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