Add BHI385 MicroPython module

.gitignore

@@ -0,0 +1,5 @@
+.vscode/
+build/
+Build/
+examples/.DS_Store
+.DS_Store

README.md

@@ -21,6 +21,7 @@ Each module in the library is designed to be lightweight, readable, and compatib
 ### Sensors
 - [AD8495](Sensors/AD8495/)
 - [APDS9960](Sensors/APDS9960/)
+- [BHI385](Sensors/BHI385/)
 - [BME280](Sensors/BME280/)
 - [BME680](Sensors/BME680/)
 - [BME688](Sensors/BME688/)

Sensors/BHI385/BHI385/Examples/bhi385-doubleTap.py

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+# FILE: bhi385-doubleTap.py
+# AUTHOR: Josip Šimun Kuči @ Soldered
+# BRIEF: Detect double taps using the Bosch BHI385 Smart IMU multi-tap virtual
+#        sensor (sensor ID 153). Tap the board/sensor twice in quick succession
+#        to trigger a detection. The firmware's double-tap algorithm requires
+#        two sharp acceleration impulses within a short time window.
+# WORKS WITH: Bosch BHI385 Smart IMU breakout: www.solde.red/333232
+# LAST UPDATED: 2026-04-15
+
+from machine import Pin, I2C
+from bhi385 import BHI385, BHI385_I2C_ADDR_HIGH, BHI385_TAP_DOUBLE
+import time
+
+SCL_PIN = 22
+SDA_PIN = 21
+
+i2c = I2C(0, scl=Pin(SCL_PIN), sda=Pin(SDA_PIN), freq=400000)
+imu = BHI385(i2c, BHI385_I2C_ADDR_HIGH)
+
+print("BHI385 Double Tap Detection example")
+
+if not imu.begin():
+    print("ERROR: BHI385 not found! Check wiring.")
+    raise SystemExit
+
+imu.enableDebug()
+
+print("Loading firmware...")
+with open("bhi385_firmware.bin", "rb") as f:
+    firmware = f.read()
+
+if not imu.loadFirmware(firmware):
+    print("Firmware load failed.")
+    raise SystemExit
+print("Firmware loaded successfully.")
+
+# Enable multi-tap sensor configured for double-tap-only detection at 100 Hz
+if not imu.enableMultiTapDetect(BHI385_TAP_DOUBLE, 100.0):
+    print("ERROR: Failed to enable multi-tap sensor.")
+    raise SystemExit
+print("Double tap detection enabled.")
+
+imu.disableDebug()
+
+print()
+print("Tap the sensor twice quickly to detect a double tap.")
+print("Count  Type")
+
+tap_count = 0
+
+# Poll without delay — tap events are instantaneous and the FIFO should be
+# drained as quickly as possible after the interrupt fires.
+while True:
+    imu.update()
+
+    if imu.tapUpdated() and imu.getTapType() == BHI385_TAP_DOUBLE:
+        tap_count += 1
+        print("{}      Double tap".format(tap_count))
+
+    imu.clearUpdatedFlags()

Sensors/BHI385/BHI385/Examples/bhi385-doubleTapInterrupt.py

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+# FILE: bhi385-doubleTapInterrupt.py
+# AUTHOR: Josip Šimun Kuči @ Soldered
+# BRIEF: Detect double taps using the BHI385 multi-tap sensor driven by a
+#        hardware interrupt for immediate response. The tap sensor is a wake-up
+#        sensor — its events appear in the wake-up FIFO and assert the INT pin.
+#        Note: double-tap detection requires the firmware to observe two impulses
+#        within a short window, so the interrupt fires slightly later than for a
+#        single tap — this is expected behaviour.
+# WORKS WITH: Bosch BHI385 Smart IMU breakout: www.solde.red/333232
+# LAST UPDATED: 2026-04-15
+
+from machine import Pin, I2C
+from bhi385 import BHI385, BHI385_I2C_ADDR_HIGH, BHI385_TAP_DOUBLE
+import time
+
+# GPIO connected to the BHI385 INT pin — change as needed
+INT_PIN = 4
+
+SCL_PIN = 22
+SDA_PIN = 21
+
+i2c = I2C(0, scl=Pin(SCL_PIN), sda=Pin(SDA_PIN), freq=400000)
+imu = BHI385(i2c, BHI385_I2C_ADDR_HIGH)
+
+print("BHI385 Double Tap (interrupt mode)")
+
+if not imu.begin():
+    print("ERROR: BHI385 not found! Check wiring.")
+    raise SystemExit
+
+imu.enableDebug()
+
+print("Loading firmware...")
+with open("bhi385_firmware.bin", "rb") as f:
+    firmware = f.read()
+
+if not imu.loadFirmware(firmware):
+    print("Firmware load failed.")
+    raise SystemExit
+print("Firmware loaded successfully.")
+
+if not imu.enableMultiTapDetect(BHI385_TAP_DOUBLE, 100.0):
+    print("ERROR: Failed to enable multi-tap sensor.")
+    raise SystemExit
+print("Double tap detection enabled.")
+
+imu.disableDebug()
+
+# Attach interrupt AFTER firmware is loaded and sensors are configured
+int_fired = False
+
+
+def on_bhi385_int(pin):
+    global int_fired
+    int_fired = True
+
+
+int_pin = Pin(INT_PIN, Pin.IN)
+int_pin.irq(trigger=Pin.IRQ_RISING, handler=on_bhi385_int)
+
+print()
+print("Tap the sensor twice quickly to trigger a double tap.")
+print("Count  Type")
+
+tap_count = 0
+
+while True:
+    if not int_fired:
+        continue
+
+    int_fired = False
+    imu.update()
+
+    if imu.tapUpdated() and imu.getTapType() == BHI385_TAP_DOUBLE:
+        tap_count += 1
+        print("{}      Double tap".format(tap_count))
+
+    imu.clearUpdatedFlags()

Sensors/BHI385/BHI385/Examples/bhi385-gameRotationVector.py

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+# FILE: bhi385-gameRotationVector.py
+# AUTHOR: Josip Šimun Kuči @ Soldered
+# BRIEF: Read a normalized quaternion from the Bosch BHI385 Smart IMU using the
+#        Game Rotation Vector virtual sensor (sensor ID 37).
+#        The Game Rotation Vector fuses accelerometer and gyroscope data to
+#        produce a quaternion (x, y, z, w). It does NOT use a magnetometer, so
+#        yaw is relative to the device orientation at power-on. Pitch and roll
+#        are absolute (gravity-referenced).
+# WORKS WITH: Bosch BHI385 Smart IMU breakout: www.solde.red/333232
+# LAST UPDATED: 2026-04-15
+
+from machine import Pin, I2C
+from bhi385 import BHI385, BHI385_I2C_ADDR_HIGH
+import time
+
+SCL_PIN = 22
+SDA_PIN = 21
+
+i2c = I2C(0, scl=Pin(SCL_PIN), sda=Pin(SDA_PIN), freq=400000)
+imu = BHI385(i2c, BHI385_I2C_ADDR_HIGH)
+
+print("BHI385 Game Rotation Vector example")
+
+if not imu.begin():
+    print("ERROR: BHI385 not found! Check wiring.")
+    raise SystemExit
+
+imu.enableDebug()
+
+print("Loading firmware...")
+with open("bhi385_firmware.bin", "rb") as f:
+    firmware = f.read()
+
+if not imu.loadFirmware(firmware):
+    print("Firmware load failed.")
+    raise SystemExit
+print("Firmware loaded successfully.")
+
+# Enable Game Rotation Vector at 100 Hz
+if not imu.enableGameRotationVector(100.0):
+    print("ERROR: Failed to enable Game Rotation Vector.")
+    raise SystemExit
+print("Game Rotation Vector enabled: 100 Hz")
+
+imu.disableDebug()
+
+print()
+print("Quat X      Quat Y      Quat Z      Quat W")
+
+while True:
+    imu.update()
+
+    if imu.quatUpdated():
+        print(
+            "{:.4f}      {:.4f}      {:.4f}      {:.4f}".format(
+                imu.getQuatX(), imu.getQuatY(), imu.getQuatZ(), imu.getQuatW()
+            )
+        )
+
+    imu.clearUpdatedFlags()
+    time.sleep_ms(20)

Sensors/BHI385/BHI385/Examples/bhi385-readAccelGyro.py

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+# FILE: bhi385-readAccelGyro.py
+# AUTHOR: Josip Šimun Kuči @ Soldered
+# BRIEF: Read accelerometer and gyroscope data from the Bosch BHI385 Smart IMU
+# WORKS WITH: Bosch BHI385 Smart IMU breakout: www.solde.red/333232
+# LAST UPDATED: 2026-04-15
+
+from machine import Pin, I2C
+from bhi385 import BHI385, BHI385_I2C_ADDR_HIGH, BHI385_ACCEL_8G, BHI385_GYRO_2000DPS
+import time
+
+# Initialize I2C at 400 kHz for faster firmware upload (~1.3 s vs ~5 s)
+SCL_PIN = 22
+SDA_PIN = 21
+
+i2c = I2C(0, scl=Pin(SCL_PIN), sda=Pin(SDA_PIN), freq=400000)
+
+# Initialize sensor. Use BHI385_I2C_ADDR_HIGH (0x29) if HSDO is tied to VDDIO.
+imu = BHI385(i2c, BHI385_I2C_ADDR_HIGH)
+
+print("BHI385 Accelerometer and Gyroscope example")
+
+if not imu.begin():
+    print("ERROR: BHI385 not found! Check wiring, I2C address,.")
+    print("       Chip ID read: 0x{:02X}".format(imu.getChipId()))
+    print("       Expected:   0x7C")
+    raise SystemExit
+
+print("BHI385 found. Boot status: 0x{:02X}".format(imu.getBootStatus()))
+
+# Enable verbose debug output so every step of firmware loading is printed
+imu.enableDebug()
+
+# Load firmware from a binary file. Obtain the firmware from Bosch Sensortec
+# and place it on the filesystem as "bhi385_firmware.bin".
+print("Loading firmware...")
+with open("bhi385_firmware.bin", "rb") as f:
+    firmware = f.read()
+
+if not imu.loadFirmware(firmware):
+    print("Firmware load failed.")
+    raise SystemExit
+
+print("Firmware loaded successfully.")
+
+# Enable accelerometer: 100 Hz, +-8 g
+if not imu.enableAccelerometer(100.0, BHI385_ACCEL_8G):
+    print("ERROR: Failed to enable accelerometer.")
+    raise SystemExit
+print("Accelerometer enabled: 100 Hz, +-8 g")
+
+# Enable gyroscope: 100 Hz, +-2000 deg/s
+if not imu.enableGyroscope(100.0, BHI385_GYRO_2000DPS):
+    print("ERROR: Failed to enable gyroscope.")
+    raise SystemExit
+print("Gyroscope enabled: 100 Hz, +-2000 deg/s")
+
+imu.disableDebug()
+
+print()
+print("AccelX(g)  AccelY(g)  AccelZ(g)  GyroX(dps)  GyroY(dps)  GyroZ(dps)")
+
+# Main loop — poll at ~50 Hz. At 100 Hz sensor rate this typically returns
+# 2 samples per call.
+while True:
+    imu.update()
+
+    accel_str = ""
+    if imu.accelUpdated():
+        accel_str = "{:.4f}  {:.4f}  {:.4f}".format(
+            imu.getAccelX(), imu.getAccelY(), imu.getAccelZ()
+        )
+    else:
+        accel_str = "N/A        N/A        N/A"
+
+    gyro_str = ""
+    if imu.gyroUpdated():
+        gyro_str = "{:.4f}  {:.4f}  {:.4f}".format(
+            imu.getGyroX(), imu.getGyroY(), imu.getGyroZ()
+        )
+    else:
+        gyro_str = "N/A         N/A         N/A"
+
+    print("{}  {}".format(accel_str, gyro_str))
+
+    imu.clearUpdatedFlags()
+    time.sleep_ms(20)