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/**
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*
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* @license MIT License
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*
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* Copyright (c) 2025 lewis he
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* @file BHI260AP_Expand_GPIO.ino
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* @author Lewis He (lewishe@outlook.com)
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* @date 2025-01-04
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* @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI
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*/
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#include <Wire.h>
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#include <SPI.h>
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#include <Arduino.h>
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#include "SensorBHI260AP.hpp"
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#include <Commander.h> //Deplib https://github.com/CreativeRobotics/Commander
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Commander cmd;
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void initialiseCommander();
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// #define USE_I2C_INTERFACE true
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// #define USE_SPI_INTERFACE true
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#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE)
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#define USE_I2C_INTERFACE
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#warning "No interface type is selected, use I2C interface"
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#endif
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#if defined(USE_SPI_INTERFACE)
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#ifndef SPI_MOSI
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#define SPI_MOSI 33
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#endif
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#ifndef SPI_MISO
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#define SPI_MISO 34
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#endif
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#ifndef SPI_SCK
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#define SPI_SCK 35
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#endif
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#ifndef BHI260_IRQ
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#define BHI260_IRQ 37
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#endif
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#ifndef BHI260_CS
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#define BHI260_CS 36
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#endif
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#else //* I2C */
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#ifndef BHI260_SDA
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#define BHI260_SDA 2
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#endif
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#ifndef BHI260_SCL
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#define BHI260_SCL 3
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#endif
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#ifndef BHI260_IRQ
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#define BHI260_IRQ 8
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#endif
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#endif /*USE_SPI_INTERFACE*/
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#ifndef BHI260_RST
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#define BHI260_RST -1
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#endif
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SensorBHI260AP bhy;
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// The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run.
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// #define BOSCH_APP30_SHUTTLE_BHI260_FW
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// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW
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// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X
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// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390
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// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO
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// #define BOSCH_BHI260_AUX_BEM280
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// #define BOSCH_BHI260_AUX_BMM150_BEM280
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// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO
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// #define BOSCH_BHI260_AUX_BMM150_GPIO
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#define BOSCH_BHI260_GPIO
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// Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash
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// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH
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// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH
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// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH
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// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH
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// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH
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// #define BOSCH_BHI260_AUX_BEM280_FLASH
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// #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH
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// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH
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// #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH
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// #define BOSCH_BHI260_GPIO_FLASH
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#include <BoschFirmware.h>
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// Force update of current firmware, whether it exists or not.
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// Only works when external SPI Flash is connected to BHI260.
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// After uploading firmware once, you can change this to false to speed up boot time.
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bool force_update_flash_firmware = true;
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bool isReadyFlag = false;
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void dataReadyISR()
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{
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isReadyFlag = true;
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}
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// Firmware update progress callback
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void progress_callback(void *user_data, uint32_t total, uint32_t transferred)
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{
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float progress = (float)transferred / total * 100;
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Serial.print("Upload progress: ");
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Serial.print(progress);
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Serial.println("%");
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}
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void setup()
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{
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Serial.begin(115200);
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while (!Serial);
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// Set the reset pin
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bhy.setPins(BHI260_RST);
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Serial.println("Initializing Sensors...");
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// Set the firmware array address and firmware size
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bhy.setFirmware(bosch_firmware_image, bosch_firmware_size, bosch_firmware_type, force_update_flash_firmware);
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// Set the firmware update processing progress callback function
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// bhy.setUpdateProcessCallback(progress_callback, NULL);
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// Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes.
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// bhy.setMaxiTransferSize(256);
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// Set the processing fifo data buffer size,The default size is 512 bytes.
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// bhy.setProcessBufferSize(1024);
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// Set to load firmware from flash
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bhy.setBootFromFlash(bosch_firmware_type);
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Serial.println("Initializing Sensors...");
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#ifdef USE_I2C_INTERFACE
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// Using I2C interface
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// BHI260AP_SLAVE_ADDRESS_L = 0x28
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// BHI260AP_SLAVE_ADDRESS_H = 0x29
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if (!bhy.begin(Wire, BHI260AP_SLAVE_ADDRESS_L, BHI260_SDA, BHI260_SCL)) {
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Serial.print("Failed to initialize sensor - error code:");
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Serial.println(bhy.getError());
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while (1) {
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delay(1000);
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}
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}
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#endif
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#ifdef USE_SPI_INTERFACE
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// Using SPI interface
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if (!bhy.begin(SPI, BHI260_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) {
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Serial.print("Failed to initialize sensor - error code:");
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Serial.println(bhy.getError());
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while (1) {
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delay(1000);
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}
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}
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#endif
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Serial.println("Initializing the sensor successfully!");
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// Output all sensors info to Serial
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BoschSensorInfo info = bhy.getSensorInfo();
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#ifdef PLATFORM_HAS_PRINTF
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info.printInfo(Serial);
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#else
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info.printInfo();
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#endif
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initialiseCommander();
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Serial.println("Hello: Type 'help' to get help");
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cmd.printCommandPrompt();
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// Register interrupt function
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pinMode(BHI260_IRQ, INPUT);
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attachInterrupt(BHI260_IRQ, dataReadyISR, RISING);
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}
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uint32_t check_millis = 0;
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void loop()
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{
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//Call the update functions using the activeCommander pointer
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cmd.update();
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// Update sensor fifo
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if (isReadyFlag) {
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isReadyFlag = false;
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bhy.update();
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}
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}
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//All commands for 'master'
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//COMMAND ARRAY ------------------------------------------------------------------------------
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const commandList_t masterCommands[] = {
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{"help", helpHandler, "help"},
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{"set gpio", setGpioLevel, "set gpio level"},
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{"get gpio", getGpioLevel, "get gpio level"},
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{"dis gpio", disGpioMode, "disable gpio"},
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};
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void initialiseCommander()
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{
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cmd.begin(&Serial, masterCommands, sizeof(masterCommands));
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cmd.commandPrompt(ON); //enable the command prompt
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cmd.echo(true); //Echo incoming characters to theoutput port
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cmd.errorMessages(ON); //error messages are enabled - it will tell us if we issue any unrecognised commands
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//Error messaged do NOT work for quick set and get commands
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}
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bool helpHandler(Commander &Cmdr)
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{
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Serial.println("Help:");
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Serial.println("\tCustom firmware valid gpio : 1, 4, 5, 6, 14, 15, 16, 17, 18, 19, 20");
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Serial.println("\tset gpio [gpio num] [level]");
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Serial.println("\tget gpio [gpio num] [pullup]");
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Serial.println("\tdis gpio [gpio num]");
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return 0;
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}
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/*
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* GPIO Comparison Table
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* M1SCX = N.A ! INVALID PIN
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* M1SDX = N.A ! INVALID PIN
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* M1SDI = N.A ! INVALID PIN
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* M2SCX = 14 ! OK
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* M2SDX = 15 ! OK
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* M2SDI = 16 ! OK
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* MCSB1 = 1 ! OK
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* MCSB2 = 4 ! OK
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* M3SCL = 17 ! OK
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* M3SDA = 18 ! OK
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* MCSB3 = 5 ! OK
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* MCSB4 = 6 ! OK
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* JTAG_CLK = 19 ! OK
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* JTAG_DIO = 20 ! OK
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* RESV1 = 2 ! INVALID PIN
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* RESV2 = 3 ! INVALID PIN
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* RESV3 = N.A ! INVALID PIN
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* */
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bool setGpioLevel(Commander &Cmdr)
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{
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int values[2] = {0, 0};
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int items = Cmdr.countItems();
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if (items < 2) {
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return false;
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}
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for (int n = 0; n < 2; n++) {
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Cmdr.getInt(values[n]);
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}
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uint8_t pin = values[0];
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uint8_t level = values[1];
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bhy.digitalWrite(pin, level);
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return 0;
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}
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bool getGpioLevel(Commander &Cmdr)
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{
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int values[2] = {0, 0};
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int items = Cmdr.countItems();
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if (items < 1) {
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return 0;
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}
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if (items > 2 )items = 2;
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for (int n = 0; n < items; n++) {
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Cmdr.getInt(values[n]);
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}
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bool pullup = false;
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uint8_t pin = values[0];
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if (items == 2 ) {
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pullup = values[1];
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}
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uint8_t level = bhy.digitalRead(pin, pullup);
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Serial.print("Get GPIO : "); Serial.print(pin);
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Serial.print(" level is "); Serial.println(level);
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return 0;
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}
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bool disGpioMode(Commander &Cmdr)
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{
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int values[1] = {0};
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int items = Cmdr.countItems();
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if (items < 1) {
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return 0;
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}
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Cmdr.getInt(values[0]);
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uint8_t pin = values[0];
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bhy.disableGpio(pin);
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return 0;
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}
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