Added BHI260 example

lewisxhe · Oct 4, 2023 · 31ab2fd · 31ab2fd
1 parent 99eec29
commit 31ab2fd
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Showing 4 changed files with 72 additions and 12 deletions.
diff --git a/.github/workflows/arduino_ci.yml b/.github/workflows/arduino_ci.yml
@@ -53,6 +53,7 @@ jobs:
             examples/XL9555_ExtensionIOInterrupt/XL9555_ExtensionIOInterrupt.ino,
             examples/XL9555_ExtensionIORead/XL9555_ExtensionIORead.ino,
             examples/XL9555_ExtensionIOWirte/XL9555_ExtensionIOWirte.ino,
+            examples/BHI260AP_6DoF/BHI260AP_6DoF.ino,
           ]
 
     env:

diff --git a/.github/workflows/pio.yml b/.github/workflows/pio.yml
@@ -4,8 +4,8 @@ on:
   pull_request:
   push:
     paths:
-      - 'examples/**'
-      - 'src/**'
+      - "examples/**"
+      - "src/**"
 
 jobs:
   build:
@@ -51,6 +51,7 @@ jobs:
             examples/XL9555_ExtensionIOInterrupt/XL9555_ExtensionIOInterrupt.ino,
             examples/XL9555_ExtensionIORead/XL9555_ExtensionIORead.ino,
             examples/XL9555_ExtensionIOWirte/XL9555_ExtensionIOWirte.ino,
+            examples/BHI260AP_6DoF/BHI260AP_6DoF.ino,
           ]
 
     steps:

diff --git a/..._Accelerometer/BHI260AP_Accelerometer.ino → examples/BHI260AP_6DoF/BHI260AP_6DoF.ino b/..._Accelerometer/BHI260AP_Accelerometer.ino → examples/BHI260AP_6DoF/BHI260AP_6DoF.ino
@@ -22,7 +22,7 @@
  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  * SOFTWARE.
  *
- * @file      BHI260AP_Accelerometer.ino
+ * @file      BHI260AP_6DoF.ino
  * @author    Lewis He (lewishe@outlook.com)
  * @date      2023-09-06
  *
@@ -36,12 +36,13 @@
 #define BHI260AP_SDA          21
 #define BHI260AP_SCL          22
 #define BHI260AP_IRQ          39
+#define BHI260AP_RST          -1
 #else
 #define BHI260AP_MOSI         33
 #define BHI260AP_MISO         34
 #define BHI260AP_SCK          35
 #define BHI260AP_CS           36
-#define BHI260AP_INT          37
+#define BHI260AP_IRQ          37
 #define BHI260AP_RST          -1
 #endif
 
@@ -53,7 +54,23 @@ void setup()
     Serial.begin(115200);
     while (!Serial);
 
-    bhy.setPins(BHI260AP_RST, BHI260AP_INT);
+
+    //TODO:
+    bhy.onEvent( BHY2_EVENT_INITIALIZED, [](uint8_t event, uint8_t *data, uint32_t size) {
+        Serial.println("===========BHY2_EVENT_INITIALIZED==========");
+    });
+
+    bhy.onEvent( BHY2_EVENT_SAMPLE_RATE_CHANGED, [](uint8_t event, uint8_t *data, uint32_t size) {
+        Serial.println("===========BHY2_EVENT_SAMPLE_RATE_CHANGED==========");
+    });
+
+    bhy.onEvent( BHY2_EVENT_POWER_MODE_CHANGED, [](uint8_t event, uint8_t *data, uint32_t size) {
+        Serial.println("===========BHY2_EVENT_POWER_MODE_CHANGED==========");
+    });
+
+
+
+    bhy.setPins(BHI260AP_RST, BHI260AP_IRQ);
 
 #ifdef BHY2_USE_I2C
     if (!bhy.init(Wire, BHI260AP_SLAVE_ADDRESS, BHI260AP_SDA, BHI260AP_SCL)) {
@@ -64,7 +81,8 @@ void setup()
     }
 #else
     if (!bhy.init(SPI, BHI260AP_CS, BHI260AP_MOSI, BHI260AP_MISO, BHI260AP_SCK)) {
-        Serial.println("Failed to find BHI260AP - check your wiring!");
+        Serial.print("Failed to find BHI260AP - ");
+        Serial.println(bhy.getError());
         while (1) {
             delay(1000);
         }
@@ -76,12 +94,40 @@ void setup()
 
     bhy.printSensors(Serial);
 
-    //TODO:
+    float sample_rate = 100.0;      /* Read out hintr_ctrl measured at 100Hz */
+    uint32_t report_latency_ms = 0; /* Report immediately */
+
+    bhy.configure(SENSOR_ID_ACC_PASS, sample_rate, report_latency_ms);
+    bhy.configure(SENSOR_ID_GYRO_PASS, sample_rate, report_latency_ms);
+
+
+    bhy.onResultEvent(SENSOR_ID_ACC_PASS, [](float scaling_factor, uint8_t *data_ptr, uint32_t len) {
+        struct bhy2_data_xyz data;
+        bhy2_parse_xyz(data_ptr, &data);
+        Serial.printf("ACCEL-> x: %f, y: %f, z: %f;\r\n",
+                      data.x * scaling_factor,
+                      data.y * scaling_factor,
+                      data.z * scaling_factor
+                     );
+
+    });
+
+    bhy.onResultEvent(SENSOR_ID_GYRO_PASS, [](float scaling_factor, uint8_t *data_ptr, uint32_t len) {
+        struct bhy2_data_xyz data;
+        bhy2_parse_xyz(data_ptr, &data);
+        Serial.printf("GYRO-> x: %f, y: %f, z: %f;\r\n",
+                      data.x * scaling_factor,
+                      data.y * scaling_factor,
+                      data.z * scaling_factor
+                     );
+    });
+
 }
 
 
 void loop()
 {
+    bhy.update();
     delay(50);
 }
 

diff --git a/platformio.ini b/platformio.ini
@@ -37,9 +37,9 @@
 ; src_dir = examples/XL9555_ExtensionIOWirte
 ; src_dir = examples/DRV2605_Basic
 ; src_dir = examples/CM32181_LightSensor
-src_dir = examples/CM32181_LightSensorInterrupt
-; src_dir = examples/BHI260AP_Accelerometer
+; src_dir = examples/CM32181_LightSensorInterrupt
 ; src_dir = examples/LTR553ALS_Sensor
+src_dir = examples/BHI260AP_6DoF
 
 ; Touch devices support list
 ; src_dir = examples/TouchDrv_FT3267_LilyGo_T_RGB
@@ -50,11 +50,12 @@ src_dir = examples/CM32181_LightSensorInterrupt
 ; src_dir = examples/TouchDrv_CSTxxx_GetPoint
 
 
-; default_envs = esp32-s3n4r2
-default_envs=esp32s3-opi
+default_envs = esp32-s3n4r2
+; default_envs=esp32s3-opi
 ; default_envs=esp32s3-qspi
 ; default_envs=esp32c3
 ; default_envs=esp32dev
+; default_envs = rp2040
 
 ; Custom board variant
 boards_dir = ./board
@@ -80,21 +81,32 @@ build_flags =
     -DCORE_DEBUG_LEVEL=4
 
 [env:esp32dev]
+extends = env
 platform = espressif32
 framework = arduino
 board = esp32dev
 
 [env:esp32s3-opi]
+extends = env
 platform = espressif32
 framework = arduino
 board = ESP32-S3-R8-OPI
 
 [env:esp32c3]
+extends = env
 platform = espressif32
 framework = arduino
 board = esp32-c3-devkitm-1
 
 [env:esp32-s3n4r2]
+extends = env
 platform = espressif32
 framework = arduino
-board = ESP32-S3-N4R2-QSPI
+board = ESP32-S3-N4R2-QSPI
+
+[env:rp2040]
+extends = env
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+board = pico
+framework = arduino
+board_build.core = earlephilhower