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BHI260AP added Euler and Quadruple examples, added example source des…
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examples/BHI260AP_aux_BMM150_euler/BHI260AP_aux_BMM150-flash.fw.h
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examples/BHI260AP_aux_BMM150_euler/BHI260AP_aux_BMM150.fw.h
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examples/BHI260AP_aux_BMM150_euler/BHI260AP_aux_BMM150_euler.ino
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| /** | ||
| * | ||
| * @license MIT License | ||
| * | ||
| * Copyright (c) 2024 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_aux_BMM150_euler.ino | ||
| * @author Lewis He (lewishe@outlook.com) | ||
| * @date 2024-07-23 | ||
| * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI | ||
| */ | ||
| #include <Wire.h> | ||
| #include <SPI.h> | ||
| #include <Arduino.h> | ||
| #include "SensorBHI260AP.hpp" | ||
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| /* | ||
| Write the firmware containing the BMM150 magnetometer function into the flash. | ||
| This function requires the BHI260AP external SPI Flash. | ||
| If there is no Flash, it can only be written and run in RAM. | ||
| Example firmware source: https://github.com/boschsensortec/BHY2_SensorAPI/tree/master/firmware | ||
| You can also compile custom firmware to write | ||
| How to build custom firmware see : https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-bhi260ab-an000.pdf | ||
| */ | ||
| #define WRITE_TO_FLASH 1 //Set 1 write fw to flash ,set 0 write fw to ram | ||
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| #ifdef WRITE_TO_FLASH | ||
| #include "BHI260AP_aux_BMM150-flash.fw.h" | ||
| const uint8_t *firmware = bhi26ap_aux_bmm150_flash_fw; | ||
| const size_t fw_size = sizeof(bhi26ap_aux_bmm150_flash_fw); | ||
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| #else | ||
| #include "BHI260AP_aux_BMM150.fw.h" | ||
| const uint8_t *firmware = bhi26ap_aux_bmm150_fw; | ||
| const size_t fw_size = sizeof(bhi26ap_aux_bmm150_fw); | ||
| #endif | ||
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| #ifdef BHY2_USE_I2C | ||
| #define BHI260AP_SDA 21 | ||
| #define BHI260AP_SCL 22 | ||
| #define BHI260AP_IRQ 39 | ||
| #define BHI260AP_RST -1 | ||
| #else | ||
| #define BHI260AP_MOSI 27 | ||
| #define BHI260AP_MISO 46 | ||
| #define BHI260AP_SCK 3 | ||
| #define BHI260AP_CS 28 | ||
| #define BHI260AP_IRQ 30 | ||
| #define BHI260AP_RST -1 | ||
| #endif | ||
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| SensorBHI260AP bhy; | ||
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| void parse_euler(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp) | ||
| { | ||
| struct bhy2_data_orientation data; | ||
| uint32_t s, ns; | ||
| uint64_t tns; | ||
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| // Function to parse FIFO frame data into orientation | ||
| bhy2_parse_orientation(data_ptr, &data); | ||
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| uint64_t _timestamp = *timestamp; | ||
| time_to_s_ns(_timestamp, &s, &ns, &tns); | ||
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| uint8_t accuracy = bhy.getAccuracy(); | ||
| if (accuracy) { | ||
| Serial.printf("SID: %u; T: %u.%09u; h: %f, p: %f, r: %f; acc: %u\r\n", | ||
| sensor_id, | ||
| s, | ||
| ns, | ||
| data.heading * 360.0f / 32768.0f, | ||
| data.pitch * 360.0f / 32768.0f, | ||
| data.roll * 360.0f / 32768.0f, | ||
| accuracy); | ||
| } else { | ||
| Serial.printf("SID: %u; T: %u.%09u; h: %f, p: %f, r: %f\r\n", | ||
| sensor_id, | ||
| s, | ||
| ns, | ||
| data.heading * 360.0f / 32768.0f, | ||
| data.pitch * 360.0f / 32768.0f, | ||
| data.roll * 360.0f / 32768.0f); | ||
| } | ||
| } | ||
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| void setup() | ||
| { | ||
| Serial.begin(115200); | ||
| while (!Serial); | ||
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| // Set the reset pin and interrupt pin, if any | ||
| bhy.setPins(BHI260AP_RST, BHI260AP_IRQ); | ||
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| // Set the firmware array address and firmware size | ||
| bhy.setFirmware(firmware, fw_size, WRITE_TO_FLASH); | ||
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| #ifdef BHY2_USE_I2C | ||
| // Using I2C interface | ||
| // BHI260AP_SLAVE_ADDRESS_L = 0x28 | ||
| // BHI260AP_SLAVE_ADDRESS_H = 0x29 | ||
| if (!bhy.init(Wire, BHI260AP_SDA, BHI260AP_SCL, BHI260AP_SLAVE_ADDRESS_L)) { | ||
| Serial.print("Failed to init BHI260AP - "); | ||
| Serial.println(bhy.getError()); | ||
| while (1) { | ||
| delay(1000); | ||
| } | ||
| } | ||
| #else | ||
| // Using SPI interface | ||
| if (!bhy.init(SPI, BHI260AP_CS, BHI260AP_MOSI, BHI260AP_MISO, BHI260AP_SCK)) { | ||
| Serial.print("Failed to init BHI260AP - "); | ||
| Serial.println(bhy.getError()); | ||
| while (1) { | ||
| delay(1000); | ||
| } | ||
| } | ||
| #endif | ||
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| Serial.println("Init BHI260AP Sensor success!"); | ||
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| // Output all available sensors to Serial | ||
| bhy.printSensors(Serial); | ||
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| float sample_rate = 100.0; /* Read out hintr_ctrl measured at 100Hz */ | ||
| uint32_t report_latency_ms = 0; /* Report immediately */ | ||
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| /* | ||
| * Enable Euler function | ||
| * The Euler function depends on BMM150. | ||
| * If the hardware is not connected to BMM150, the Euler function cannot be used. | ||
| * * */ | ||
| bhy.configure(SENSOR_EULER_ID, sample_rate, report_latency_ms); | ||
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| // Register event callback function | ||
| bhy.onResultEvent(SENSOR_EULER_ID, parse_euler); | ||
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| } | ||
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| void loop() | ||
| { | ||
| // Update sensor fifo | ||
| bhy.update(); | ||
| delay(50); | ||
| } | ||
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