333 lines
11 KiB
Arduino
333 lines
11 KiB
Arduino
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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) 2026 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 BHI260AP_InterruptSettings.ino
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* @author Lewis He (lewishe@outlook.com)
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* @date 2026-02-04
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* @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI
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*/
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#include <Wire.h>
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#include <SPI.h>
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#include <Arduino.h>
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#include <SensorBHI260AP.hpp>
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#include <bosch/BoschSensorDataHelper.hpp>
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// #define USE_I2C_INTERFACE true
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// #define USE_SPI_INTERFACE true
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#if !defined(USE_I2C_INTERFACE) && !defined(USE_SPI_INTERFACE)
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#define USE_I2C_INTERFACE
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#warning "No interface type is selected, use I2C interface"
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#endif
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#if defined(USE_SPI_INTERFACE)
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#ifndef SPI_MOSI
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#define SPI_MOSI 33
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#endif
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#ifndef SPI_MISO
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#define SPI_MISO 34
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#endif
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#ifndef SPI_SCK
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#define SPI_SCK 35
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#endif
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// If BHI260_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead.
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#ifndef BHI260_IRQ
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#define BHI260_IRQ 37
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#endif
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#ifndef BHI260_CS
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#define BHI260_CS 36
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#endif
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#else //* I2C */
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#ifndef BHI260_SDA
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#define BHI260_SDA 2
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#endif
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#ifndef BHI260_SCL
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#define BHI260_SCL 3
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#endif
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// If BHI260_IRQ is set to -1, sensor interrupts are not used and the sensor polling method is used instead.
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#ifndef BHI260_IRQ
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#define BHI260_IRQ 8
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#endif
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#endif /*USE_SPI_INTERFACE*/
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#ifndef BHI260_RST
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#define BHI260_RST -1
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#endif
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SensorBHI260AP bhy;
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SensorAcceleration accel(bhy);
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SensorGyroscope gyro(bhy);
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// The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run.
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#define BOSCH_APP30_SHUTTLE_BHI260_FW
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// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW
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// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X
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// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390
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// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO
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// #define BOSCH_BHI260_AUX_BEM280
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// #define BOSCH_BHI260_AUX_BMM150_BEM280
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// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO
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// #define BOSCH_BHI260_AUX_BMM150_GPIO
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// #define BOSCH_BHI260_GPIO
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// Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash
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// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH
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// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH
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// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH
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// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH
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// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH
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// #define BOSCH_BHI260_AUX_BEM280_FLASH
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// #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH
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// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH
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// #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH
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// #define BOSCH_BHI260_GPIO_FLASH
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#include <BoschFirmware.h>
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// Force update of current firmware, whether it exists or not.
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// Only works when external SPI Flash is connected to BHI260.
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// After uploading firmware once, you can change this to false to speed up boot time.
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bool force_update_flash_firmware = true;
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#if BHI260_IRQ > 0
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#define USING_SENSOR_IRQ_METHOD
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#endif
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#ifdef USING_SENSOR_IRQ_METHOD
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volatile bool isInterruptTriggered = false;
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void dataReadyISR()
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{
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isInterruptTriggered = true;
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}
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#endif /*USING_SENSOR_IRQ_METHOD*/
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// Firmware update progress callback
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void progress_callback(uint32_t total, uint32_t transferred, void *user_data)
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{
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float progress = (float)transferred / total * 100;
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Serial.print("Upload progress: ");
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Serial.print(progress);
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Serial.println("%");
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}
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void setup()
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{
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Serial.begin(115200);
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while (!Serial);
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// Set the reset pin
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bhy.setPins(BHI260_RST);
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Serial.println("Initializing Sensors...");
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// Set the firmware array address and firmware size
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bhy.setFirmware(bosch_firmware_image, bosch_firmware_size, bosch_firmware_type, force_update_flash_firmware);
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// Set the firmware update processing progress callback function
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// bhy.setUpdateProcessCallback(progress_callback, NULL);
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// Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes.
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// bhy.setMaxiTransferSize(256);
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// Set the processing fifo data buffer size,The default size is 512 bytes.
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// bhy.setProcessBufferSize(1024);
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// Set to load firmware from flash
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bhy.setBootFromFlash(bosch_firmware_type);
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#ifdef USE_I2C_INTERFACE
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// Using I2C interface
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// BHI260AP_SLAVE_ADDRESS_L = 0x28
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// BHI260AP_SLAVE_ADDRESS_H = 0x29
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if (!bhy.begin(Wire, BHI260AP_SLAVE_ADDRESS_L, BHI260_SDA, BHI260_SCL)) {
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Serial.print("Failed to initialize sensor - error code:");
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Serial.println(bhy.getError());
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while (1) {
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delay(1000);
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}
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}
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#endif
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#ifdef USE_SPI_INTERFACE
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// Using SPI interface
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if (!bhy.begin(SPI, BHI260_CS, SPI_MOSI, SPI_MISO, SPI_SCK)) {
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Serial.print("Failed to initialize sensor - error code:");
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Serial.println(bhy.getError());
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while (1) {
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delay(1000);
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}
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}
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#endif
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Serial.println("Initializing the sensor successfully!");
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// Output all sensors info to Serial
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BoschSensorInfo info = bhy.getSensorInfo();
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#ifdef ARDUINO
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ArduinoStreamPrinter printer(Serial);
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info.printInfo(printer);
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#else
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info.printInfo([](const char *format, ...) -> int {
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va_list args;
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va_start(args, format);
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int result = vprintf(format, args);
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va_end(args);
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return result;
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});
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#endif
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// Interrupt configuration
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InterruptConfig config;
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config.wakeUpFIFOEnabled = false;
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config.nonWakeUpFIFOEnabled = true; // It must be enabled, otherwise FIFO cannot be updated.
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config.faultEnabled = false;
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config.debuggingEnabled = false;
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config.polarity = InterruptConfig::Polarity::ACTIVE_HIGH;
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config.triggerMode = InterruptConfig::TriggerMode::EDGE;
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bhy.configureInterrupt(config);
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uint8_t regValue = bhy.getInterruptRegisterValue();
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String desc;
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desc += "Register Value: 0x" + String(regValue, HEX) + "\n";
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desc += "Bit 0 - Wake-up FIFO: " + String((regValue & (1 << 0)) ? "MASKED" : "ACTIVE") + "\n";
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desc += "Bit 1 - Non-Wake FIFO: " + String((regValue & (1 << 1)) ? "MASKED" : "ACTIVE") + "\n";
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desc += "Bit 2 - Status FIFO: " + String((regValue & (1 << 2)) ? "MASKED" : "ACTIVE") + "\n";
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desc += "Bit 3 - Debug: " + String((regValue & (1 << 3)) ? "MASKED" : "ACTIVE") + "\n";
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desc += "Bit 4 - Fault: " + String((regValue & (1 << 4)) ? "MASKED" : "ACTIVE") + "\n";
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desc += "Bit 5 - Polarity: " + String((regValue & (1 << 5)) ? "ACTIVE_LOW" : "ACTIVE_HIGH") + "\n";
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desc += "Bit 6 - Trigger: " + String((regValue & (1 << 6)) ? "EDGE" : "LEVEL") + "\n";
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desc += "Bit 7 - Pin Mode: " + String((regValue & (1 << 7)) ? "OPEN_DRAIN" : "PUSH_PULL");
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/*
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Register Value: 0x59
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Bit 0 - Wake-up FIFO: MASKED
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Bit 1 - Non-Wake FIFO: ACTIVE
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Bit 2 - Status FIFO: ACTIVE
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Bit 3 - Debug: MASKED
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Bit 4 - Fault: MASKED
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Bit 5 - Polarity: ACTIVE_HIGH
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Bit 6 - Trigger: EDGE
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Bit 7 - Pin Mode: PUSH_PULL
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*/
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Serial.println(desc);
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float sample_rate = 1.0; /* Read out data measured at 1Hz */
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uint32_t report_latency_ms = 0; /* Report immediately */
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// Enable acceleration
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accel.enable(sample_rate, report_latency_ms);
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// Enable gyroscope
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gyro.enable(sample_rate, report_latency_ms);
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#ifdef USING_SENSOR_IRQ_METHOD
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// Set the specified pin (BHI260_IRQ) to an input pin.
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// This makes the pin ready to receive external signals.
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// If the interrupt is already connected, if BHI260_IRQ is equal to -1 then the polling method will be used
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pinMode(BHI260_IRQ, INPUT);
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// Attach an interrupt service routine (ISR) to the specified pin (BHI260_IRQ).
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// The ISR 'dataReadyISR' will be called whenever a rising edge is detected on the pin.
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attachInterrupt(BHI260_IRQ, dataReadyISR, RISING);
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#endif
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}
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void loop()
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{
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#ifdef USING_SENSOR_IRQ_METHOD
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if (isInterruptTriggered) {
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isInterruptTriggered = false;
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#endif /*USING_SENSOR_IRQ_METHOD*/
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/* If the interrupt is connected to the sensor and BHI260_IRQ is not equal to -1,
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* the interrupt function will be enabled, otherwise the method of polling the sensor is used
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*/
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bhy.update();
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#ifdef USING_SENSOR_IRQ_METHOD
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}
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#endif /*USING_SENSOR_IRQ_METHOD*/
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uint32_t s;
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uint32_t ns;
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AccelerometerData accel_data;
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if (accel.readData(accel_data)) {
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accel.getLastTime(s, ns);
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#ifdef PLATFORM_HAS_PRINTF
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Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [AX:%+7.2f AY:%+7.2f AZ:%+7.2f] \n",
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s, ns, accel_data.mps2.x, accel_data.mps2.y, accel_data.mps2.z);
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#else
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Serial.print("[T: ");
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Serial.print(s);
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Serial.print(".");
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Serial.print(ns);
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Serial.print("] [AX:");
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Serial.print(accel_data.mps2.x, 2);
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Serial.print(" AY:");
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Serial.print(accel_data.mps2.y, 2);
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Serial.print(" AZ:");
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Serial.print(accel_data.mps2.z, 2);
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Serial.println("]");
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#endif
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}
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GyroscopeData gyro_data;
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if (gyro.readData(gyro_data)) {
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gyro.getLastTime(s, ns);
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#ifdef PLATFORM_HAS_PRINTF
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Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] [GX:%+7.2f GY:%+7.2f GZ:%+7.2f] \n",
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s, ns, gyro_data.dps.x, gyro_data.dps.y, gyro_data.dps.z);
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#else
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Serial.print("[T: ");
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Serial.print(s);
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Serial.print(".");
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Serial.print(ns);
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Serial.print("] [GX:");
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Serial.print(gyro_data.dps.x, 2);
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Serial.print(" GY:");
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Serial.print(gyro_data.dps.y, 2);
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Serial.print(" GZ:");
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Serial.print(gyro_data.dps.z, 2);
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Serial.println("]");
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#endif
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}
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delay(50);
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}
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