl;
}

if (restoreOk)
{
Board::LedGreen::toggle();
} else
{
Board::LedRed::toggle();
}
}
}

return 0;
}
11 changes: 11 additions & 0 deletions examples/nucleo_h723zg/bmi270/calibration/project.xml
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<library>
<extends>modm:nucleo-h723zg</extends>
<options>
<option name="modm:build:build.path">../../../../build/nucleo_h723zg/bmi270_calibration</option>
</options>
<modules>
<module>modm:build:scons</module>
<module>modm:platform:i2c:1</module>
<module>modm:driver:bmi270</module>
</modules>
</library>
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