🛩️ RT-Sense

Modular Deterministic Sensor Library Development for Quadcopter Applications

High-performance and modular C drivers for the following sensors, tailored for real-time quadcopter applications:

• BMP388 – Digital Barometric Pressure and Temperature Sensor
• BMI160 – 6-axis Accelerometer and Gyroscope
• HMC5883L – 3-axis Digital Compass (Magnetometer)

Each driver is written in portable, dependency-free C language and is designed for easy integration with STM32 and other ARM Cortex-M MCUs using HAL or bare metal I2C/SPI interfaces. The driver libraries for BMP388 and BMI160 are the official libraries of Bosch and ported to the STM32 platform.

📌 Features

BMP388 Driver (Digital Pressure Sensor)

• IIR Filter Coefficient [x3]
• Oversampling Coefficient for Pressure Data [x8]
• Oversampling Coefficient for Temperature Data [x1]
• RMS Noise [11cm]
• ODR [50Hz]
• Drdy interrupt for deterministic application

BMI160 Driver (6-DOF IMU Sensor)

• Accelerometer Range [+-16g]
• Accelerometer Bandwith [AVG4]
• Accelerometer ODR [1600Hz]
• Gyroscope Range [+-2000dps]
• Gyroscope Bandwith [Normal_Mode]
• Gyroscope ODR [3200Hz]
• Drdy interrupt for deterministic application

HMC5883L Driver (3-DOF Magnetometer Sensor)

• Oversampling Coefficient [x8]
• Gain Setting [x5]
• ODR [160Hz]
• Drdy interrupt for deterministic application

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🚧 Upcoming Sensor Libraries

The following sensor drivers are currently under development and will be added to this repository soon:

• INA219A – High-side current and power monitor. Will support voltage, current, and power calculations over I2C.
• BNO055 – 9-DOF absolute orientation sensor with built-in sensor fusion (accelerometer, gyroscope, and magnetometer with quaternion output).
• BMP180 – Digital pressure sensor. Lightweight driver for basic altitude estimation and weather-related applications.
• HC-SR04 – Ultrasonic distance sensor. Planned with millisecond-accurate timing using interrupt-driven or timer-based echo pulse measurement.