/** * * @license MIT License * * Copyright (c) 2023 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_6DoF.ino * @author Lewis He (lewishe@outlook.com) * @date 2023-09-06 * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI */ #include #include #include #include #include // #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; /* * Define the USING_DATA_HELPER use of data assistants. * No callback function will be used. Data can be obtained directly through * the data assistant. Note that this method is not a thread-safe function. * Please pay attention to protecting data access security. * */ #define USING_DATA_HELPER #ifdef USING_DATA_HELPER SensorXYZ accel(SensorBHI260AP::ACCEL_PASSTHROUGH, bhy); SensorXYZ gyro(SensorBHI260AP::GYRO_PASSTHROUGH, bhy); #endif // 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_APP30_SHUTTLE_BHI260_FW // #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW // #define BOSCH_APP30_SHUTTLE_BHI260_BME68X // #define BOSCH_APP30_SHUTTLE_BHI260_BMP390 // #define BOSCH_APP30_SHUTTLE_BHI260_TURBO // #define BOSCH_BHI260_AUX_BEM280 // #define BOSCH_BHI260_AUX_BMM150_BEM280 // #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO // #define BOSCH_BHI260_AUX_BMM150_GPIO // #define BOSCH_BHI260_GPIO // Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash // #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH // #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH // #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH // #define BOSCH_APP30_SHUTTLE_BHI260_FLASH // #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH // #define BOSCH_BHI260_AUX_BEM280_FLASH // #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH // #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH // #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH // #define BOSCH_BHI260_GPIO_FLASH #include // 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; } #ifndef USING_DATA_HELPER void xyz_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data) { struct bhy2_data_xyz data; float scaling_factor = bhy.getScaling(sensor_id); bhy2_parse_xyz(data_ptr, &data); Serial.print(bhy.getSensorName(sensor_id)); Serial.print(" "); Serial.print("x: "); Serial.print(data.x * scaling_factor); Serial.print(", y: "); Serial.print(data.y * scaling_factor); Serial.print(", z: "); Serial.print(data.z * scaling_factor); Serial.println(";"); } #endif // 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("%"); } void setup() { Serial.begin(115200); while (!Serial); // Set the reset pin bhy.setPins(BHI260_RST); Serial.println("Initializing Sensors..."); // 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); #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 float sample_rate = 100.0; /* Read out data measured at 100Hz */ uint32_t report_latency_ms = 0; /* Report immediately */ #ifdef USING_DATA_HELPER // Enable acceleration accel.enable(sample_rate, report_latency_ms); // Enable gyroscope gyro.enable(sample_rate, report_latency_ms); #else // Enable acceleration bhy.configure(SensorBHI260AP::ACCEL_PASSTHROUGH, sample_rate, report_latency_ms); // Enable gyroscope bhy.configure(SensorBHI260AP::GYRO_PASSTHROUGH, sample_rate, report_latency_ms); // Set the acceleration sensor result callback function bhy.onResultEvent(SensorBHI260AP::ACCEL_PASSTHROUGH, xyz_process_callback); // Set the gyroscope sensor result callback function bhy.onResultEvent(SensorBHI260AP::GYRO_PASSTHROUGH, xyz_process_callback); #endif // Set the specified pin (BHI260_IRQ) as an input pin. pinMode(BHI260_IRQ, INPUT); // Attach an interrupt service routine (ISR) 'dataReadyISR' to the specified pin (BHI260_IRQ). attachInterrupt(BHI260_IRQ, dataReadyISR, RISING); } void loop() { // Update sensor fifo if (isReadyFlag) { isReadyFlag = false; bhy.update(); } #ifdef USING_DATA_HELPER if (accel.hasUpdated() && gyro.hasUpdated()) { uint32_t s; uint32_t ns; accel.getLastTime(s, ns); #ifdef PLATFORM_HAS_PRINTF Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] AX:%+7.2f AY:%+7.2f AZ:%+7.2f GX:%+7.2f GY:%+7.2f GZ:%+7.2f \n", s, ns, accel.getX(), accel.getY(), accel.getZ(), gyro.getX(), gyro.getY(), gyro.getZ()); #else Serial.print("[T: "); Serial.print(s); Serial.print("."); Serial.print(ns); Serial.print("] AX:"); Serial.print(accel.getX(), 2); Serial.print(" AY:"); Serial.print(accel.getY(), 2); Serial.print(" AZ:"); Serial.print(accel.getZ(), 2); Serial.print(" GX:"); Serial.print(gyro.getX(), 2); Serial.print(" GY:"); Serial.print(gyro.getY(), 2); Serial.print(" GZ:"); Serial.print(gyro.getZ(), 2); Serial.println(); #endif } #endif /*USING_DATA_HELPER*/ delay(50); }