156 lines
7.8 KiB
C++
156 lines
7.8 KiB
C++
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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 BHI260APSensorInfo.hpp
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* @author Lewis He (lewishe@outlook.com)
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* @date 2025-01-22
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*
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*/
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#pragma once
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#include <stdint.h>
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#include <stdio.h>
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#include "bhy2_parse.h"
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#ifdef ARDUINO
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#include <Stream.h>
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#endif
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class BoschPhySensorInfo
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{
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public:
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uint8_t sensor_type;
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uint8_t driver_id;
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uint8_t driver_version;
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float power_current;
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uint16_t curr_range;
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bool irq_status;
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int master_intf;
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int power_mode;
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uint8_t slave_address;
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uint8_t gpio_assignment;
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float curr_rate;
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uint8_t num_axis;
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int8_t orientation_matrix[9];
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uint8_t reserved;
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uint8_t flags;
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BoschPhySensorInfo() : sensor_type(0), driver_id(0), driver_version(0), power_current(0), curr_range(0), irq_status(false),
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master_intf(0), power_mode(0), slave_address(0), gpio_assignment(0), curr_rate(0), num_axis(0), reserved(0), flags(0)
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{
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memset(orientation_matrix, 0, sizeof(orientation_matrix));
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}
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#if defined(ARDUINO) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_ZEPHYR)
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void print(Stream &stream)
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{
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const char *irq_status_str[2] = { "Disabled", "Enabled" };
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const char *master_intf_str[5] = { "None", "SPI0", "I2C0", "SPI1", "I2C1" };
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const char *power_mode_str[8] = {
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"Sensor Not Present", "Power Down", "Suspend", "Self-Test", "Interrupt Motion", "One Shot",
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"Low Power Active", "Active"
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};
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stream.printf("Field Name hex | Value (dec)\n");
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stream.printf("----------------------------------------------------------\n");
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stream.printf("Physical Sensor ID %02X | %d\n", sensor_type, sensor_type);
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stream.printf("Driver ID %02X | %d\n", driver_id, driver_id);
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stream.printf("Driver Version %02X | %d\n", driver_version, driver_version);
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stream.printf("Current Consumption %02X | %0.3f mA\n", (int)power_current, power_current);
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stream.printf("Dynamic Range %04X | %d\n", curr_range, curr_range);
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stream.printf("Flags %02X | IRQ status : %s\n", flags, irq_status_str[irq_status ? 1 : 0]);
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stream.printf(" | Master interface : %s\n", master_intf_str[master_intf]);
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stream.printf(" | Power mode : %s\n", power_mode_str[power_mode]);
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stream.printf("Slave Address %02X | %d\n", slave_address, slave_address);
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stream.printf("GPIO Assignment %02X | %d\n", gpio_assignment, gpio_assignment);
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stream.printf("Current Rate %08X | %.3f Hz\n", (unsigned int)curr_rate, curr_rate);
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stream.printf("Number of axes %02X | %d\n", num_axis, num_axis);
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stream.printf("Orientation Matrix %02X%02X%02X%02X%02X | %+02d %+02d %+02d |\n",
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orientation_matrix[0],
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orientation_matrix[1],
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orientation_matrix[2],
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orientation_matrix[3],
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orientation_matrix[4],
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orientation_matrix[0],
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orientation_matrix[1],
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orientation_matrix[2]);
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stream.printf(" | %+02d %+02d %+02d |\n",
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orientation_matrix[3],
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orientation_matrix[4],
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orientation_matrix[5]);
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stream.printf(" | %+02d %+02d %+02d |\n",
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orientation_matrix[6],
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orientation_matrix[7],
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orientation_matrix[8]);
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stream.printf("Reserved %02X | %d\n", reserved, reserved);
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stream.printf("\n");
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}
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#else
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void print()
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{
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const char *irq_status_str[2] = { "Disabled", "Enabled" };
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const char *master_intf_str[5] = { "None", "SPI0", "I2C0", "SPI1", "I2C1" };
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const char *power_mode_str[8] = {
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"Sensor Not Present", "Power Down", "Suspend", "Self-Test", "Interrupt Motion", "One Shot",
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"Low Power Active", "Active"
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};
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printf("Field Name hex | Value (dec)\n");
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printf("----------------------------------------------------------\n");
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printf("Physical Sensor ID %02X | %d\n", sensor_type, sensor_type);
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printf("Driver ID %02X | %d\n", driver_id, driver_id);
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printf("Driver Version %02X | %d\n", driver_version, driver_version);
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printf("Current Consumption %02X | %0.3f mA\n", (int)power_current, power_current);
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printf("Dynamic Range %04X | %d\n", curr_range, curr_range);
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printf("Flags %02X | IRQ status : %s\n", flags, irq_status_str[irq_status ? 1 : 0]);
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printf(" | Master interface : %s\n", master_intf_str[master_intf]);
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printf(" | Power mode : %s\n", power_mode_str[power_mode]);
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printf("Slave Address %02X | %d\n", slave_address, slave_address);
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printf("GPIO Assignment %02X | %d\n", gpio_assignment, gpio_assignment);
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printf("Current Rate %08X | %.3f Hz\n", (unsigned int)curr_rate, curr_rate);
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printf("Number of axes %02X | %d\n", num_axis, num_axis);
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printf("Orientation Matrix %02X%02X%02X%02X%02X | %+02d %+02d %+02d |\n",
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orientation_matrix[0],
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orientation_matrix[1],
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orientation_matrix[2],
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orientation_matrix[3],
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orientation_matrix[4],
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orientation_matrix[0],
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orientation_matrix[1],
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orientation_matrix[2]);
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printf(" | %+02d %+02d %+02d |\n",
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orientation_matrix[3],
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orientation_matrix[4],
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orientation_matrix[5]);
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printf(" | %+02d %+02d %+02d |\n",
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orientation_matrix[6],
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orientation_matrix[7],
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orientation_matrix[8]);
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printf("Reserved %02X | %d\n", reserved, reserved);
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printf("\n");
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}
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#endif
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};
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