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Guidance for embedded sensor drivers used in the payload. Use when working with BMP390, ENS160, LSM6DSOX, LIS3MDL, GPS, IMU, barometer, or any sensor integration.
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SOC 職業分類に基づく
Interfacing with Raspberry Pi Pico using picotool, serial communication, and defmt logging. Use when flashing firmware, debugging, setting up serial telemetry, or configuring defmt/probe-rs logging.
Embassy HAL for Raspberry Pi RP2040 and RP2350 microcontrollers. Use when working with Pico/Pico 2 peripherals, GPIO, SPI, I2C, UART, PIO, or flashing with picotool.
Ground station subproject context. Use when working in the ground_station package, telemetry reception, mission control interface, or real-time flight monitoring.
Interface with the Orange Pi payload computer over SSH for development and debugging. Use when connecting to the Orange Pi, running commands remotely, deploying code, checking system status, or troubleshooting the payload computer.
Embassy async embedded framework for Rust. Use when working with async/await in no_std embedded contexts, task executors, or Embassy crates like embassy-executor, embassy-time, embassy-sync.
Flight computer subproject context. Use when working in the flight_computer package, camera capture, video processing, audio recording, or high-level mission logic.
| name | sensor-drivers |
| description | Guidance for embedded sensor drivers used in the payload. Use when working with BMP390, ENS160, LSM6DSOX, LIS3MDL, GPS, IMU, barometer, or any sensor integration. |
| keywords | ["bmp390","ens160","lsm6dsox","lis3mdl","gps","imu","barometer","magnetometer","accelerometer","gyroscope","pressure","temperature","altitude","i2c","sensor","embedded-hal"] |
| Sensor | Type | Bus | SDA | SCL | I2C Address |
|---|---|---|---|---|---|
| BMP390 | Barometer | I2C1 | GP2 | GP3 | 0x77 (SDO high) |
| ENS160 | Gas/Air Quality | I2C1 | GP2 | GP3 | 0x53 (ADDR high) |
| LSM6DSOX | 6-axis IMU | I2C0 | GP28 | GP29 | 0x6A (SA0 low) |
| LIS3MDL | Magnetometer | I2C0 | GP28 | GP29 | 0x1C (SA1 low) |
CRITICAL: Use the SCAN command to verify which I2C bus sensors are actually on. The ENS160 was initially assumed to be on I2C0 but scanning revealed it was on I2C1 with BMP390.
Datasheet: Bosch BMP390
| Register | Address | Description |
|---|---|---|
| CHIP_ID | 0x00 | Chip ID (reads 0x60) |
| ERR_REG | 0x02 | Error register |
| STATUS | 0x03 | Sensor status |
| DATA_0-5 | 0x04-0x09 | Pressure and temperature data |
| INT_STATUS | 0x11 | Interrupt status |
| PWR_CTRL | 0x1B | Power control (enable press/temp) |
| OSR | 0x1C | Oversampling settings |
| ODR | 0x1D | Output data rate |
| CONFIG | 0x1F | IIR filter config |
| CALIB_DATA | 0x31-0x45 | Calibration coefficients (21 bytes) |
| CMD | 0x7E | Command register |
const BMP390_ADDR: u8 = 0x77;
const CHIP_ID: u8 = 0x00;
const PWR_CTRL: u8 = 0x1B;
const OSR: u8 = 0x1C;
const ODR: u8 = 0x1D;
// 1. Read and verify chip ID (should be 0x60)
let mut id = [0u8];
i2c.write_read(BMP390_ADDR, &[CHIP_ID], &mut id).await?;
assert_eq!(id[0], 0x60);
// 2. Read calibration data (21 bytes from 0x31)
let mut calib = [0u8; 21];
i2c.write_read(BMP390_ADDR, &[0x31], &mut calib).await?;
// 3. Configure oversampling (x8 pressure, x1 temp)
i2c.write(BMP390_ADDR, &[OSR, 0b00000011]).await?;
// 4. Configure ODR (50 Hz = 0x02)
i2c.write(BMP390_ADDR, &[ODR, 0x02]).await?;
// 5. Enable pressure and temp, normal mode
// PWR_CTRL: press_en=1, temp_en=1, mode=normal(11)
i2c.write(BMP390_ADDR, &[PWR_CTRL, 0b00110011]).await?;
const DATA_0: u8 = 0x04;
// Read 6 bytes: pressure (3) + temperature (3)
let mut data = [0u8; 6];
i2c.write_read(BMP390_ADDR, &[DATA_0], &mut data).await?;
// Pressure: 24-bit unsigned (XLSB, LSB, MSB)
let press_raw = (data[2] as u32) << 16 | (data[1] as u32) << 8 | data[0] as u32;
// Temperature: 24-bit unsigned (XLSB, LSB, MSB)
let temp_raw = (data[5] as u32) << 16 | (data[4] as u32) << 8 | data[3] as u32;
// Apply compensation algorithm from datasheet using calibration data
Datasheet: ScioSense ENS160
Note: The ENS160 also supports SPI mode. When using I2C, the CS pin must be held HIGH.
| Register | Address | Description |
|---|---|---|
| PART_ID | 0x00 | Part ID (reads 0x0160, 2 bytes LE) |
| OPMODE | 0x10 | Operating mode |
| CONFIG | 0x11 | Configuration |
| COMMAND | 0x12 | Command register |
| TEMP_IN | 0x13 | Temperature compensation input (2 bytes) |
| RH_IN | 0x15 | Humidity compensation input (2 bytes) |
| DEVICE_STATUS | 0x20 | Device status |
| DATA_AQI | 0x21 | Air Quality Index (1 byte) |
| DATA_TVOC | 0x22 | TVOC in ppb (2 bytes LE) |
| DATA_ECO2 | 0x24 | eCO2 in ppm (2 bytes LE) |
[3:2] VALIDITY: Data validity
00 = Normal operation
01 = Warm-up phase (data not ready)
10 = Initial start-up phase
11 = Invalid output
[1] NEWDAT: New data available
[0] NEWGPR: New GPR data available
const ENS160_ADDR: u8 = 0x53;
const PART_ID: u8 = 0x00;
const OPMODE: u8 = 0x10;
const COMMAND: u8 = 0x12;
// 1. Read and verify part ID (should be 0x0160)
let mut id_buf = [0u8; 2];
i2c.write_read(ENS160_ADDR, &[PART_ID], &mut id_buf).await?;
let part_id = u16::from_le_bytes(id_buf);
assert_eq!(part_id, 0x0160);
// 2. Set to idle mode (required before configuration)
i2c.write(ENS160_ADDR, &[OPMODE, 0x01]).await?;
Timer::after_millis(10).await;
// 3. Clear GPR registers (command 0xCC)
i2c.write(ENS160_ADDR, &[COMMAND, 0xCC]).await?;
Timer::after_millis(10).await;
// 4. Set to standard operating mode
i2c.write(ENS160_ADDR, &[OPMODE, 0x02]).await?;
Timer::after_millis(50).await;
const DEVICE_STATUS: u8 = 0x20;
const DATA_AQI: u8 = 0x21;
const DATA_TVOC: u8 = 0x22;
const DATA_ECO2: u8 = 0x24;
// Check status first
let mut status = [0u8];
i2c.write_read(ENS160_ADDR, &[DEVICE_STATUS], &mut status).await?;
// Check validity bits [3:2]
let validity = (status[0] & 0x0C) >> 2;
if validity > 1 {
// 0 = normal, 1 = warm-up, 2+ = not ready
return Ok(()); // Skip reading, keep previous values
}
// Read AQI (1 byte)
let mut aqi_buf = [0u8];
i2c.write_read(ENS160_ADDR, &[DATA_AQI], &mut aqi_buf).await?;
let aqi = aqi_buf[0]; // 1-5 scale
// Read TVOC (2 bytes, little-endian)
let mut tvoc_buf = [0u8; 2];
i2c.write_read(ENS160_ADDR, &[DATA_TVOC], &mut tvoc_buf).await?;
let tvoc_ppb = u16::from_le_bytes(tvoc_buf);
// Read eCO2 (2 bytes, little-endian)
let mut eco2_buf = [0u8; 2];
i2c.write_read(ENS160_ADDR, &[DATA_ECO2], &mut eco2_buf).await?;
let eco2_ppm = u16::from_le_bytes(eco2_buf);
const TEMP_IN: u8 = 0x13;
const RH_IN: u8 = 0x15;
// Temperature in centidegrees (25.5°C = 2550)
// ENS160 expects: (T + 273.15) * 64
let temp_encoded = ((temp_centideg as u32 + 27315) * 64 / 100) as u16;
let bytes = temp_encoded.to_le_bytes();
i2c.write(ENS160_ADDR, &[TEMP_IN, bytes[0], bytes[1]]).await?;
// Humidity in percent * 100 (50.5% = 5050)
// ENS160 expects: RH * 512 / 100
let rh_encoded = (rh_centipercent as u32 * 512 / 10000) as u16;
let bytes = rh_encoded.to_le_bytes();
i2c.write(ENS160_ADDR, &[RH_IN, bytes[0], bytes[1]]).await?;
| Value | Air Quality |
|---|---|
| 1 | Excellent |
| 2 | Good |
| 3 | Moderate |
| 4 | Poor |
| 5 | Unhealthy |
Datasheet: ST LSM6DSOX
| Register | Address | Description |
|---|---|---|
| FUNC_CFG_ACCESS | 0x01 | Embedded functions config |
| WHO_AM_I | 0x0F | Device ID (reads 0x6C) |
| CTRL1_XL | 0x10 | Accelerometer control |
| CTRL2_G | 0x11 | Gyroscope control |
| CTRL3_C | 0x12 | Control register 3 |
| CTRL6_C | 0x15 | Accelerometer power mode |
| CTRL7_G | 0x16 | Gyroscope power mode |
| STATUS_REG | 0x1E | Data ready status |
| OUTX_L_G | 0x22 | Gyro X low byte |
| OUTX_H_G | 0x23 | Gyro X high byte |
| OUTY_L_G | 0x24 | Gyro Y low byte |
| OUTY_H_G | 0x25 | Gyro Y high byte |
| OUTZ_L_G | 0x26 | Gyro Z low byte |
| OUTZ_H_G | 0x27 | Gyro Z high byte |
| OUTX_L_A | 0x28 | Accel X low byte |
| OUTX_H_A | 0x29 | Accel X high byte |
| OUTY_L_A | 0x2A | Accel Y low byte |
| OUTY_H_A | 0x2B | Accel Y high byte |
| OUTZ_L_A | 0x2C | Accel Z low byte |
| OUTZ_H_A | 0x2D | Accel Z high byte |
[7:4] ODR_XL: Output data rate
0000 = Power-down
0001 = 12.5 Hz
0010 = 26 Hz
0011 = 52 Hz
0100 = 104 Hz
0101 = 208 Hz
0110 = 416 Hz
0111 = 833 Hz
1000 = 1.66 kHz
1001 = 3.33 kHz
1010 = 6.66 kHz
[3:2] FS_XL: Full-scale selection
00 = ±2 g
01 = ±16 g
10 = ±4 g
11 = ±8 g
[1] LPF2_XL_EN: Low-pass filter enable
[0] (unused)
[7:4] ODR_G: Output data rate (same as accelerometer)
[3:2] FS_G: Full-scale selection
00 = ±250 dps
01 = ±500 dps
10 = ±1000 dps
11 = ±2000 dps
[1] FS_125: 125 dps full-scale (overrides FS_G if set)
[0] (unused)
const LSM6DSOX_ADDR: u8 = 0x6A;
const WHO_AM_I: u8 = 0x0F;
const CTRL1_XL: u8 = 0x10;
const CTRL2_G: u8 = 0x11;
const CTRL3_C: u8 = 0x12;
// 1. Read and verify WHO_AM_I (should be 0x6C)
let mut who = [0u8];
i2c.write_read(LSM6DSOX_ADDR, &[WHO_AM_I], &mut who).await?;
assert_eq!(who[0], 0x6C);
// 2. Software reset
i2c.write(LSM6DSOX_ADDR, &[CTRL3_C, 0x01]).await?;
Timer::after_millis(10).await;
// 3. Configure accelerometer: 104 Hz, ±16g
// ODR=0100, FS=01 (±16g) -> 0b0100_0100 = 0x44
i2c.write(LSM6DSOX_ADDR, &[CTRL1_XL, 0x44]).await?;
// 4. Configure gyroscope: 104 Hz, ±2000 dps
// ODR=0100, FS=11 (±2000 dps) -> 0b0100_1100 = 0x4C
i2c.write(LSM6DSOX_ADDR, &[CTRL2_G, 0x4C]).await?;
const OUTX_L_G: u8 = 0x22;
// Read 12 bytes: gyro (6) + accel (6)
let mut data = [0u8; 12];
i2c.write_read(LSM6DSOX_ADDR, &[OUTX_L_G], &mut data).await?;
// Gyroscope (signed 16-bit, dps)
let gx = i16::from_le_bytes([data[0], data[1]]);
let gy = i16::from_le_bytes([data[2], data[3]]);
let gz = i16::from_le_bytes([data[4], data[5]]);
// Accelerometer (signed 16-bit, g)
let ax = i16::from_le_bytes([data[6], data[7]]);
let ay = i16::from_le_bytes([data[8], data[9]]);
let az = i16::from_le_bytes([data[10], data[11]]);
// Convert to physical units
// For ±16g: sensitivity = 0.488 mg/LSB
// For ±2000 dps: sensitivity = 70 mdps/LSB
Datasheet: ST LIS3MDL
| Register | Address | Description |
|---|---|---|
| WHO_AM_I | 0x0F | Device ID (reads 0x3D) |
| CTRL_REG1 | 0x20 | Control register 1 (ODR, mode) |
| CTRL_REG2 | 0x21 | Control register 2 (full-scale) |
| CTRL_REG3 | 0x22 | Control register 3 (power mode) |
| CTRL_REG4 | 0x23 | Control register 4 (Z-axis mode) |
| CTRL_REG5 | 0x24 | Control register 5 (block update) |
| STATUS_REG | 0x27 | Data status |
| OUT_X_L | 0x28 | X output low byte |
| OUT_X_H | 0x29 | X output high byte |
| OUT_Y_L | 0x2A | Y output low byte |
| OUT_Y_H | 0x2B | Y output high byte |
| OUT_Z_L | 0x2C | Z output low byte |
| OUT_Z_H | 0x2D | Z output high byte |
| TEMP_OUT_L | 0x2E | Temperature low byte |
| TEMP_OUT_H | 0x2F | Temperature high byte |
[7] TEMP_EN: Temperature sensor enable
[6:5] OM: X/Y-axis operative mode
00 = Low-power
01 = Medium-performance
10 = High-performance
11 = Ultra-high performance
[4:2] DO: Output data rate
000 = 0.625 Hz
001 = 1.25 Hz
010 = 2.5 Hz
011 = 5 Hz
100 = 10 Hz
101 = 20 Hz
110 = 40 Hz
111 = 80 Hz
[1] FAST_ODR: Enable rates >80 Hz
[0] ST: Self-test enable
[6:5] FS: Full-scale configuration
00 = ±4 gauss
01 = ±8 gauss
10 = ±12 gauss
11 = ±16 gauss
[1:0] MD: Operating mode
00 = Continuous-conversion
01 = Single-conversion
10 = Power-down (default)
11 = Power-down
const LIS3MDL_ADDR: u8 = 0x1C;
const WHO_AM_I: u8 = 0x0F;
const CTRL_REG1: u8 = 0x20;
const CTRL_REG2: u8 = 0x21;
const CTRL_REG3: u8 = 0x22;
const CTRL_REG4: u8 = 0x23;
// 1. Read and verify WHO_AM_I (should be 0x3D)
let mut who = [0u8];
i2c.write_read(LIS3MDL_ADDR, &[WHO_AM_I], &mut who).await?;
assert_eq!(who[0], 0x3D);
// 2. Configure CTRL_REG1: temp enable, ultra-high perf XY, 80 Hz
// TEMP_EN=1, OM=11, DO=111 -> 0b1111_1100 = 0xFC
i2c.write(LIS3MDL_ADDR, &[CTRL_REG1, 0xFC]).await?;
// 3. Configure CTRL_REG2: ±4 gauss (default, 0x00)
i2c.write(LIS3MDL_ADDR, &[CTRL_REG2, 0x00]).await?;
// 4. Configure CTRL_REG3: continuous mode
i2c.write(LIS3MDL_ADDR, &[CTRL_REG3, 0x00]).await?;
// 5. Configure CTRL_REG4: ultra-high performance Z-axis
// OMZ=11 -> 0b0000_1100 = 0x0C
i2c.write(LIS3MDL_ADDR, &[CTRL_REG4, 0x0C]).await?;
const OUT_X_L: u8 = 0x28;
// Read 6 bytes (can also read with auto-increment: 0x28 | 0x80)
let mut data = [0u8; 6];
i2c.write_read(LIS3MDL_ADDR, &[OUT_X_L | 0x80], &mut data).await?;
// Magnetometer (signed 16-bit, gauss)
let mx = i16::from_le_bytes([data[0], data[1]]);
let my = i16::from_le_bytes([data[2], data[3]]);
let mz = i16::from_le_bytes([data[4], data[5]]);
// Convert to physical units
// For ±4 gauss: sensitivity = 6842 LSB/gauss
use embassy_rp::i2c::{I2c, Config, InterruptHandler};
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::{I2C0, I2C1};
bind_interrupts!(struct Irqs {
I2C0_IRQ => InterruptHandler<I2C0>;
I2C1_IRQ => InterruptHandler<I2C1>;
});
// I2C0 for IMU (LSM6DSOX + LIS3MDL): SDA=GP28, SCL=GP29
let mut config = Config::default();
config.frequency = 400_000; // 400 kHz Fast mode
let i2c0 = I2c::new_async(p.I2C0, p.PIN_29, p.PIN_28, Irqs, config);
// I2C1 for Barometer (BMP390) and Gas Sensor (ENS160): SDA=GP2, SCL=GP3
let i2c1 = I2c::new_async(p.I2C1, p.PIN_3, p.PIN_2, Irqs, config);
Note: Embassy I2C::new_async takes pins as (SCL, SDA) not (SDA, SCL).
Use the SCAN command to discover devices on both I2C buses:
// Add to command handler
} else if cmd.starts_with(b"SCAN") {
use embedded_hal_async::i2c::I2c as I2cTrait;
let _ = class.write_packet(b"I2C0 scan:\r\n").await;
for addr in 0x08u8..0x78u8 {
let mut buf = [0u8; 1];
if i2c0.read(addr, &mut buf).await.is_ok() {
// Device found at addr
let mut msg: heapless::String<16> = heapless::String::new();
let _ = write!(msg, " 0x{:02X}\r\n", addr);
let _ = class.write_packet(msg.as_bytes()).await;
}
}
// Repeat for i2c1...
}
Expected output for our hardware:
I2C0 scan:
0x1C # LIS3MDL
0x6A # LSM6DSOX
I2C1 scan:
0x53 # ENS160
0x77 # BMP390
Requires calibration coefficients from registers 0x31-0x45. See datasheet section 8.4 for compensation formulas.
| Accel Range | Sensitivity |
|---|---|
| ±2 g | 0.061 mg/LSB |
| ±4 g | 0.122 mg/LSB |
| ±8 g | 0.244 mg/LSB |
| ±16 g | 0.488 mg/LSB |
| Gyro Range | Sensitivity |
|---|---|
| ±125 dps | 4.375 mdps/LSB |
| ±250 dps | 8.75 mdps/LSB |
| ±500 dps | 17.5 mdps/LSB |
| ±1000 dps | 35 mdps/LSB |
| ±2000 dps | 70 mdps/LSB |
| Mag Range | Sensitivity |
|---|---|
| ±4 gauss | 6842 LSB/gauss |
| ±8 gauss | 3421 LSB/gauss |
| ±12 gauss | 2281 LSB/gauss |
| ±16 gauss | 1711 LSB/gauss |
If sensor reads hang after successful initialization:
use embedded_hal_async::i2c::I2c as I2cTrait; in each moduleWhen sensor reads aren't working, use this progressive debugging approach:
// Add debug output before/after each operation
let _ = class.write_packet(b"SENSOR_NAME...\r\n").await;
if sensor::read(&mut i2c, &mut data).await.is_err() {
let _ = class.write_packet(b"SENSOR_NAME ERR\r\n").await;
}
let _ = class.write_packet(b"SENSOR_NAME DONE\r\n").await;
This reveals exactly which operation hangs - invaluable for I2C debugging.
The current pico_logger implementation in pico_logger/src/sensors/ provides working drivers for all three sensors. Key patterns:
init() and read() functionsuse embedded_hal_async::i2c::I2c as I2cTrait;