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.. py:module:: bhi160

``bhi160`` - Sensor Fusion
==========================
.. versionadded:: 1.4

Supports the BHI160 sensor on the card10 for accelerometer, gyroscope...

**Example**:

.. code-block:: python

   import bhi160
   import utime
   
   bhi = bhi160.BHI160Orientation()

    while True:
        samples = bhi.read()
        print(samples)
        utime.sleep(0.5)


.. class:: bhi160.BHI160Orientation(sample_rate,dynamic_range,callback,sample_buffer_len)

    Orientation of the BHI160

    Parameters:
        sample_rate: int, optional
            Sample rate (default is 4)
        dynamic_range: int, optional
            Dynamic range (default is 2)
        callback: callable, optional
            Call this callback when enough data is collected (default is None)

            .. todo:: The callback functionality is untested, so do not be confused if it does not work.
        sample_buffer_len: int, optional
            Length of sample buffer (default is 200)

   .. py:method:: read():

   Read sensor values

   :returns: Collected sensor values as list

   .. py:method:: close():

   Close the connection to the sensor

   
.. class:: bhi160.BHI160Accelerometer

    Accelerometer of the BHI160

    Parameters:
        sample_rate: int, optional
            Sample rate (default is 4)
        dynamic_range: int, optional
            Dynamic range (default is 2)
        callback: callable, optional
            Call this callback when enough data is collected (default is None)

            .. todo:: The callback functionality is untested, so do not be confused if it does not work.
        sample_buffer_len: int, optional
            Length of sample buffer (default is 200)

   .. py:method:: read():

   Read sensor values

   :returns: Collected sensor values as list

   .. py:method:: close():

   Close the connection to the sensor

.. class:: bhi160.BHI160Gyroscope

    Gyroscope of the BHI160

    Parameters:
        sample_rate: int, optional
            Sample rate (default is 4)
        dynamic_range: int, optional
            Dynamic range (default is 2)
        callback: callable, optional
            Call this callback when enough data is collected (default is None)

            .. todo:: The callback functionality is untested, so do not be confused if it does not work.
        sample_buffer_len: int, optional
            Length of sample buffer (default is 200)

   .. py:method:: read():

   Read sensor values

   :returns: Collected sensor values as list

   .. py:method:: close():

   Close the connection to the sensor

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.. class:: bhi160.BHI160Magnetometer

    Magnetometer of the BHI160

    Parameters:
        sample_rate: int, optional
            Sample rate (default is 4)
        dynamic_range: int, optional
            Dynamic range (default is 1)
        callback: callable, optional
            Call this callback when enough data is collected (default is None)

            .. todo:: The callback functionality is untested, so do not be confused if it does not work.
        sample_buffer_len: int, optional
            Length of sample buffer (default is 200)

   .. py:method:: read():

   Read sensor values

   :returns: Collected sensor values as list

   .. py:method:: close():

   Close the connection to the sensor