`bmi270` — BMI270 6-axis IMU

Driver for the Bosch BMI270 low-power 6-axis inertial measurement unit (3-axis accelerometer plus 3-axis gyroscope) over I2C. The driver performs the full BMI270 initialisation sequence on construction — soft reset, power-save disable, configuration-blob upload and status verification — before configuring the requested output data rates and full-scale ranges.

The class can optionally be linked to an external bmm150.BMM150 magnetometer instance so that callers may treat a BMI270 + BMM150 pair as a single 9-axis device through the magnet() method.

Note

SPI mode is not supported by this driver; passing a non-I2C bus raises ValueError.

Example:

import time
from machine import Pin, I2C
from bmi270 import BMI270

imu = BMI270(I2C(1, scl=Pin(15), sda=Pin(14)))

while True:
    print("Accelerometer: x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*imu.accel()))
    print("Gyroscope:     x:{:>8.3f} y:{:>8.3f} z:{:>8.3f}".format(*imu.gyro()))
    time.sleep_ms(100)

Classes

class bmi270.BMI270(bus: machine.I2C, cs: machine.Pin | None = None, address: int = 0x68, gyro_odr: float = 100, gyro_scale: int = 2000, accel_odr: float = 100, accel_scale: int = 4, bmm_magnet: BMM150 | None = None)

Construct a BMI270 instance and run the full configuration-load initialisation sequence. Raises OSError if the chip ID does not match or if the load sequence fails.

bus: A configured machine.I2C bus the sensor is attached to.
cs: Reserved for SPI mode. Must be left as None; SPI is not currently implemented.
address: 7-bit I2C address of the device. Defaults to 0x68; some boards strap the SDO pin high which selects 0x69.
gyro_odr: Gyroscope output data rate in Hz. Must be one of 0.78, 1.5, 3.1, 6.25, 12.5, 25, 50, 100, 200, 400, 800 or 1200.
gyro_scale: Gyroscope full-scale range in degrees-per-second. Must be one of 125, 250, 500, 1000 or 2000.
accel_odr: Accelerometer output data rate in Hz. Same set of values as gyro_odr.
accel_scale: Accelerometer full-scale range in g. Must be one of 2, 4, 8 or 16.
bmm_magnet: Optional bmm150.BMM150 instance. When provided, the magnet() method delegates to it; otherwise magnet() returns zeros.

reset() → None: Issue the BMI270 soft-reset command. After calling this the device must be re-initialised before further use.

gyro() → tuple[float, float, float]: Return the gyroscope vector (x, y, z) in degrees per second, scaled according to gyro_scale.

accel() → tuple[float, float, float]: Return the acceleration vector (x, y, z) in units of standard gravity (1 g = 9.81 m/s²), scaled according to accel_scale.

magnet() → tuple[float, float, float]: If a bmm_magnet was supplied at construction, return the latest magnetometer reading from that device. Otherwise return (0.0, 0.0, 0.0).

bmi270 — BMI270 6-axis IMU

Classes

`bmi270` — BMI270 6-axis IMU