/** * * @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 comm; std::unique_ptr hal; std::unique_ptr staticComm; std::unique_ptr _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]; };