STM32 Driver For BMI088

This is a simple SPI driver for the Bosch BMI088 IMU. It was originally created for the ongoing ModuLog Project.

Features include:

• Support for data readout on both accelerometer and gyro including unit conversion.
• Support for first-in, first-out (FIFO) readout and configuration for both sensors.
• Support for modifying most settings, including modifying builtin low-pass filters.
• Ability to perform builtin self-tests for both sensors.

Missing features include:

• Interrupt configuration support.
• Parsing of interrupt data in FIFO streams.
• I2C support.

How to use

1. Modify lines 9 & 10 of Accel.h and Gyro.h to refelt your GPIO chip select ports/pins.

// Set port and pin for accelerometer here
#define ACCEL_CS_PORT YOUR_PORT_HERE
#define ACCEL_CS_PIN YOUR_PIN_HERE

2. Pass your SPI handler struct into IMU_INIT, if you are using both sensors, or into ACCEL/GYRO_INIT if you are just using one.

3. Call IMU_ENABLE_ALL or respective gyro/accel enabling functions (see internals of IMU_ENABLE_ALL in IMU.c).

4. (Optional) perform self-tests.

5. Enjoy!