/** * * @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 #include #include "bhy2_parse.h" #ifdef ARDUINO #include #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 };