304 lines
9.3 KiB
C++
304 lines
9.3 KiB
C++
/**
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*
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* @license MIT License
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*
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* Copyright (c) 2023 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_Orientation.ino
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* @author Lewis He (lewishe@outlook.com)
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* @date 2023-10-07
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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 <bosch/BoschSensorDataHelper.hpp>
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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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/*
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* Define the USING_DATA_HELPER use of data assistants.
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* No callback function will be used. Data can be obtained directly through
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* the data assistant. Note that this method is not a thread-safe function.
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* Please pay attention to protecting data access security.
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* */
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#define USING_DATA_HELPER
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#ifdef USING_DATA_HELPER
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SensorOrientation orientation(bhy);
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#endif
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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 print_orientation(uint8_t direction)
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{
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char report[256];
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switch (direction) {
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case SensorBHI260AP::DIRECTION_BOTTOM_LEFT:
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sprintf( report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n |________________| \r\n" );
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break;
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case SensorBHI260AP::DIRECTION_TOP_RIGHT:
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sprintf( report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n |________________| \r\n" );
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break;
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case SensorBHI260AP::DIRECTION_TOP_LEFT:
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sprintf( report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n |________________| \r\n" );
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break;
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case SensorBHI260AP::DIRECTION_BOTTOM_RIGHT:
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sprintf( report, "\r\n ________________ " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | | " \
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"\r\n | * | " \
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"\r\n |________________| \r\n" );
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break;
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default:
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sprintf( report, "None of the 3D orientation axes is set in BHI260 - accelerometer.\r\n" );
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break;
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}
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Serial.println(direction);
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Serial.println(report);
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}
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#ifndef USING_DATA_HELPER
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void orientation_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data)
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{
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uint8_t direction = *data_ptr;
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Serial.print(bhy.getSensorName(sensor_id));
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Serial.print(":");
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print_orientation(direction);
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}
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#endif
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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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#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("Init BHI260AP Sensor success!");
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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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// The orientation sensor will only report when it changes, so the value is 0 ~ 1
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float sample_rate = 1;
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uint32_t report_latency_ms = 0; /* Report immediately */
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#ifdef USING_DATA_HELPER
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orientation.enable(sample_rate, report_latency_ms);
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#else
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// Enable direction detection
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bhy.configure(SensorBHI260AP::DEVICE_ORIENTATION, sample_rate, report_latency_ms);
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// Set the direction detection result output processing function
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bhy.onResultEvent(SensorBHI260AP::DEVICE_ORIENTATION, orientation_process_callback);
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#endif
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// Set the specified pin (BHI260_IRQ) as an input pin.
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pinMode(BHI260_IRQ, INPUT);
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// Attach an interrupt service routine (ISR) 'dataReadyISR' to the specified pin (BHI260_IRQ).
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attachInterrupt(BHI260_IRQ, dataReadyISR, RISING);
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}
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void loop()
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{
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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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#ifdef USING_DATA_HELPER
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if (orientation.hasUpdated()) {
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print_orientation(orientation.getOrientation());
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}
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#endif
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delay(50);
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}
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