make bmi088 work and other updates

Cargo.toml

@@ -6,11 +6,12 @@ members = [
     "imu/hexmove",
     "imu/hiwonder",
     "imu/bno055",
+    "imu/bmi088",
 ]
 resolver = "2"
 
 [workspace.package]
-version = "0.2.3"
+version = "0.3.1"
 authors = ["Wesley Maa <wesley@kscale.dev>"]
 edition = "2021"
 description = "IMU package"

imu/Cargo.toml

@@ -15,6 +15,7 @@ crate-type = ["rlib"]
 [dependencies]
 hexmove = "0.1.6"
 hiwonder = "0.2.3"
-linux_bno055 = "0.0.6"
+linux_bno055 = "0.0.7"
+linux_bmi088 = "0.0.1"
 socketcan = "3.3.0"
 log = "0.4"

imu/bmi088/Cargo.toml

@@ -0,0 +1,20 @@
+[package]
+name = "linux_bmi088"
+readme = "README.md"
+description = "Interface for BMI088 IMU"
+version = "0.0.1"
+edition.workspace = true
+authors = ["Ali Kuwajerwala <ali@kscale.dev>"]
+license.workspace = true
+repository.workspace = true
+
+[lib]
+name = "linux_bmi088"
+crate-type = ["rlib"]
+
+[dependencies]
+byteorder = "1.5"
+i2cdev = "0.6"
+log = "0.4"
+num-derive = "0.4"
+num-traits = "0.2"

imu/bmi088/README.md

@@ -0,0 +1,7 @@
+# BMI088 IMU
+
+This crate contains the code for interacting with the BMI088 IMU.
+
+Code based on the [embedded-hal implementation of the BMI088](https://github.com/tstellanova/bmi088).
+
+

imu/bmi088/src/bin/read_bmi088.rs

@@ -0,0 +1,31 @@
+use linux_bmi088::Bmi088Reader;
+use std::thread;
+use std::time::Duration;
+
+fn main() -> Result<(), Box<dyn std::error::Error>> {
+    let imu = Bmi088Reader::new("/dev/i2c-1")?;
+    println!("Reading BMI088 sensor data...");
+
+    loop {
+        let data = imu.get_data()?;
+        println!(
+            "Quaternion: w={:.3}, x={:.3}, y={:.3}, z={:.3}",
+            data.quaternion.w, data.quaternion.x, data.quaternion.y, data.quaternion.z
+        );
+        println!(
+            "Accel: x={:.2} g, y={:.2} g, z={:.2} g",
+            data.accelerometer.x, data.accelerometer.y, data.accelerometer.z
+        );
+        println!(
+            "Gyro:  x={:.2} °/s, y={:.2} °/s, z={:.2} °/s",
+            data.gyroscope.x, data.gyroscope.y, data.gyroscope.z
+        );
+        println!(
+            "Euler: roll={:.1}°, pitch={:.1}°, yaw={:.1}°",
+            data.euler.roll, data.euler.pitch, data.euler.yaw
+        );
+        println!("Temp:  {:.1} °C", data.temperature);
+        println!("----------------------------------------");
+        thread::sleep(Duration::from_millis(100));
+    }
+}