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Mikkeli Matlock
2026-02-15 02:48:59 +09:00
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components/ExternLib/SensorLib/src/bosch/BoschPhySensorInfo.hpp Normal file
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/**
*
* @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 BHI260APSensorInfo.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-22
*
*/
#pragma once
#include <stdint.h>
#include <stdio.h>
#include "bhy2_parse.h"
#ifdef ARDUINO
#include <Stream.h>
#endif
class BoschPhySensorInfo
{
public:
uint8_t sensor_type;
uint8_t driver_id;
uint8_t driver_version;
float power_current;
uint16_t curr_range;
bool irq_status;
int master_intf;
int power_mode;
uint8_t slave_address;
uint8_t gpio_assignment;
float curr_rate;
uint8_t num_axis;
int8_t orientation_matrix[9];
uint8_t reserved;
uint8_t flags;
BoschPhySensorInfo() : sensor_type(0), driver_id(0), driver_version(0), power_current(0), curr_range(0), irq_status(false),
master_intf(0), power_mode(0), slave_address(0), gpio_assignment(0), curr_rate(0), num_axis(0), reserved(0), flags(0)
{
memset(orientation_matrix, 0, sizeof(orientation_matrix));
}
#if defined(ARDUINO) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_ZEPHYR)
void print(Stream &stream)
{
const char *irq_status_str[2] = { "Disabled", "Enabled" };
const char *master_intf_str[5] = { "None", "SPI0", "I2C0", "SPI1", "I2C1" };
const char *power_mode_str[8] = {
"Sensor Not Present", "Power Down", "Suspend", "Self-Test", "Interrupt Motion", "One Shot",
"Low Power Active", "Active"
};
stream.printf("Field Name hex | Value (dec)\n");
stream.printf("----------------------------------------------------------\n");
stream.printf("Physical Sensor ID %02X | %d\n", sensor_type, sensor_type);
stream.printf("Driver ID %02X | %d\n", driver_id, driver_id);
stream.printf("Driver Version %02X | %d\n", driver_version, driver_version);
stream.printf("Current Consumption %02X | %0.3f mA\n", (int)power_current, power_current);
stream.printf("Dynamic Range %04X | %d\n", curr_range, curr_range);
stream.printf("Flags %02X | IRQ status : %s\n", flags, irq_status_str[irq_status ? 1 : 0]);
stream.printf(" | Master interface : %s\n", master_intf_str[master_intf]);
stream.printf(" | Power mode : %s\n", power_mode_str[power_mode]);
stream.printf("Slave Address %02X | %d\n", slave_address, slave_address);
stream.printf("GPIO Assignment %02X | %d\n", gpio_assignment, gpio_assignment);
stream.printf("Current Rate %08X | %.3f Hz\n", (unsigned int)curr_rate, curr_rate);
stream.printf("Number of axes %02X | %d\n", num_axis, num_axis);
stream.printf("Orientation Matrix %02X%02X%02X%02X%02X | %+02d %+02d %+02d |\n",
orientation_matrix[0],
orientation_matrix[1],
orientation_matrix[2],
orientation_matrix[3],
orientation_matrix[4],
orientation_matrix[0],
orientation_matrix[1],
orientation_matrix[2]);
stream.printf(" | %+02d %+02d %+02d |\n",
orientation_matrix[3],
orientation_matrix[4],
orientation_matrix[5]);
stream.printf(" | %+02d %+02d %+02d |\n",
orientation_matrix[6],
orientation_matrix[7],
orientation_matrix[8]);
stream.printf("Reserved %02X | %d\n", reserved, reserved);
stream.printf("\n");
}
#else
void print()
{
const char *irq_status_str[2] = { "Disabled", "Enabled" };
const char *master_intf_str[5] = { "None", "SPI0", "I2C0", "SPI1", "I2C1" };
const char *power_mode_str[8] = {
"Sensor Not Present", "Power Down", "Suspend", "Self-Test", "Interrupt Motion", "One Shot",
"Low Power Active", "Active"
};
printf("Field Name hex | Value (dec)\n");
printf("----------------------------------------------------------\n");
printf("Physical Sensor ID %02X | %d\n", sensor_type, sensor_type);
printf("Driver ID %02X | %d\n", driver_id, driver_id);
printf("Driver Version %02X | %d\n", driver_version, driver_version);
printf("Current Consumption %02X | %0.3f mA\n", (int)power_current, power_current);
printf("Dynamic Range %04X | %d\n", curr_range, curr_range);
printf("Flags %02X | IRQ status : %s\n", flags, irq_status_str[irq_status ? 1 : 0]);
printf(" | Master interface : %s\n", master_intf_str[master_intf]);
printf(" | Power mode : %s\n", power_mode_str[power_mode]);
printf("Slave Address %02X | %d\n", slave_address, slave_address);
printf("GPIO Assignment %02X | %d\n", gpio_assignment, gpio_assignment);
printf("Current Rate %08X | %.3f Hz\n", (unsigned int)curr_rate, curr_rate);
printf("Number of axes %02X | %d\n", num_axis, num_axis);
printf("Orientation Matrix %02X%02X%02X%02X%02X | %+02d %+02d %+02d |\n",
orientation_matrix[0],
orientation_matrix[1],
orientation_matrix[2],
orientation_matrix[3],
orientation_matrix[4],
orientation_matrix[0],
orientation_matrix[1],
orientation_matrix[2]);
printf(" | %+02d %+02d %+02d |\n",
orientation_matrix[3],
orientation_matrix[4],
orientation_matrix[5]);
printf(" | %+02d %+02d %+02d |\n",
orientation_matrix[6],
orientation_matrix[7],
orientation_matrix[8]);
printf("Reserved %02X | %d\n", reserved, reserved);
printf("\n");
}
#endif
};