An example of STM32Cube HAL project for communication with Bosch BHI360 IMU via I2C. The goal of this repo is to show how to use BHY2-Sensor-API with the STM32 family MCUs and Cube software. The code is stripped of the COINES abstraction layer and built around the STM32 HAL instead. The project is configured for use with NUCLEO-G474RE board, but could be easily portable to any STM32 chip.
This example shows how to configure and use three BHI360 virtual sensors: Accelerometer, Gyroscope and Euler angle sensor. For other usage examples please refer to BHY2 repository. The provided software also should work with other IMUs like BHI260, but it is untested.
Open .ioc file in the STM32CubeMX and generate source files for your preffered IDE. Then just add bhy2.c, bhy2_hif.c, bhy2_parse.c, common.c, bosch_imu.c into the sources and /bosch, /bosch/common into the search directories.
Big thanks to SensorLib for providing great examples of how to cook BHY2.