PSoC™ 6 MCU: BMI160 motion sensor interfacing using I2C

This example demonstrates how to interface PSoC™ 6 MCU with a BMI160 motion sensor over an I2C interface within a FreeRTOS task using the BMI160 motion sensor library. This example reads the raw motion data and estimates the orientation of the board.

View this README on GitHub.

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Requirements

• ModusToolbox™ software v3.0 or later (tested with v3.0)
• Board support package (BSP) minimum required version: 4.0.0
• Programming language: C
• Associated parts: All PSoC™ 6 MCU

Supported toolchains (make variable 'TOOLCHAIN')

• GNU Arm® embedded compiler v10.3.1 (GCC_ARM) - Default value of TOOLCHAIN
• Arm® compiler v6.16 (ARM)
• IAR C/C++ compiler v9.30.1 (IAR)

Supported kits (make variable 'TARGET')

• PSoC™ 6 Bluetooth® LE pioneer kit (CY8CKIT-062-BLE) – Default value of TARGET
• PSoC™ 6 Wi-Fi Bluetooth® prototyping kit (CY8CPROTO-062-4343W)
• PSoC™ 6 Wi-Fi Bluetooth® pioneer kit (CY8CKIT-062-WIFI-BT)
• PSoC™ 6 Bluetooth® LE prototyping kit (CY8CPROTO-063-BLE)
• PSoC™ 62S1 Wi-Fi Bluetooth® pioneer kit (CYW9P62S1-43438EVB-01)
• PSoC™ 62S1 Wi-Fi Bluetooth® pioneer kit (CYW9P62S1-43012EVB-01)
• PSoC™ 62S2 Wi-Fi Bluetooth® pioneer kit (CY8CKIT-062S2-43012)
• PSoC™ 62S3 Wi-Fi Bluetooth® prototyping kit (CY8CPROTO-062S3-4343W)
• PSoC™ 62S4 pioneer kit (CY8CKIT-062S4)
• PSoC™ 64 "Secure Boot" Wi-Fi Bluetooth® pioneer kit (CY8CKIT-064B0S2-4343W)
• PSoC™ 62S2 evaluation kit (CY8CEVAL-062S2, CY8CEVAL-062S2-LAI-4373M2)

This example requires the BMI160 inertial measurement unit to be interfaced with PSoC™ 6 MCU using one of the kits mentioned above.

Interfacing details

There are primarily two ways of interfacing the BMI160 motion sensor with the PSoC™ 6 MCU in this code example:

1. Shields: CY8CKIT-028-EPD or CY8CKIT-028-TFT (On some supported kits only): You can plug in the shield to the PSoC™ 6 MCU kit and configure the INTERFACE_USED and BMI160_INTERRUPT_CHANNEL macros in the motion_task.h file as described in the Operation section.

   Note: This method of interfacing is not supported by all the kits mentioned in the Supported kits section. See Table 1 for supported interfaces for each supported kit and the corresponding interrupt pin interfacing details.

2. Direct connection: Interface the BMI160 motion sensor per the schematic diagram shown in Figure 1.

   • Connect the I2C_SDA and I2C_SCL pins to the kit's I2C pins. See the kit user guide for more details on the kit's I2C configuration.

   • BMI160 provides two interrupt channels (INT1 and INT2) to which various interrupt events can be assigned. Connect either INT1 or INT2 pin with a PSoC™ 6 MCU GPIO pin, define the INTERFACE_USED macro as CUSTOM_INTERFACE, and configure the BMI160_INTERRUPT_CHANNEL and CUSTOM_INTERRUPT_PIN macros as described in the Operation section.

     Figure 1. BMI160 custom interfacing diagram

     

Table 1 lists the supported interfaces for each supported kit and the corresponding interrupt pin interfacing details. Note that for the functionality of this code example, you need to use only one of the BMI160's interrupt pins (either INT1 or INT2, not both).

• In case of shields (CY8CKIT-028-EPD and CY8CKIT-028-TFT), the PSoC™ 6 GPIO pins that connect to the BMI160's INT1 and INT2 pins are also shown in Table 1. The code example automatically configures these GPIO pins when you define the INTERFACE_USED macro and the details in the table are for your information only.

• In case of direct interfacing ('CUSTOM_INTERFACE'), you should choose an appropriate GPIO pin to interface INT1 or INT2 (mentioned as User-defined in the following table).

Table 1. BMI160 and PSoC™ 6 MCU interfacing

Development kit	Supported interfaces (INTERFACE_USED macro)	PSoC™ 6 MCU GPIO pin interfaced with BMI160's INT1 pin	PSoC™ 6 MCU GPIO pin interfaced with BMI160's INT2 pin
CY8CKIT-062-BLE	CY8CKIT_028_EPD CY8CKIT_028_TFT CUSTOM_INTERFACE	P13[1] P10[2] User-defined	P13[0] P10[3] User-defined
CY8CPROTO-062-4343W	CUSTOM_INTERFACE	User-defined	User-defined
CY8CKIT-062-WiFi-BT	CY8CKIT_028_EPD CY8CKIT_028_TFT CUSTOM_INTERFACE	P13[1] P10[2] User-defined	P13[0] P10[3] User-defined
CY8CPROTO-063-BLE	CUSTOM_INTERFACE	User-defined	User-defined
CY8CKIT-062S2-43012	CY8CKIT_028_EPD CY8CKIT_028_TFT CUSTOM_INTERFACE	P7[6] P10[2] User-defined	P7[5] P10[3] User-defined
CYW9P62S1-43438EVB-01	CY8CKIT_028_EPD CY8CKIT_028_TFT CUSTOM_INTERFACE	P7[4] P10[2] User-defined	P7[5] P10[3] User-defined
CYW9P62S1-43012EVB-01	CY8CKIT_028_TFT CUSTOM_INTERFACE	P6[4] User-defined	P6[5] User-defined
CY8CPROTO-062S3-4343W	CUSTOM_INTERFACE	User-defined	User-defined
CY8CKIT-064B0S2-4343W	CY8CKIT_028_EPD CY8CKIT_028_TFT CUSTOM_INTERFACE	P7[6] P10[2] User-defined	P7[5] P10[3] User-defined
CY8CEVAL-062S2	CY8CKIT_028_EPD CY8CKIT_028_TFT CUSTOM_INTERFACE	P7[6] P10[2] User-defined	P0[5] P10[3] User-defined
CY8CEVAL-062S2-LAI-4373M2	CY8CKIT_028_EPD CY8CKIT_028_TFT CUSTOM_INTERFACE	P7[6] P10[2] User-defined	P0[5] P10[3] User-defined

This example uses the board's default configuration. See the kit user guide to ensure that the board is configured correctly.

Notes:

• The PSoC™ 62S1 Wi-Fi Bluetooth® pioneer kit (CYW9P62S1-43012EVB-01) cannot be used with the CY8CKIT-028-EPD shield to evaluate the complete functionality of this example. This is because this kit does not have any GPIO connections to the D8 and D9 pins compatible with Arduino to which the motion sensor's interrupt pins interface on the CY8CKIT-028-EPD shield.

• The PSoC™ 6 Bluetooth® LE pioneer kit (CY8CKIT-062-BLE) and the PSoC™ 6 Wi-Fi Bluetooth® pioneer kit (CY8CKIT-062-WIFI-BT) ship with KitProg2 installed. The ModusToolbox™ software requires KitProg3. Before using this code example, make sure that the board is upgraded to KitProg3. The tool and instructions are available in the firmware loader GitHub repository. If you do not upgrade, you will see an error like "unable to find CMSIS-DAP device" or "KitProg firmware is out of date".

Software setup

Install a terminal emulator if you don't have one. Instructions in this document use Tera Term.

This example requires no additional software or tools.

Using the code example

Create the project and open it using one of the following:

In Eclipse IDE for ModusToolbox™ software

1. Click the New Application link in the Quick Panel (or, use File > New > ModusToolbox™ Application). This launches the Project Creator tool.

2. Pick a kit supported by the code example from the list shown in the Project Creator - Choose Board Support Package (BSP) dialog.

   When you select a supported kit, the example is reconfigured automatically to work with the kit. To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can use the Library Manager to select or update the BSP and firmware libraries used in this application. To access the Library Manager, click the link from the Quick Panel.

   You can also just start the application creation process again and select a different kit.

   If you want to use the application for a kit not listed here, you may need to update the source files. If the kit does not have the required resources, the application may not work.

3. In the Project Creator - Select Application dialog, choose the example by enabling the checkbox.

4. (Optional) Change the suggested New Application Name.

5. The Application(s) Root Path defaults to the Eclipse workspace which is usually the desired location for the application. If you want to store the application in a different location, you can change the Application(s) Root Path value. Applications that share libraries should be in the same root path.

6. Click Create to complete the application creation process.

For more details, see the Eclipse IDE for ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mt_ide_user_guide.pdf).

In command-line interface (CLI)

ModusToolbox™ software provides the Project Creator as both a GUI tool and the command line tool, "project-creator-cli". The CLI tool can be used to create applications from a CLI terminal or from within batch files or shell scripts. This tool is available in the {ModusToolbox™ software install directory}/tools_{version}/project-creator/ directory.

Use a CLI terminal to invoke the "project-creator-cli" tool. On Windows, use the command line "modus-shell" program provided in the ModusToolbox™ software installation instead of a standard Windows command-line application. This shell provides access to all ModusToolbox™ software tools. You can access it by typing modus-shell in the search box in the Windows menu. In Linux and macOS, you can use any terminal application.

The "project-creator-cli" tool has the following arguments:

Argument	Description	Required/optional
--board-id	Defined in the <id> field of the BSP manifest	Required
--app-id	Defined in the <id> field of the CE manifest	Required
--target-dir	Specify the directory in which the application is to be created if you prefer not to use the default current working directory	Optional
--user-app-name	Specify the name of the application if you prefer to have a name other than the example's default name	Optional

The following example clones the "mtb-example-psoc6-bmi160-motion-sensor-freertos" application with the desired name "Bmi160Freertos" configured for the CY8CKIT-062-WIFI-BT BSP into the specified working directory, C:/mtb_projects:

project-creator-cli --board-id CY8CKIT-062-WIFI-BT --app-id mtb-example-psoc6-bmi160-motion-sensor-freertos --user-app-name Bmi160Freertos --target-dir "C:/mtb_projects"

Note: The project-creator-cli tool uses the git clone and make getlibs commands to fetch the repository and import the required libraries. For details, see the "Project creator tools" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

To work with a different supported kit later, use the Library Manager to choose the BSP for the supported kit. You can invoke the Library Manager GUI tool from the terminal using make library-manager command or use the Library Manager CLI tool "library-manager-cli" to change the BSP.

The "library-manager-cli" tool has the following arguments:

Argument	Description	Required/optional
--add-bsp-name	Name of the BSP that should be added to the application	Required
--set-active-bsp	Name of the BSP that should be as active BSP for the application	Required
--add-bsp-version	Specify the version of the BSP that should be added to the application if you do not wish to use the latest from manifest	Optional
--add-bsp-location	Specify the location of the BSP (local/shared) if you prefer to add the BSP in a shared path	Optional

Following example adds the CY8CPROTO-062-4343W BSP to the already created application and makes it the active BSP for the app:

library-manager-cli --project "C:/mtb_projects/MyHelloWorld" --add-bsp-name CY8CPROTO-062-4343W --add-bsp-version "latest-v4.X" --add-bsp-location "local"

library-manager-cli --project "C:/mtb_projects/MyHelloWorld" --set-active-bsp APP_CY8CPROTO-062-4343W

In third-party IDEs

Use one of the following options:

• Use the standalone Project Creator tool:

  1. Launch Project Creator from the Windows Start menu or from {ModusToolbox™ software install directory}/tools_{version}/project-creator/project-creator.exe.

  2. In the initial Choose Board Support Package screen, select the BSP, and click Next.

  3. In the Select Application screen, select the appropriate IDE from the Target IDE drop-down menu.

  4. Click Create and follow the instructions printed in the bottom pane to import or open the exported project in the respective IDE.

• Use command-line interface (CLI):

  1. Follow the instructions from the In command-line interface (CLI) section to create the application.

  2. Export the application to a supported IDE using the make <ide> command.

  3. Follow the instructions displayed in the terminal to create or import the application as an IDE project.

For a list of supported IDEs and more details, see the "Exporting to IDEs" section of the ModusToolbox™ software user guide (locally available at {ModusToolbox™ software install directory}/docs_{version}/mtb_user_guide.pdf).

Operation

If using a PSoC™ 64 "Secure" MCU kit (like CY8CKIT-064B0S2-4343W), the PSoC™ 64 device must be provisioned with keys and policies before being programmed. Follow the instructions in the "Secure Boot" SDK user guide to provision the device. If the kit is already provisioned, copy-paste the keys and policy folder to the application folder.

1. Interface the BMI160 motion sensor with the kit. See the Hardware setup section for the interfacing details.

2. Connect the board to your PC using the provided USB cable through the KitProg3 USB connector.

3. Open a terminal program and select the KitProg3 COM port. Set the serial port parameters to 8N1 and 115200 baud.

4. Specify the BMI160 motion sensor configuration details in the motion_task.h file as follows:

   1. Modify the INTERFACE_USED macro based on how you interface the motion sensor. To know the interfaces supported with your kit, see Table 1. For the shields, define the macro as CY8CKIT_028_EPD or CY8CKIT_028_TFT. If you connect the sensor directly with the PSoC™ 6 MCU, define the macro as CUSTOM_INTERFACE.

      Note: If you use a kit that is not a pioneer kit (pioneer kits have headers compatible with Arduino), choose CUSTOM_INTERFACE for this macro.

   2. Specify the interrupt channel (1 or 2) of the BMI160 motion sensor that you want to use in this example using the BMI160_INTERRUPT_CHANNEL macro. By default, this macro is set to '1', which corresponds to the INT1 pin.

   3. If you use a custom interface (INTERFACE_USED defined as CUSTOM_INTERFACE), specify the GPIO pin of PSoC™ 6 MCU that interfaces with the BMI160 motion sensor's interrupt pin (INT1 when BMI160_INTERRUPT_CHANNEL is 1; INT2 when the macro is 2) by using the CUSTOM_INTERRUPT_PIN macro.

      Example:

      #define CUSTOM_INTERRUPT_PIN      (P10_0)
      

5. Program the board using one of the following:

   Using Eclipse IDE for ModusToolbox™ software

   1. Select the application project in the Project Explorer.

   2. In the Quick Panel, scroll down, and click <Application Name> Program (KitProg3_MiniProg4).

   Using CLI

   From the terminal, execute the make program command to build and program the application using the default toolchain to the default target. The default toolchain is specified in the application's Makefile but you can override this value manually:

   make program TOOLCHAIN=<toolchain>
   

   Example:

   make program TOOLCHAIN=GCC_ARM
   

6. After programming, the application starts automatically. Confirm that the terminal application displays the code example title and the initial orientation.

   Figure 2. Terminal showing the initial orientation

   

   Note: If the terminal displays an error message, check the connection of the motion sensor or EPD/TFT shield with the kit.

   The accelerometer sensor data is used to estimate the board’s spatial orientation. The terminal application display shows one of the six orientation states: DISP_UP, DISP_DOWN, TOP_EDGE, BOTTOM_EDGE, LEFT_EDGE, and RIGHT_EDGE. Side views of the pioneer kit with the EPD shield for each orientation state are shown as follows.

   Figure 3. Orientation states

   

7. Change the orientation of the motion sensor and confirm that the orientation is updated on the same line in the terminal application as illustrated as follows.

   Figure 4. Terminal output for orientation states

   

Debugging

You can debug the example to step through the code. In the IDE, use the <Application Name> Debug (KitProg3_MiniProg4) configuration in the Quick Panel. For details, see the "Program and debug" section in the Eclipse IDE for ModusToolbox™ software user guide.

Note: (Only while debugging) On the CM4 CPU, some code in main() may execute before the debugger halts at the beginning of main(). This means that some code executes twice – once before the debugger stops execution, and again after the debugger resets the program counter to the beginning of main(). See KBA231071 to learn about this and for the workaround.

Design and implementation

BMI160 motion sensor is a low-power inertial measurement unit (IMU) providing 3-axis acceleration and 3-axis gyroscopic measurements. It is present on both the E-INK display shield (CY8CKIT-028-EPD) and the TFT display shield (CY8CKIT-028-TFT). PSoC™ 6 MCU interfaces with this sensor and reads the accelerometer data from which the orientation is computed and displayed on the terminal application.

The BMI160 motion sensor is interfaced with PSoC™ 6 MCU using an I2C interface and up to two interrupt pins. BMI160 has a hardware-selectable I2C slave address, depending on the logic driven on the SDO pin. On the EPD and TFT shields, the SDO pin is pulled to GND, which selects the slave address 0b1101000 (0x68).

BMI160 provides two interrupt channels (INT1 and INT2) to which various interrupt events can be assigned. In this example, the orientation interrupt is assigned to the interrupt pin that is configured using the BMI160_INTERRUPT_CHANNEL macro. See the BMI160 datasheet for details on interrupt outputs.

The BMI160 motion sensor's interrupt output (INT1 or INT2 based on the BMI160_INTERRUPT_CHANNEL macro) is configured to provide a rising-edge signal with a pulse width of 5 ms. The motion sensor is configured to provide an interrupt when the orientation is changed. Raw accelerometer data is read and processed on the orientation interrupt to compute the orientation.

On PSoC™ 6 MCU, the GPIO pin connected to the motion sensor's interrupt pin (INT1 or INT2 based on the BMI160_INTERRUPT_CHANNEL macro) is configured as an input pin to detect rising-edge interrupts. The GPIO pin is automatically chosen by the example depending upon the combination of the kit, shield, and the interrupt channel being used. The shield (or custom interface) being used and the desired interrupt channel to be used can be configured in the motion_task.h file as described earlier.

Code example execution

The main function initializes the BSP and the retarget-io library, and creates the motion sensor task. The task initializes the motion sensor and configures the interrupt. The task reads the accelerometer data, computes the orientation, displays it on the UART console, and then waits indefinitely for a task notification. Upon receiving an interrupt from the motion sensor, the ISR is invoked which notifies the motion sensor task. Then, the task reads the motion sensor data, updates the orientation state, and waits for the notification again. This operation continues indefinitely.

Resources and settings

An SCB-based resource in I2C mode is configured with the help of I2C HAL APIs to implement the I2C master interface to BMI160. The I2C clock frequency is set to 1 MHz. Configuration of the motion sensor and acquiring the accelerometer information are performed over this interface.

Table 2. Application resources

Resource	Alias/object	Purpose
SCB (I2C) (HAL)	kit_i2c	I2C master driver to communicate with the BMI160 motion sensor
UART (HAL)	cy_retarget_io_uart_obj	UART HAL object used by retarget-io for the debug UART port
GPIO (HAL)	BMI160_INTERRUPT_PIN	Motion sensor interrupt pin

Related resources

Resources	Links
Application notes	AN228571 – Getting started with PSoC™ 6 MCU on ModusToolbox™ software AN215656 – PSoC™ 6 MCU: Dual-CPU system design AN85951 – PSoC™ 4 and PSoC™ 6 MCU CAPSENSE™ design guide
Code examples	Using ModusToolbox™ software on GitHub
Device documentation	PSoC™ 6 MCU datasheets PSoC™ 6 technical reference manuals
Development kits	Select your kits from the evaluation board finder.
Libraries on GitHub	mtb-pdl-cat1 – PSoC™ 6 peripheral driver library (PDL) mtb-hal-cat1 – Hardware abstraction layer (HAL) library retarget-io – Utility library to retarget STDIO messages to a UART port freeRTOS – A port of FreeRTOS kernel for PSoC™ 6 and PSoC™ 4 MCUs sensor-motion-bmi160 – BMI160 inertial measurement unit (motion sensor) library
Middleware on GitHub	capsense – CAPSENSE™ library and documents psoc6-middleware – Links to all PSoC™ 6 MCU middleware
Tools	Eclipse IDE for ModusToolbox™ software – ModusToolbox™ software is a collection of easy-to-use software and tools enabling rapid development with Infineon MCUs, covering applications from embedded sense and control to wireless and cloud-connected systems using AIROC™ Wi-Fi and Bluetooth® connectivity devices.

Other resources

Infineon provides a wealth of data at www.infineon.com to help you select the right device, and quickly and effectively integrate it into your design.

For PSoC™ 6 MCU devices, see How to design with PSoC™ 6 MCU – KBA223067 in the Infineon community.

Document history

Document title: CE231864 – PSoC™ 6 MCU: BMI160 motion sensor interfacing using I2C

Version	Description of change
1.0.0	New code example
1.1.0	Added support for new kits
2.0.0	Major update to support ModusToolbox™ software v3.0 and BSPs v4.X This version is not backward compatible with previous versions of ModusToolbox™

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