Hi all,
BoschSensorHub code didn't support axis remapping. If you are using BHI160, it is recommended to use this code: https://github.com/boschsensortec/BHy1_driver_and_MCU_solution
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Hi Benji,
If you do not use the BMM150, the pull-up resistor is necessary for BHI160B. If you do not use the BMM150, the pins(ASDA,ASCK) can be set as floating for IMU(BMI270, etc.).
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Noticed you wanted uncalibrated data, I'd probably go with the BMI160 (really confusing naming, as the BHI160 is the sensor hub with internal BMI160). There's a chance you could tap into the ASDA and ASCK lines to talk directly to it, but that seems a bit... optimistic.
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