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pi-dashboard/components/ExternLib/SensorLib/src/SensorBHI260AP.hpp

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2026-02-15 02:48:59 +09:00
/**
*
* @license MIT License
*
* Copyright (c) 2022 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 SensorBHI260AP.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2023-09-06
* @note Most source code references come from the https://github.com/boschsensortec/BHY2-Sensor-API
* Simplification for Arduino
*/
#pragma once
#include "bosch/BoschSensorControl.hpp"
#include "bosch/BoschPhySensorInfo.hpp"
#include "bosch/BoschSensorInfo.hpp"
#include "SensorPlatform.hpp"
#include "bosch/BoschSensorID.hpp"
#include "bosch/BoschParseBase.hpp"
#include "bosch/BoschParseCallbackManager.hpp"
#define BHI260AP_SLAVE_ADDRESS_L 0x28
#define BHI260AP_SLAVE_ADDRESS_H 0x29
using SensorConfig = struct bhy2_virt_sensor_conf;
using ProcessCallback = void (*)(void *user_data, uint32_t total, uint32_t transferred);
class SensorBHI260AP : public BoschVirtualSensor, BoschParseBase
{
public:
using SensorDebugMessageCallback = void (*)(const char *message);
using SensorEventCallback = void (*)(uint8_t event, uint8_t sensor_id, uint8_t data);
enum BoschOrientation {
DIRECTION_TOP_RIGHT,
DIRECTION_TOP_LEFT,
DIRECTION_BOTTOM_LEFT,
DIRECTION_BOTTOM_RIGHT,
};
enum SensorEvent {
EVENT_FLUSH_COMPLETE = 1,
EVENT_SAMPLE_RATE_CHANGED,
EVENT_POWER_MODE_CHANGED,
EVENT_ALGORITHM_EVENTS = 5,
EVENT_SENSOR_STATUS,
EVENT_BSX_DO_STEPS_MAIN,
EVENT_BSX_DO_STEPS_CALIB,
EVENT_BSX_GET_OUTPUT_SIGNAL,
EVENT_SENSOR_ERROR = 11,
EVENT_FIFO_OVERFLOW,
EVENT_DYNAMIC_RANGE_CHANGED,
EVENT_FIFO_WATERMARK,
EVENT_INITIALIZED = 16,
EVENT_TRANSFER_CAUSE,
EVENT_SENSOR_FRAMEWORK,
EVENT_RESET,
};
/**
* @enum SensorRemap
* @brief Enumeration representing different remapping options for the sensor's orientation.
*
* This enum defines various positions and orientations of the sensor chip. Each value corresponds
* to a specific corner or location of the chip, which can be used to remap the axes of the sensor
* according to its physical placement.
*
* Top view of the chip, where 'T' stands for top,
* 'B' stands for bottom,
* 'L' stands for left, and 'R' stands for right
* -------------
* | TL TR |
* | |
* | |
* | |
* | BL BR |
* -------------
*
* There is also a bottom view of the chip：
*
* -------------
* | BT BB |
* | |
* | |
* | |
* | LT RT |
* -------------
*/
enum SensorRemap {
// Chip top view, upper left corner
// -------------
// | * |
// | |
// | |
// | |
// | |
// -------------
TOP_LAYER_LEFT_CORNER,
// Chip top view, upper right corner
// -------------
// | * |
// | |
// | |
// | |
// | |
// -------------
TOP_LAYER_RIGHT_CORNER,
// Chip top view, bottom right corner of the top
// -------------
// | |
// | |
// | |
// | |
// | * |
// -------------
TOP_LAYER_BOTTOM_RIGHT_CORNER,
// The top view of the chip, the lower left corner of the front bottom
// -------------
// | |
// | |
// | |
// | |
// | * |
// -------------
TOP_LAYER_BOTTOM_LEFT_CORNER,
// The bottom view of the chip, the upper left corner of the top
// -------------
// | * |
// | |
// | |
// | |
// | |
// -------------
BOTTOM_LAYER_TOP_LEFT_CORNER,
// The bottom view of the chip, the upper right corner of the top
// -------------
// | * |
// | |
// | |
// | |
// | |
// -------------
BOTTOM_LAYER_TOP_RIGHT_CORNER,
// The bottom view of the chip, the lower right corner of the bottom
// -------------
// | |
// | |
// | |
// | |
// | * |
// -------------
BOTTOM_LAYER_BOTTOM_RIGHT_CORNER,
// Chip bottom view, bottom left corner
// -------------
// | |
// | |
// | |
// | |
// | * |
// -------------
BOTTOM_LAYER_BOTTOM_LEFT_CORNER,
};
// The pin names are named according to the sensor manual.
enum BHI260AP_GPIO {
MCSB1 = 1,
RESV1 = 2,
RESV2 = 3,
MCSB2 = 4, //It may be connected to the BMM150 sensor, select according to the actual situation
MCSB3 = 5,
MCSB4 = 6,
QSPI_CLK = 8, // If BHI260 carries external flash, it is not available
QSPI_CSN = 9, // If BHI260 carries external flash, it is not available
QSPI_D0 = 10, // If BHI260 carries external flash, it is not available
QSPI_D1 = 11, // If BHI260 carries external flash, it is not available
QSPI_D2 = 12, // If BHI260 carries external flash, it is not available
QSPI_D3 = 13, // If BHI260 carries external flash, it is not available
M2SCX = 14,
M2SDX = 15,
M2SDI = 16,
M3SCL = 17, //It may be connected to the BMM150 sensor, select according to the actual situation
M3SDA = 18, //It may be connected to the BMM150 sensor, select according to the actual situation
JTAG_CLK = 19,
JTAG_DIO = 20,
M1SCX = 127, // Invalid Pin
M1SDX = 128, // Invalid Pin
M1SDI = 129, // Invalid Pin
RESV3 = 130, // Invalid Pin
};
~SensorBHI260AP();
SensorBHI260AP();
/**
* @brief setPins
* @note Set the reset pin. reset pin is not set by default.
* @param rst:
* @retval None
*/
void setPins(int rst);
#if defined(ARDUINO)
/**
* @brief begin
* @note Initialization using the Arduino Wire Interface
* @param &wire: TwoWire Class
* @param addr: Device address, default 0x28, can also be changed to 0x29
* @param sda: Set I2C SCL Pin, not set by default
* @param scl: Set I2C SDA Pin, not set by default
* @retval bool true-> Success false-> failure
*/
bool begin(TwoWire &wire, uint8_t addr = BHI260AP_SLAVE_ADDRESS_L, int sda = -1, int scl = -1);
/**
* @brief begin
* @note Initialization using the Arduino SPI Interface
* @param &spi: SPIClass
* @param csPin: Set CS SCL Pin, not set by default
* @param mosi: Set SPI MOSI SCL Pin, not set by default
* @param miso: Set SPI MISO SCL Pin, not set by default
* @param sck: Set SPI SCK SCL Pin, not set by default
* @retval bool true-> Success false-> failure
*/
bool begin(SPIClass &spi, uint8_t csPin, int mosi = -1, int miso = -1, int sck = -1);
#elif defined(ESP_PLATFORM)
#if defined(USEING_I2C_LEGACY)
/**
* @brief begin
* @note Initialization using the ESP-IDF I2C Legacy Interface
* @param port_num: I2C_NUM0 or I2C_NUM1
* @param addr: Device address, default 0x28, can also be changed to 0x29
* @param sda: Set I2C SCL Pin, not set by default
* @param scl: Set I2C SDA Pin, not set by default
* @retval bool true-> Success false-> failure
*/
bool begin(i2c_port_t port_num, uint8_t addr = BHI260AP_SLAVE_ADDRESS_L, int sda = -1, int scl = -1);
#else
/**
* @brief begin
* @note Initialization using the ESP-IDF I2C LL Interface idf version > 5.0.0
* @param handle: I2C Handle
* @param addr: Device address, default 0x28, can also be changed to 0x29
* @retval bool true-> Success false-> failure
*/
bool begin(i2c_master_bus_handle_t handle, uint8_t addr = BHI260AP_SLAVE_ADDRESS_L);
#endif //ESP_PLATFORM
/**
* @brief begin
* @note Initialization using the ESP-IDF SPI Interface
* @param host: spi_host_device_t enum
* @param handle: spi_device_handle_t handle
* @param csPin: cs pin
* @param mosi: spi mosi pin
* @param miso: spi miso pin
* @param sck: spi sck pin
* @retval bool true-> Success false-> failure
*/
bool begin(spi_host_device_t host, spi_device_handle_t handle, uint8_t csPin, int mosi, int miso, int sck);
#endif //ARDUINO
/**
* @brief begin
* @note Custom callback interface, suitable for other platforms
* @param interface: Communication mode, COMM_SPI or COMM_I2C
* @param callback: Register read and write callback function
* @param hal_callback: Platform digital IO and delay callback function
* @param addr: Device address, default 0x28, can also be changed to 0x29
* @retval bool true-> Success false-> failure
*/
bool begin(CommInterface interface, SensorCommCustom::CustomCallback callback,
SensorCommCustomHal::CustomHalCallback hal_callback,
uint8_t addr = BHI260AP_SLAVE_ADDRESS_L);
/**
* @brief reset
* @note Reset sensor
* @retval None
*/
void reset();
/**
* @brief update
* @note Update sensor fifo data
* @retval None
*/
void update();
/**
* @brief setBootFromFlash
* @note Set whether to start from external flash
* @param boot_from_flash: true boot form flash or boot form ram
* @retval None
*/
void setBootFromFlash(bool boot_from_flash);
/**
* @brief getHandler
* @note Get the native BHI API handle
* @retval handle
*/
bhy2_dev *getHandler();
/**
* @brief setInterruptCtrl
* @note Set the interrupt control mask
* @param data:
* BHY2_ICTL_DISABLE_FIFO_W
* BHY2_ICTL_DISABLE_FIFO_NW
* BHY2_ICTL_DISABLE_STATUS_FIFO
* BHY2_ICTL_DISABLE_DEBUG
* BHY2_ICTL_DISABLE_FAULT
* BHY2_ICTL_ACTIVE_LOW
* BHY2_ICTL_EDGE
* BHY2_ICTL_OPEN_DRAIN
*
* @retval true is success , false is failed
*/
bool setInterruptCtrl(uint8_t data);
/**
* @brief getInterruptCtrl
* @note Get interrupt control info
* @retval SensorBHI260APControl class
*/
SensorBHI260APControl getInterruptCtrl();
/**
* @brief isReady
* @note Query whether the sensor is ready
* @retval true OK , false Not ready
*/
bool isReady();
/**
* @brief getKernelVersion
* @note Get the sensor firmware kernel version
* @retval 2 bytes
*/
uint16_t getKernelVersion();
/**
* @brief onEvent
* @note Registered sensor event callback function
* @param callback: Callback Function
* @retval None
*/
void onEvent(SensorEventCallback callback);
/**
* @brief removeEvent
* @note Remove sensor event callback function
* @retval None
*/
void removeEvent();
/**
* @brief onResultEvent
* @note Registered sensor result callback function , The same sensor ID can register multiple event callbacks.
* Please note that you should not register the same event callback repeatedly.
* @param sensor_id: Sensor ID , see enum BoschSensorID
* @param callback: Callback Function
* @param *user_data: user data,can be null
* @retval bool true-> Success false-> failure
*/
bool onResultEvent(BoschSensorID sensor_id, SensorDataParseCallback callback, void *user_data = nullptr);
/**
* @brief removeResultEvent
* @note Remove the registered result callback function
* @param sensor_id: Sensor ID , see enum BoschSensorID
* @param callback: Callback Function
* @retval bool true-> Success false-> failure
*/
bool removeResultEvent(BoschSensorID sensor_id, SensorDataParseCallback callback);
/**
* @brief setProcessBufferSize
* @note The default value is 512Bytes , Must be called before initialization
* @param size: The set buffer size is requested by malloc, and if PSRAM is enabled, it is requested from PSRAM
* @retval None
*/
void setProcessBufferSize(uint32_t size);
/**
* @brief uploadFirmware
* @note Update BHI sensor firmware
* @param *firmware: Firmware data address
* @param length: Firmware data length
* @param write2Flash: 1 is written to external flash, 0 is written to RAM
* @retval bool true-> Success false-> failure
*/
bool uploadFirmware(const uint8_t *firmware, uint32_t length, bool write2Flash = false);
/**
* @brief getError
* @note Get the error status string
* @retval string
*/
const char *getError();
/**
* @brief configure
* @note Sensor Configuration
* @param sensor_id: Sensor ID , see enum BoschSensorID
* @param sample_rate: Data output rate, unit: HZ
* @param report_latency_ms: Report interval in milliseconds
* @return bool true-> Success false-> failure
*/
bool configure(uint8_t sensor_id, float sample_rate, uint32_t report_latency_ms);
/**
* @brief configureRange
* @note Set range of the sensor
* @param sensor_id: Sensor ID , see enum BoschSensorID
* @param range: Range for selected SensorID. See Table 79 in BHY260 datasheet 109 page
* @retval bool true-> Success false-> failure
*/
bool configureRange(uint8_t sensor_id, uint16_t range);
/**
* @brief getConfigure
* @note Get sensor configuration
* @param sensor_id: Sensor ID , see enum BoschSensorID
* @retval SensorConfig
*/
SensorConfig getConfigure(uint8_t sensor_id);
/**
* @brief getScaling
* @note Get sensor scale factor
* @param sensor_id: Sensor ID , see enum BoschSensorID
* @retval scale factor
*/
float getScaling(uint8_t sensor_id);
/**
* @brief setFirmware
* @note Set the firmware
* @param *image: firmware data address
* @param image_len: firmware length
* @param write_flash: true : write to flash otherwise ram
* @param force_update: true, rewrite to flash or ram regardless of whether there is firmware, false, do not write if firmware is detected
* @retval None
*/
void setFirmware(const uint8_t *image, size_t image_len, bool write_flash = false, bool force_update = false);
/**
* @brief getSensorName
* @note Get sensor name
* @param sensor_id: Sensor ID , see enum BoschSensorID
* @retval sensor name
*/
const char *getSensorName(uint8_t sensor_id);
/**
* @brief getAccuracy
* @note Get an accuracy report
* @retval Current report accuracy
*/
uint8_t getAccuracy();
/**
* @brief digitalRead
* @note Read GPIO level, only for custom firmware
* @param pin: see BHI260AP_aux_BMM150_BME280_Expand_GPIO example
* @param pullup: true is set pullup or input mode
* @retval 1 is high ,0 is low
*/
uint8_t digitalRead(uint8_t pin, bool pullup = false);
/**
* @brief digitalWrite
* @note Write GPIO level, only for custom firmware
* @param pin: see BHI260AP_aux_BMM150_BME280_Expand_GPIO example
* @param level: 1 is high ,0 is low
* @retval None
*/
void digitalWrite(uint8_t pin, uint8_t level);
/**
* @brief disableGpio
* @note Disable GPIO function
* @param pin: see BHI260AP_aux_BMM150_BME280_Expand_GPIO example
* @retval None
*/
void disableGpio(uint8_t pin);
/**
* @brief setDebug
* @note Whether to enable chip debug output
* @param enable: true Enable message debug , false disable debug , Requires firmware support, the default firmware will not output any messages
* @param &serial: Stream
* @retval None
*/
void setDebugKernel(bool enable);
/**
* @brief setDebugCallback
* @param cb: Sensor debug output callback function , Requires firmware support, the default firmware will not output any messages
* @retval None
*/
void setDebugCallback(SensorDebugMessageCallback cb);
/**
* @brief getPhySensorInfo
* @note Get all information about physical sensors
* @param sens_id: ID of the physical sensor
* @retval BoschPhySensorInfo Class
*/
BoschPhySensorInfo getPhySensorInfo(uint8_t sens_id);
/**
* @brief getSensorInfo
* @note Get all information about sensors
* @retval BoschSensorInfo Class
*/
BoschSensorInfo getSensorInfo();
/**
* @brief setMaxiTransferSize
* @note Set the maximum number of bytes transmitted by the interface , Called before begin
* @param size_of_bytes: The maximum transmission bytes of different platforms are different.
* Set it according to the platform. If not set, the default is I2C 32 bytes, SPI 256 bytes.
* @retval None
*/
void setMaxiTransferSize(uint16_t size_of_bytes);
/**
* @brief setUpdateProcessCallback
* @note Set the callback function of the firmware update process to obtain the update progress
* @param callback: callback function
* @param *user_data: user data, can be nullptr
* @retval None
*/
void setUpdateProcessCallback(ProcessCallback callback, void *user_data = nullptr);
/**
* @brief availableSensorNums
* @note Get the number of available sensors
* @retval available sensors
*/
uint8_t availableSensorNums();
/**
* @brief Set the axis remapping for the sensor based on the specified orientation.
*
* This function allows you to configure the sensor's axis remapping according to a specific
* physical orientation of the chip. By passing one of the values from the SensorRemap enum,
* you can ensure that the sensor data is correctly interpreted based on how the chip is placed.
* [bst-bhi260ab-ds000.pdf](https://www.mouser.com/datasheet/2/783/bst-bhi260ab-ds000-1816249.pdf)
* 20.3 Sensing axes and axes remapping
* @param remap An enumeration value from SensorRemap that specifies the desired axis remapping.
* @return Returns true if the axis remapping is successfully set; false otherwise.
*/
bool setRemapAxes(SensorRemap remap);
protected:
void parseData(const struct bhy2_fifo_parse_data_info *fifo, void *user_data) override;
void parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) override;
void parseDebugMessage(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) override;
private:
/**
* @brief bootFromFlash
* @note Boot from external flash
* @retval bool true-> Success false-> failure
*/
bool bootFromFlash();
void print_boot_status(uint8_t boot_status);
bool initImpl(bhy2_intf interface);
protected:
std::unique_ptr<SensorCommBase> comm;
std::unique_ptr<SensorHal> hal;
std::unique_ptr<SensorCommStatic> staticComm;
std::unique_ptr<struct bhy2_dev> _bhy2;
int _rst;
int8_t _error_code;
uint8_t *_processBuffer;
size_t _processBufferSize;
const uint8_t *_firmware_stream;
size_t _firmware_size;
bool _write_flash;
bool _boot_from_flash;
bool _force_update;
int _max_rw_length;
uint8_t _accuracy; /* Accuracy is reported as a meta event. */
bool _debug;
ProcessCallback _process_callback;
void *_process_callback_user_data;
SensorEventCallback _event_callback;
SensorDebugMessageCallback _debug_callback;
BoschParseCallbackManager _callback_manager;
uint8_t _sensor_available_nums;
char _err_buffer[128];
};
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