diff --git a/src/SensorBHI260AP.hpp b/src/SensorBHI260AP.hpp index 4f90c06..749862d 100644 --- a/src/SensorBHI260AP.hpp +++ b/src/SensorBHI260AP.hpp @@ -234,19 +234,19 @@ class SensorBHI260AP __error_code = (bhy2_get_feature_status(&feat_status, bhy2)); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_feature_status failed!", false); - stream.printf("Product ID : %02x\r\n", product_id); - stream.printf("Kernel version : %04u\r\n", kernel_version); - stream.printf("User version : %04u\r\n", user_version); - stream.printf("ROM version : %04u\r\n", rom_version); - stream.printf("Power state : %s\r\n", (host_status & BHY2_HST_POWER_STATE) ? "sleeping" : "active"); - stream.printf("Host interface : %s\r\n", (host_status & BHY2_HST_HOST_PROTOCOL) ? "SPI" : "I2C"); - stream.printf("Feature status : 0x%02x\r\n", feat_status); + stream.printf("Product ID : %02x", product_id); + stream.printf("Kernel version : %04u", kernel_version); + stream.printf("User version : %04u", user_version); + stream.printf("ROM version : %04u", rom_version); + stream.printf("Power state : %s", (host_status & BHY2_HST_POWER_STATE) ? "sleeping" : "active"); + stream.printf("Host interface : %s", (host_status & BHY2_HST_HOST_PROTOCOL) ? "SPI" : "I2C"); + stream.printf("Feature status : 0x%02x", feat_status); /* Read boot status */ __error_code = (bhy2_get_boot_status(&boot_status, bhy2)); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_boot_status failed!", false); - stream.printf("Boot Status : 0x%02x: \r\n", boot_status); + stream.printf("Boot Status : 0x%02x: ", boot_status); if (boot_status & BHY2_BST_FLASH_DETECTED) { stream.println("\tFlash detected. "); @@ -284,7 +284,7 @@ class SensorBHI260AP __error_code = (bhy2_get_error_value(&sensor_error, bhy2)); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_error_value failed!", false); if (sensor_error) { - log_e("%s\r\n", get_sensor_error_text(sensor_error)); + log_e("%s", get_sensor_error_text(sensor_error)); } @@ -295,9 +295,9 @@ class SensorBHI260AP /* Get present virtual sensor */ bhy2_get_virt_sensor_list(bhy2); - stream.printf("Virtual sensor list.\r\n"); - stream.printf("Sensor ID | Sensor Name | ID | Ver | Min rate | Max rate |\r\n"); - stream.printf("----------+--------------------------------------+-----+-----+-----------+-----------|\r\n"); + stream.printf("Virtual sensor list."); + stream.printf("Sensor ID | Sensor Name | ID | Ver | Min rate | Max rate |"); + stream.printf("----------+--------------------------------------+-----+-----+-----------+-----------|"); for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; i++) { if (bhy2_is_sensor_available(i, bhy2)) { if (i < BHY2_SENSOR_ID_CUSTOM_START) { @@ -305,7 +305,7 @@ class SensorBHI260AP } __error_code = (bhy2_get_sensor_info(i, &info, bhy2)); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_sensor_info failed!", false); - stream.printf("| %3u | %3u | %9.4f | %9.4f |\r\n", + stream.printf("| %3u | %3u | %9.4f | %9.4f |", info.driver_id, info.driver_version, info.min_rate.f_val, @@ -341,15 +341,15 @@ class SensorBHI260AP if (__error_code != BHY2_OK) { return ; } - stream.printf("Host interrupt control\r\n"); - stream.printf("-- Wake up FIFO %s.\r\n", (data & BHY2_ICTL_DISABLE_FIFO_W) ? "disabled" : "enabled"); - stream.printf("-- Non wake up FIFO %s.\r\n", (data & BHY2_ICTL_DISABLE_FIFO_NW) ? "disabled" : "enabled"); - stream.printf("-- Status FIFO %s.\r\n", (data & BHY2_ICTL_DISABLE_STATUS_FIFO) ? "disabled" : "enabled"); - stream.printf("-- Debugging %s.\r\n", (data & BHY2_ICTL_DISABLE_DEBUG) ? "disabled" : "enabled"); - stream.printf("-- Fault %s.\r\n", (data & BHY2_ICTL_DISABLE_FAULT) ? "disabled" : "enabled"); - stream.printf("-- Interrupt is %s.\r\n", (data & BHY2_ICTL_ACTIVE_LOW) ? "active low" : "active high"); - stream.printf("-- Interrupt is %s triggered.\r\n", (data & BHY2_ICTL_EDGE) ? "pulse" : "level"); - stream.printf("-- Interrupt pin drive is %s.\r\n", (data & BHY2_ICTL_OPEN_DRAIN) ? "open drain" : "push-pull"); + stream.printf("Host interrupt control"); + stream.printf("-- Wake up FIFO %s.", (data & BHY2_ICTL_DISABLE_FIFO_W) ? "disabled" : "enabled"); + stream.printf("-- Non wake up FIFO %s.", (data & BHY2_ICTL_DISABLE_FIFO_NW) ? "disabled" : "enabled"); + stream.printf("-- Status FIFO %s.", (data & BHY2_ICTL_DISABLE_STATUS_FIFO) ? "disabled" : "enabled"); + stream.printf("-- Debugging %s.", (data & BHY2_ICTL_DISABLE_DEBUG) ? "disabled" : "enabled"); + stream.printf("-- Fault %s.", (data & BHY2_ICTL_DISABLE_FAULT) ? "disabled" : "enabled"); + stream.printf("-- Interrupt is %s.", (data & BHY2_ICTL_ACTIVE_LOW) ? "active low" : "active high"); + stream.printf("-- Interrupt is %s triggered.", (data & BHY2_ICTL_EDGE) ? "pulse" : "level"); + stream.printf("-- Interrupt pin drive is %s.", (data & BHY2_ICTL_OPEN_DRAIN) ? "open drain" : "push-pull"); } bool isReady() @@ -370,7 +370,7 @@ class SensorBHI260AP if ((__error_code != BHY2_OK) && (version == 0)) { return 0; } - log_i("Boot successful. Kernel version %u.\r\n", version); + log_i("Boot successful. Kernel version %u.", version); return version; } @@ -439,45 +439,45 @@ class SensorBHI260AP if (boot_status & BHY2_BST_FLASH_DETECTED) { uint32_t start_addr = BHY2_FLASH_SECTOR_START_ADDR; uint32_t end_addr = start_addr + length; - log_i("Flash detected. Erasing flash to upload firmware\r\n"); + log_i("Flash detected. Erasing flash to upload firmware"); __error_code = bhy2_erase_flash(start_addr, end_addr, bhy2); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_erase_flash failed!", false); } else { - log_e("Flash not detected\r\n"); + log_e("Flash not detected"); return false; } - printf("Loading firmware into FLASH.\r\n"); + printf("Loading firmware into FLASH."); __error_code = bhy2_upload_firmware_to_flash(firmware, length, bhy2); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_upload_firmware_to_flash failed!", false); } else { - log_i("Loading firmware into RAM.\r\n"); + log_i("Loading firmware into RAM."); log_i("upload size = %lu", length); __error_code = bhy2_upload_firmware_to_ram(firmware, length, bhy2); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_upload_firmware_to_ram failed!", false); } - log_i("Loading firmware into RAM Done\r\n"); + log_i("Loading firmware into RAM Done"); __error_code = bhy2_get_error_value(&sensor_error, bhy2); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_get_error_value failed!", false); if (sensor_error != BHY2_OK) { __error_code = bhy2_get_error_value(&sensor_error, bhy2); - log_e("%s\r\n", get_sensor_error_text(sensor_error)); + log_e("%s", get_sensor_error_text(sensor_error)); return false; } if (write2Flash) { - log_i("Booting from FLASH.\r\n"); + log_i("Booting from FLASH."); __error_code = bhy2_boot_from_flash(bhy2); } else { - log_i("Booting from RAM.\r\n"); + log_i("Booting from RAM."); __error_code = bhy2_boot_from_ram(bhy2); } BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2 boot failed!", false); __error_code = bhy2_get_error_value(&sensor_error, bhy2); if (sensor_error) { - log_e("%s\r\n", get_sensor_error_text(sensor_error)); + log_e("%s", get_sensor_error_text(sensor_error)); return false; } return sensor_error == BHY2_OK; @@ -494,7 +494,7 @@ class SensorBHI260AP { __error_code = bhy2_set_virt_sensor_cfg(sensor_id, sample_rate, report_latency_ms, bhy2); BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_set_virt_sensor_cfg failed!", false); - log_i("Enable %s at %.2fHz.\r\n", get_sensor_name(sensor_id), sample_rate); + log_i("Enable %s at %.2fHz.", get_sensor_name(sensor_id), sample_rate); return true; } @@ -596,10 +596,10 @@ class SensorBHI260AP /* Check for a valid product ID */ if (product_id != BHY2_PRODUCT_ID) { - log_e("Product ID read %X. Expected %X\r\n", product_id, BHY2_PRODUCT_ID); + log_e("Product ID read %X. Expected %X", product_id, BHY2_PRODUCT_ID); return false; } else { - log_i("BHI260/BHA260 found. Product ID read %X\r\n", product_id); + log_i("BHI260/BHA260 found. Product ID read %X", product_id); } if (!__firmware) { @@ -616,7 +616,7 @@ class SensorBHI260AP uint16_t version = getKernelVersion(); BHY2_RLST_CHECK(!version, "getKernelVersion failed!", false); - log_i("Boot successful. Kernel version %u.\r\n", version); + log_i("Boot successful. Kernel version %u.", version); //Set event callback __error_code = bhy2_register_fifo_parse_callback(BHY2_SYS_ID_META_EVENT, BoschParse::parseMetaEvent, NULL, bhy2); @@ -629,7 +629,7 @@ class SensorBHI260AP // BHY2_RLST_CHECK(__error_code != BHY2_OK, "bhy2_register_fifo_parse_callback parseDebugMessage failed!", false); //Set process buffer -#if defined(ESP32) && defined(BOARD_HAS_PSRAM) +#if (defined(ESP32) || defined(ARDUINO_ARCH_ESP32)) && defined(BOARD_HAS_PSRAM) processBuffer = (uint8_t *)ps_malloc(processBufferSize); #else processBuffer = (uint8_t *)malloc(processBufferSize); @@ -659,10 +659,10 @@ class SensorBHI260AP if (__handler.irq != SENSOR_PIN_NONE) { #if defined(ARDUINO_ARCH_RP2040) attachInterrupt((pin_size_t)(__handler.irq), handleISR, (PinStatus )RISING); -#elif defined(NRF52840_XXAA) || defined(NRF52832_XXAA) || defined(ESP32) +#elif defined(NRF52840_XXAA) || defined(NRF52832_XXAA) || defined(ESP32) || defined(ARDUINO_ARCH_ESP32) attachInterrupt(__handler.irq, handleISR, RISING); #else -#error "No support ." +#error "Interrupt registration not implemented" #endif } diff --git a/src/SensorLib.h b/src/SensorLib.h index 4456fc4..c288f01 100644 --- a/src/SensorLib.h +++ b/src/SensorLib.h @@ -181,7 +181,7 @@ typedef struct __SensorLibPins { #define SENSORLIB_COUNT(x) (sizeof(x)/sizeof(*x)) #ifdef ARDUINO -#ifndef ESP32 +#if !defined(ESP32) || !defined(ARDUINO_ARCH_ESP32) #ifndef log_e #define log_e(...) Serial.printf(__VA_ARGS__) #endif diff --git a/src/bosch/BoschParse.cpp b/src/bosch/BoschParse.cpp index 288471d..4048221 100644 --- a/src/bosch/BoschParse.cpp +++ b/src/bosch/BoschParse.cpp @@ -86,57 +86,57 @@ void BoschParse::parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback switch (meta_event_type) { case BHY2_META_EVENT_FLUSH_COMPLETE: - log_i("%s Flush complete for sensor id %u\r\n", event_text, byte1); + log_i("%s Flush complete for sensor id %u", event_text, byte1); break; case BHY2_META_EVENT_SAMPLE_RATE_CHANGED: - log_i("%s Sample rate changed for sensor id %u\r\n", event_text, byte1); + log_i("%s Sample rate changed for sensor id %u", event_text, byte1); break; case BHY2_META_EVENT_POWER_MODE_CHANGED: - log_i("%s Power mode changed for sensor id %u\r\n", event_text, byte1); + log_i("%s Power mode changed for sensor id %u", event_text, byte1); break; case BHY2_META_EVENT_ALGORITHM_EVENTS: - log_i("%s Algorithm event\r\n", event_text); + log_i("%s Algorithm event", event_text); break; case BHY2_META_EVENT_SENSOR_STATUS: - log_i("%s Accuracy for sensor id %u changed to %u\r\n", event_text, byte1, byte2); + log_i("%s Accuracy for sensor id %u changed to %u", event_text, byte1, byte2); break; case BHY2_META_EVENT_BSX_DO_STEPS_MAIN: - log_i("%s BSX event (do steps main)\r\n", event_text); + log_i("%s BSX event (do steps main)", event_text); break; case BHY2_META_EVENT_BSX_DO_STEPS_CALIB: - log_i("%s BSX event (do steps calib)\r\n", event_text); + log_i("%s BSX event (do steps calib)", event_text); break; case BHY2_META_EVENT_BSX_GET_OUTPUT_SIGNAL: - log_i("%s BSX event (get output signal)\r\n", event_text); + log_i("%s BSX event (get output signal)", event_text); break; case BHY2_META_EVENT_SENSOR_ERROR: - log_i("%s Sensor id %u reported error 0x%02X\r\n", event_text, byte1, byte2); + log_i("%s Sensor id %u reported error 0x%02X", event_text, byte1, byte2); break; case BHY2_META_EVENT_FIFO_OVERFLOW: - log_i("%s FIFO overflow\r\n", event_text); + log_i("%s FIFO overflow", event_text); break; case BHY2_META_EVENT_DYNAMIC_RANGE_CHANGED: - log_i("%s Dynamic range changed for sensor id %u\r\n", event_text, byte1); + log_i("%s Dynamic range changed for sensor id %u", event_text, byte1); break; case BHY2_META_EVENT_FIFO_WATERMARK: - log_i("%s FIFO watermark reached\r\n", event_text); + log_i("%s FIFO watermark reached", event_text); break; case BHY2_META_EVENT_INITIALIZED: - log_i("%s Firmware initialized. Firmware version %u\r\n", event_text, ((uint16_t)byte2 << 8) | byte1); + log_i("%s Firmware initialized. Firmware version %u", event_text, ((uint16_t)byte2 << 8) | byte1); break; case BHY2_META_TRANSFER_CAUSE: - log_i("%s Transfer cause for sensor id %u\r\n", event_text, byte1); + log_i("%s Transfer cause for sensor id %u", event_text, byte1); break; case BHY2_META_EVENT_SENSOR_FRAMEWORK: - log_i("%s Sensor framework event for sensor id %u\r\n", event_text, byte1); + log_i("%s Sensor framework event for sensor id %u", event_text, byte1); break; case BHY2_META_EVENT_RESET: - log_i("%s Reset event\r\n", event_text); + log_i("%s Reset event", event_text); break; case BHY2_META_EVENT_SPACER: return; default: - log_i("%s Unknown meta event with id: %u\r\n", event_text, meta_event_type); + log_i("%s Unknown meta event with id: %u", event_text, meta_event_type); break; } @@ -161,7 +161,7 @@ void BoschParse::parseDebugMessage(const struct bhy2_fifo_parse_data_info *callb uint8_t debug_msg[17] = { 0 }; /* Max payload size is 16 bytes, adds a trailing zero if the payload is full */ if (!callback_info) { - log_i("Null reference\r\n"); + log_i("Null reference"); return; } @@ -173,5 +173,5 @@ void BoschParse::parseDebugMessage(const struct bhy2_fifo_parse_data_info *callb memcpy(debug_msg, &callback_info->data_ptr[1], msg_length); debug_msg[msg_length] = '\0'; /* Terminate the string */ - log_i("[DEBUG MSG]; T: %lu.%09lu; %s\r\n", s, ns, debug_msg); + log_i("[DEBUG MSG]; T: %lu.%09lu; %s", s, ns, debug_msg); } \ No newline at end of file