initial commit
This commit is contained in:
+348
@@ -0,0 +1,348 @@
|
||||
/**
|
||||
*
|
||||
* @license MIT License
|
||||
*
|
||||
* Copyright (c) 2025 lewis he
|
||||
*
|
||||
* Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
* of this software and associated documentation files (the "Software"), to deal
|
||||
* in the Software without restriction, including without limitation the rights
|
||||
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
* copies of the Software, and to permit persons to whom the Software is
|
||||
* furnished to do so, subject to the following conditions:
|
||||
*
|
||||
* The above copyright notice and this permission notice shall be included in all
|
||||
* copies or substantial portions of the Software.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
* SOFTWARE.
|
||||
*
|
||||
* @file BHI260AP_Klio_Selflearning.ino
|
||||
* @author Lewis He (lewishe@outlook.com)
|
||||
* @date 2025-02-02
|
||||
* @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI
|
||||
*/
|
||||
#include <Wire.h>
|
||||
#include <SPI.h>
|
||||
#include <Arduino.h>
|
||||
#include "SensorBHI260AP.hpp"
|
||||
#include "SensorBHI260AP_Klio.hpp"
|
||||
|
||||
// #define USE_I2C_INTERFACE true
|
||||
// #define USE_SPI_INTERFACE true
|
||||
|
||||
#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE)
|
||||
#define USE_I2C_INTERFACE
|
||||
#warning "No interface type is selected, use I2C interface"
|
||||
#endif
|
||||
|
||||
#if defined(USE_SPI_INTERFACE)
|
||||
#ifndef SPI_MOSI
|
||||
#define SPI_MOSI 33
|
||||
#endif
|
||||
|
||||
#ifndef SPI_MISO
|
||||
#define SPI_MISO 34
|
||||
#endif
|
||||
|
||||
#ifndef SPI_SCK
|
||||
#define SPI_SCK 35
|
||||
#endif
|
||||
|
||||
#ifndef BHI260_IRQ
|
||||
#define BHI260_IRQ 37
|
||||
#endif
|
||||
|
||||
#ifndef BHI260_CS
|
||||
#define BHI260_CS 36
|
||||
#endif
|
||||
|
||||
#else //* I2C */
|
||||
|
||||
#ifndef BHI260_SDA
|
||||
#define BHI260_SDA 2
|
||||
#endif
|
||||
|
||||
#ifndef BHI260_SCL
|
||||
#define BHI260_SCL 3
|
||||
#endif
|
||||
|
||||
#ifndef BHI260_IRQ
|
||||
#define BHI260_IRQ 8
|
||||
#endif
|
||||
#endif /*USE_SPI_INTERFACE*/
|
||||
|
||||
#ifndef BHI260_RST
|
||||
#define BHI260_RST -1
|
||||
#endif
|
||||
|
||||
SensorBHI260AP bhy;
|
||||
SensorBHI260AP_Klio klio(bhy);
|
||||
|
||||
// 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.
|
||||
#define BOSCH_BHI260_KLIO
|
||||
|
||||
// Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash
|
||||
// #define BOSCH_BHI260_KLIO_FLASH
|
||||
// #define BOSCH_BHI260_KLIO_TURBO_FLASH
|
||||
|
||||
#include <BoschFirmware.h>
|
||||
|
||||
// Force update of current firmware, whether it exists or not.
|
||||
// Only works when external SPI Flash is connected to BHI260.
|
||||
// After uploading firmware once, you can change this to false to speed up boot time.
|
||||
bool force_update_flash_firmware = true;
|
||||
|
||||
bool isReadyFlag = false;
|
||||
|
||||
void dataReadyISR()
|
||||
{
|
||||
isReadyFlag = true;
|
||||
}
|
||||
|
||||
// Firmware update progress callback
|
||||
void progress_callback(void *user_data, uint32_t total, uint32_t transferred)
|
||||
{
|
||||
float progress = (float)transferred / total * 100;
|
||||
Serial.print("Upload progress: ");
|
||||
Serial.print(progress);
|
||||
Serial.println("%");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Callback function for handling KLIO sensor recognition events.
|
||||
*
|
||||
* This function is invoked when the KLIO sensor successfully recognizes a specific pattern.
|
||||
* Its main purpose is to print information about the recognized pattern, including the pattern ID
|
||||
* and the recognition count, to the serial monitor. This allows developers to monitor the recognition
|
||||
* process effectively.
|
||||
*
|
||||
* @param pattern_id The unique identifier of the recognized pattern. Each predefined or learned
|
||||
* pattern in the system has a distinct ID, and this parameter indicates which
|
||||
* specific pattern has been recognized.
|
||||
* @param count A floating-point value representing the recognition count. This could be the number
|
||||
* of times the pattern has been recognized, a confidence level associated with the
|
||||
* recognition, or some other metric depending on the implementation of the recognition
|
||||
* algorithm.
|
||||
* @param user_data A pointer to user-defined data. It can be used to pass additional context or
|
||||
* information from the calling code to this callback function. In this implementation,
|
||||
* it is not used, but it is included to maintain compatibility with the callback function signature.
|
||||
*/
|
||||
void recognition_event_callback(uint8_t pattern_id, float count, void *user_data)
|
||||
{
|
||||
Serial.print("<-Recognition[Id:");
|
||||
Serial.print(pattern_id);
|
||||
Serial.print(" Count:");
|
||||
Serial.print(count);
|
||||
Serial.print("]");
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Callback function for KLIO sensor learning events.
|
||||
*
|
||||
* This function is invoked whenever there is a change in the learning process of the KLIO sensor.
|
||||
* It handles different learning - related events, logs information about the learning progress,
|
||||
* and takes actions based on the learning results.
|
||||
*
|
||||
* @param reason The reason for the learning change. It is an enumeration value from the
|
||||
* SensorBHI260AP_Klio::LeaningChangeReason type, indicating why the learning state has changed.
|
||||
* @param progress The current progress of the learning process, represented as an unsigned 32 - bit integer.
|
||||
* This value typically ranges from 0 to 100, indicating the percentage of the learning completion.
|
||||
* @param learn_index The index of the learned pattern. If the learning is invalid, it will be set to
|
||||
* SensorBHI260AP_Klio::INVALID_LEARNING_INDEX. Otherwise, it represents the index of the successfully learned pattern.
|
||||
* @param user_data A pointer to user - defined data. It can be used to pass additional context information
|
||||
* from the calling code to this callback function. In this implementation, it may not be used actively.
|
||||
*/
|
||||
void learning_event_callback(SensorBHI260AP_Klio::LeaningChangeReason reason, uint32_t progress, int learn_index, void *user_data)
|
||||
{
|
||||
// Print the learning event details to the serial monitor, including the progress, reason, and learned pattern index.
|
||||
Serial.print("->Learning [Progress:");
|
||||
Serial.print(progress);
|
||||
Serial.print(" Reason:");
|
||||
Serial.print(static_cast<uint8_t>(reason));
|
||||
Serial.print(" ID:");
|
||||
Serial.print(learn_index);
|
||||
Serial.println("]");
|
||||
|
||||
// Check if the learning index is valid (not equal to INVALID_LEARNING_INDEX).
|
||||
if (learn_index != SensorBHI260AP_Klio::INVALID_LEARNING_INDEX) {
|
||||
// Create a buffer to store the learned pattern data. The buffer size is 252 bytes.
|
||||
uint8_t tmp_buf[252];
|
||||
// Store the size of the buffer. This variable will be updated with the actual size of the learned pattern.
|
||||
uint16_t bufsize = sizeof(tmp_buf);
|
||||
|
||||
// Try to retrieve the learned pattern from the sensor using the getLearnPattern function.
|
||||
// The result indicates whether the retrieval is successful.
|
||||
bool learn_success = klio.getLearnPattern(tmp_buf, &bufsize);
|
||||
if (!learn_success) {
|
||||
// If the retrieval fails, print an error message and the specific error reason.
|
||||
Serial.print("Read learnt failed. Reason:");
|
||||
Serial.println(klio.errorToString());
|
||||
} else {
|
||||
// If the retrieval is successful, print a success message and the details of the learned pattern.
|
||||
Serial.println("Learning the action successfully");
|
||||
Serial.println("PATTERN LEARNT: ");
|
||||
Serial.print("const uint8_t * learn_pattern = { ");
|
||||
// Iterate through the buffer and print the pattern data in hexadecimal format.
|
||||
for (uint16_t i = 0; i < bufsize; i++) {
|
||||
if (i > 0 && i % 8 == 0) {
|
||||
// Print a new line every 8 bytes for better readability.
|
||||
Serial.println();
|
||||
}
|
||||
Serial.print("0x"); Serial.print(tmp_buf[i], HEX);
|
||||
if (i < bufsize - 1) {
|
||||
// Add a comma and a space after each byte except the last one.
|
||||
Serial.print(", ");
|
||||
}
|
||||
}
|
||||
Serial.println(" \n};\n");
|
||||
}
|
||||
// Print a message indicating that the learned pattern will be written.
|
||||
Serial.println("Write the learning pattern.");
|
||||
// Define an example pattern ID.
|
||||
uint8_t examples_id = 1;
|
||||
// Try to write the learned pattern to the sensor using the writePattern function.
|
||||
if (!klio.writePattern(examples_id, tmp_buf, bufsize)) {
|
||||
// If the write operation fails, print an error message.
|
||||
Serial.println("Klio write pattern failed!");
|
||||
}
|
||||
// Print messages indicating that the action recognition will start.
|
||||
Serial.println("Start recognizing actions");
|
||||
Serial.println("Please perform the learned action instructions and the sensor will start to recognize the number of actions.");
|
||||
// Start the recognition process for the specified pattern ID.
|
||||
klio.recognition(&examples_id, 1);
|
||||
}
|
||||
}
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(115200);
|
||||
while (!Serial);
|
||||
|
||||
// Set the reset pin
|
||||
bhy.setPins(BHI260_RST);
|
||||
|
||||
// Set the firmware array address and firmware size
|
||||
bhy.setFirmware(bosch_firmware_image, bosch_firmware_size, bosch_firmware_type, force_update_flash_firmware);
|
||||
|
||||
// Set the firmware update processing progress callback function
|
||||
// bhy.setUpdateProcessCallback(progress_callback, NULL);
|
||||
|
||||
// Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes.
|
||||
// bhy.setMaxiTransferSize(256);
|
||||
|
||||
// Set the processing fifo data buffer size,The default size is 512 bytes.
|
||||
// bhy.setProcessBufferSize(1024);
|
||||
|
||||
// Set to load firmware from flash
|
||||
bhy.setBootFromFlash(bosch_firmware_type);
|
||||
|
||||
Serial.println("Initializing Sensors...");
|
||||
|
||||
#ifdef USE_I2C_INTERFACE
|
||||
// Using I2C interface
|
||||
// BHI260AP_SLAVE_ADDRESS_L = 0x28
|
||||
// BHI260AP_SLAVE_ADDRESS_H = 0x29
|
||||
if (!bhy.begin(Wire, BHI260AP_SLAVE_ADDRESS_L, BHI260_SDA, BHI260_SCL)) {
|
||||
Serial.print("Failed to initialize sensor - error code:");
|
||||
Serial.println(bhy.getError());
|
||||
while (1) {
|
||||
delay(1000);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef USE_SPI_INTERFACE
|
||||
// Using SPI interface
|
||||
if (!bhy.begin(SPI, BHI260_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) {
|
||||
Serial.print("Failed to initialize sensor - error code:");
|
||||
Serial.println(bhy.getError());
|
||||
while (1) {
|
||||
delay(1000);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
Serial.println("Initializing the sensor successfully!");
|
||||
|
||||
// Output all sensors info to Serial
|
||||
BoschSensorInfo info = bhy.getSensorInfo();
|
||||
#ifdef PLATFORM_HAS_PRINTF
|
||||
info.printInfo(Serial);
|
||||
#else
|
||||
info.printInfo();
|
||||
#endif
|
||||
|
||||
// Try to initialize the KLIO sensor.
|
||||
// The begin() method is called on the 'klio' object to set up the sensor.
|
||||
if (!klio.begin()) {
|
||||
while (1) {
|
||||
Serial.println("Failed to initialize Klio sensor. Are you currently using a firmware that includes Klio sensor functionality?");
|
||||
delay(1000);
|
||||
}
|
||||
}
|
||||
|
||||
// Call the getMaxPatterns() method of the klio object to get the maximum number of patterns allowed by the KLIO sensor.
|
||||
// This method returns a value of type uint8_t representing the maximum number of patterns and stores it in the variable max_patterns.
|
||||
uint8_t max_patterns = klio.getMaxPatterns();
|
||||
Serial.print("Klio sensor max patterns:");
|
||||
Serial.println(max_patterns);
|
||||
|
||||
// Set the callback function for learning events.
|
||||
// The setLearningCallback() method is used to register a function that will be called
|
||||
// whenever a learning - related event occurs in the KLIO sensor.
|
||||
// 'learning_event_callback' is the name of the callback function,
|
||||
// and 'nullptr' is passed as the user data pointer, meaning no additional user - specific data is provided.
|
||||
klio.setLearningCallback(learning_event_callback, nullptr);
|
||||
|
||||
// Set the callback function for recognition events.
|
||||
// Similar to the learning callback, the setRecognitionCallback() method registers a function
|
||||
// that will be invoked when a recognition - related event happens in the KLIO sensor.
|
||||
// 'recognition_event_callback' is the callback function, and 'nullptr' is used as the user data pointer.
|
||||
klio.setRecognitionCallback(recognition_event_callback, nullptr);
|
||||
|
||||
// Start the learning process of the KLIO sensor.
|
||||
// The learning() method initiates the sensor's functionality to start learning patterns or behaviors.
|
||||
klio.learning();
|
||||
|
||||
// Define the sample rate for data reading.
|
||||
// The variable'sample_rate' is set to 25.0, which means the sensor will read out data
|
||||
// at a frequency of 25 Hertz (25 times per second).
|
||||
float sample_rate = 25.0;
|
||||
|
||||
// Define the report latency in milliseconds.
|
||||
// The variable'report_latency_ms' is set to 0, indicating that the sensor should report
|
||||
// the measured data immediately without any delay.
|
||||
uint32_t report_latency_ms = 0;
|
||||
|
||||
// Enable the KLIO sensor with he specified sample rate and report latency.
|
||||
// The enable() method activates the sensor and configures it to operate at the given sample rate
|
||||
// and report latency. This allows the sensor to start collecting and reporting data according to the settings.
|
||||
klio.enable(sample_rate, report_latency_ms);
|
||||
|
||||
// Set the specified pin (BHI260_IRQ) as an input pin.
|
||||
// This prepares the pin to receive external signals.
|
||||
pinMode(BHI260_IRQ, INPUT);
|
||||
|
||||
// Attach an interrupt service routine (ISR) to the specified pin (BHI260_IRQ).
|
||||
// The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin.
|
||||
attachInterrupt(BHI260_IRQ, dataReadyISR, RISING);
|
||||
|
||||
Serial.println("Please repeat the movements you want to learn and the sensor will start recording.");
|
||||
}
|
||||
|
||||
|
||||
void loop()
|
||||
{
|
||||
// Update sensor fifo
|
||||
if (isReadyFlag) {
|
||||
isReadyFlag = false;
|
||||
bhy.update();
|
||||
}
|
||||
delay(50);
|
||||
}
|
||||
Reference in New Issue
Block a user