SensorLib

SensorLib

A multi-platform sensor driver library for Arduino / PlatformIO / ESP-IDF.

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Highlights

• 44+ devices across 11 categories — Touch, PMIC, IMU, Magnetometer, Accelerometer, RTC, Gauge, Haptic, Light Sensor, I/O Expander, LED
• Ready-to-run examples covering supported devices and common workflows
• Full PMIC subsystem — charger, ADC, GPIO, IRQ, LED, power channels, coulomb counter, BC1.2, Type-C/USB-PD where supported
• One library for Arduino / PlatformIO / ESP-IDF
• Supports both I2C and SPI buses

See the changelog for release details. Projects upgrading from v0.4.x should also read the v0.5 migration guide.

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Contents

• Contents
• Upgrading from v0.4.x
• Installation
  • Arduino IDE
  • PlatformIO
  • ESP-IDF
• Build Options
  • Driver Exclusion
  • Bosch Firmware Files
• Quick Start
  • Including Headers
    • Option A: Per-driver Include (Recommended)
    • Option B: Aggregate Include (Quick Prototyping)
    • Which should I use?
  • Minimal Example: Touch
  • Minimal Example: PMIC
  • AXP517 USB-C PD
• Examples
  • Using Examples
• Supported Devices
• Platform Compatibility
• Notes
• License
  • Third-party licenses

Upgrading from v0.4.x

v0.5.0 reorganizes driver headers and expands several common interfaces. Most legacy top-level headers remain as deprecated compatibility wrappers, but some projects require source changes. Review the v0.5 migration guide before upgrading.

Installation

Arduino IDE

Install from Library Manager (recommended):

1. Open Arduino IDE
2. Go to Tools → Manage Libraries...
3. Search for SensorLib
4. Click Install

Alternative install methods

From ZIP

1. GitHub page → Code → Download ZIP
2. Arduino IDE → Sketch → Include Library → Add .ZIP Library...
3. Select the downloaded ZIP file

With Git

1. Clone this repository into your Arduino libraries folder:
   • Windows: Documents/Arduino/libraries/
   • macOS: ~/Documents/Arduino/libraries/
   • Linux: ~/Arduino/libraries/
2. Folder name should be SensorLib
3. Restart Arduino IDE

PlatformIO

Add to your platformio.ini:

[env:your_env]
platform = espressif32
board = esp32dev
framework = arduino
lib_deps =
  lewisxhe/SensorLib@^0.5.0

Alternative: install from GitHub or local lib

From GitHub (latest)

lib_deps =
  https://github.com/lewisxhe/SensorLib.git

Local library Copy/clone this repository into <your_project>/lib/SensorLib/. PlatformIO will auto-detect it.

ESP-IDF

SensorLib is published in the ESP-IDF Component Registry. Supports ESP-IDF v4.4+ (recommended v5.1+).

1. Add dependency in project root idf_component.yml:

dependencies:
  lewisxhe/sensorlib:
    version: "^0.5.0"

2. Use in your code:

#include "TouchDrvGoodix.hpp"
 
// or for PMIC:
// #include "PmicXPowers.hpp"

Build Options

Driver Exclusion

SensorLib can exclude unused driver families or individual drivers at build time. This is useful when a project only uses one sensor and should not compile the rest of the library.

For ESP-IDF, configure exclusions from menuconfig:

idf.py menuconfig

Then open:

Component config -> SensorLib Configuration -> Driver exclusion

Select family-level options such as SENSORLIB_EXCLUDE_IMU, SENSORLIB_EXCLUDE_TOUCH, SENSORLIB_EXCLUDE_PMIC, or select individual drivers such as SENSORLIB_EXCLUDE_BHI260, SENSORLIB_EXCLUDE_TOUCH_GT911, SENSORLIB_EXCLUDE_PCF85063.

Example: build an ESP-IDF project that only uses SensorPCF8563:

CONFIG_SENSORLIB_EXCLUDE_IMU=y
CONFIG_SENSORLIB_EXCLUDE_ACCELEROMETER=y
CONFIG_SENSORLIB_EXCLUDE_MAGNETOMETER=y
CONFIG_SENSORLIB_EXCLUDE_LIGHT_SENSOR=y
CONFIG_SENSORLIB_EXCLUDE_TOUCH=y
CONFIG_SENSORLIB_EXCLUDE_HAPTIC=y
CONFIG_SENSORLIB_EXCLUDE_PMIC=y
CONFIG_SENSORLIB_EXCLUDE_GAUGE=y
CONFIG_SENSORLIB_EXCLUDE_IO_EXPANDER=y
CONFIG_SENSORLIB_EXCLUDE_ACTUATOR=y
CONFIG_SENSORLIB_EXCLUDE_FINGER_NAVIGATION=y
CONFIG_SENSORLIB_EXCLUDE_WIRE_HELPER=y
CONFIG_SENSORLIB_EXCLUDE_PCF85063=y

Leave CONFIG_SENSORLIB_EXCLUDE_RTC and CONFIG_SENSORLIB_EXCLUDE_PCF8563 disabled so the PCF8563 driver remains available.

For Arduino or PlatformIO source builds, define the same macros in src/SensorBuildOptUser.h before including SensorLib headers:

#define SENSORLIB_EXCLUDE_IMU 1
#define SENSORLIB_EXCLUDE_TOUCH 1
#define SENSORLIB_EXCLUDE_PMIC 1
#define SENSORLIB_EXCLUDE_PCF85063 1

SENSORLIB_EXCLUDE_ALL can be used to disable every optional driver controlled by SensorLib build options. Prefer the family or per-driver options when you want to keep one driver from the same category enabled.

Bosch Firmware Files

Raw Bosch *.fw files are not required by the build and are not included. BHI260/BHI360 examples use generated firmware headers under src/bosch/firmware/. If you use a custom Bosch firmware image, convert it to a C/C++ header or provide your own firmware byte array, then pass it with setFirmware().

Quick Start

Including Headers

SensorLib provides two ways to include drivers in your sketch:

Option A: Vendor-specific Include (Recommended)

Include only the vendor group you need. Best balance of granularity and convenience.

// Touch — by vendor
#include "TouchDrvGoodix.hpp"      // GT911, GT9895
#include "TouchDrvCST.hpp"         // CST226, CST816, CST9217, CST3530, CST3240
#include "TouchDrvFocalTech.hpp"   // FT6X36
#include "TouchDrvJadard.hpp"      // HI8561
#include "TouchDrvChipshine.hpp"   // CHSC5816
 
// PMIC — by vendor
#include "PmicXPowers.hpp"         // AXP192, AXP202, AXP2101, AXP517
#include "PmicSilergy.hpp"         // SY6970
#include "PmicTI.hpp"              // BQ25896
 
// Other categories — by device type
#include "MagnetometerDrv.hpp"     // All magnetometers
#include "ImuDrv.hpp"              // All IMUs
#include "RtcDrv.hpp"              // All RTCs
#include "GaugeDrv.hpp"            // All gauges
#include "IoExpanderDrv.hpp"       // All I/O expanders
#include "HapticDrivers.hpp"       // All haptic drivers
#include "LightSensorDrv.hpp"      // All light sensors
#include "AccelerometerDrv.hpp"    // All accelerometers

Option B: Aggregate Include (Quick Prototyping)

One header pulls in all drivers for a category. Convenient for prototyping, but brings in extra macros and classes you may not need.

#include "TouchDrv.hpp"            // All touch drivers (all vendors)
#include "PmicDrv.hpp"             // All PMIC drivers (all vendors)

‍Note: All include paths are flat filenames in src/. This works on Arduino IDE, PlatformIO, and ESP-IDF without subdirectory paths.

Minimal Example: Touch

GT911 on ESP32 (Arduino)

#include <Wire.h>
#include "TouchDrvGoodix.hpp"
 
TouchDrvGT911 touch;
 
void setup() {
    Serial.begin(115200);
    touch.setPins(15, 18);   // INT pin = 15, IRQ pin = 18
    touch.begin(Wire, GT911_SLAVE_ADDRESS_L, 21,22); // SDA=21,SCL=22
    Serial.println("GT911 ready");
}
 
void loop() {
    TouchPoints touch_points = touch.getTouchPoints();
    if (touch_points.hasPoints()) {
        for (int i = 0; i < touch_points.getPointCount(); ++i) {
            const TouchPoint &point = touch_points.getPoint(i);
            Serial.print("X[");
            Serial.print(i);
            Serial.print("]:");
            Serial.print(point.x);
            Serial.print(" ");
            Serial.print(" Y[");
            Serial.print(i);
            Serial.print("]:");
            Serial.print(point.y);
            Serial.print(" ");
        }
        Serial.println();
    }
    delay(10);
}

Minimal Example: PMIC

AXP2101 on ESP32 (Arduino)

#include <Wire.h>
#include "PmicXPowers.hpp"
 
PmicAXP2101 pmic;
 
void setup() {
    Serial.begin(115200);
 
    if (!pmic.begin(Wire, AXP2101_SLAVE_ADDRESS, 3, 2)) { // SDA=3, SCL=2
        Serial.println("AXP2101 not found!");
        while (1) delay(1000);
    }
 
    Serial.print("Chip ID: 0x");
    Serial.println(pmic.getChipID(), HEX);
 
    // Set DCDC1 to 3.3V
    pmic.getChannel()->setVoltage(AXP2101Channel::CH_DCDC1, 3300);
    pmic.getChannel()->enable(AXP2101Channel::CH_DCDC1, true);
 
    // Read battery voltage
    pmic.enableModule(PmicAXP2101::Module::GENERAL_ADC, true);
    float vbusMv = 0;
    Serial.print("VBUS: ");
    if (pmic.getAdc().read(PmicAdcBase::Channel::VBUS_VOLTAGE, vbusMv)) {
        Serial.print(vbusMv);
    } else {
        Serial.print("read failed");
    }
    Serial.println(" mV");
}
 
void loop() {
    float batteryMv = 0;
    Serial.print("Battery: ");
    if (pmic.getAdc().read(PmicAdcBase::Channel::BAT_VOLTAGE, batteryMv)) {
        Serial.print(batteryMv);
    } else {
        Serial.print("read failed");
    }
    Serial.println(" mV");
    delay(2000);
}

AXP517 USB-C PD

AXP517 includes Type-C/TCPC support and a simple USB-PD sink negotiator for requesting fixed PDO voltages.

PD negotiation is interrupt-driven. Hardware must connect PMIC_IRQ to an MCU GPIO, and the application must pass that pin to begin(..., irqPin) or initPdSink(irqPin) before calling requestPd(). Without a valid IRQ pin, the TCPC RX FIFO cannot be serviced reliably and PD voltage requests cannot complete.

#include <Wire.h>
#include "PmicXPowers.hpp"
 
PmicAXP517 pmic;
AXP517PdNegotiator::SourceCaps caps;
 
static constexpr int PMIC_SDA = 3;   // Adjust for your board.
static constexpr int PMIC_SCL = 2;   // Adjust for your board.
static constexpr int PMIC_IRQ = 44;  // Must be connected to PMIC_IRQ.
 
void setup() {
    Serial.begin(115200);
 
    if (!pmic.begin(Wire, AXP517_SLAVE_ADDRESS, PMIC_SDA, PMIC_SCL, PMIC_IRQ)) {
        Serial.println("AXP517 or PMIC_IRQ init failed");
        while (1) delay(1000);
    }
 
    if (pmic.requestPd(9000, 6000, &caps)) {
        Serial.println("9V PD contract ready");
    }
}
 
void loop() {
}

Relevant examples:

• examples/power/axp517_pd_voltage/
• examples/power/axp517_pd_auto_request/
• examples/power/axp517_interrupt/

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Examples

Examples are organized by category in the examples/ directory:

Directory names and .ino files use lowercase snake_case; folder names do not use hyphens.

examples/
├── actuator/                 # Haptic motors, LED drivers
├── io/                       # GPIO expanders and bus helper demos
├── platform/                 # ESP-IDF framework projects
│   ├── esp_idf_sensor_hub/
│   └── esp_idf_touch/
├── power/                    # PMIC, charger, gauge examples
├── sensor/                   # IMU, accelerometer, light, magnetometer, navigation
├── touch/                    # Touch panel drivers and touch interface examples
├── rtc/                      # PCF85063, PCF8563, RTC helpers
└── utility/                  # Callback and I2C scan/debug helpers

Using Examples

PlatformIO: Edit platformio.ini and set src_dir to the example you want:

[platformio]
src_dir = examples/sensor/qmi8658_basic_read

Arduino IDE: File → Open → navigate to the .ino file in examples/.

ESP-IDF: See examples/platform/ for ESP-IDF specific projects.

Supported Devices

44 supported devices (click to expand)

Device	Description	I2C	SPI	Header
RTC
PCF8563 / HYM8563	Real-time clock	✔️	❌	SensorPCF8563.hpp
PCF85063	Real-time clock	✔️	❌	SensorPCF85063.hpp
IMU
QMI8658	6-axis IMU	✔️	✔️	ImuDrv.hpp
BHI260AP	Smart IMU (Bosch)	✔️	✔️	SensorBHI260AP.hpp
BHI360	Smart IMU (Bosch)	✔️	✔️	SensorBHI360.hpp
Magnetometer
QMC6309	Magnetic Sensor	✔️	❌	SensorQMC6309.hpp
QMC6310U/N	Magnetic Sensor	✔️	❌	SensorQMC6310.hpp
QMC5883P	Magnetic Sensor	✔️	❌	SensorQMC5883P.hpp
QMC5883L	Magnetic Sensor	✔️	❌	SensorQMC5883L.hpp
BMM150	Magnetic Sensor	✔️	❌	MagnetometerDrv.hpp
Accelerometer
BMA422	Accelerometer	✔️	❌	SensorBMA422.hpp
BMA423	Accelerometer	✔️	❌	SensorBMA423.hpp
BMA456H	Accelerometer	✔️	❌	SensorBMA456H.hpp
I/O Expander
XL9555	16-bit I/O Expander	✔️	❌	IoExpanderDrv.hpp
PCA9570	4-bit I/O Expander	✔️	❌	IoExpanderDrv.hpp
Haptic
DRV2605	Haptic Driver (TI)	✔️	❌	HapticDrivers.hpp
AW86224	Haptic Driver (Awinic)	✔️	❌	HapticDrivers.hpp
Light Sensor
CM32181	Ambient Light Sensor	✔️	❌	LightSensorDrv.hpp
LTR553	Light & Proximity	✔️	❌	LightSensorDrv.hpp
Touch
GT911	Capacitive Touch	✔️	❌	TouchDrvGoodix.hpp
GT9895	Capacitive Touch	✔️	❌	TouchDrvGoodix.hpp
FT3267	Capacitive Touch	✔️	❌	TouchDrvFocalTech.hpp
FT5206	Capacitive Touch	✔️	❌	TouchDrvFocalTech.hpp
FT6206	Capacitive Touch	✔️	❌	TouchDrvFocalTech.hpp
FT6236	Capacitive Touch	✔️	❌	TouchDrvFocalTech.hpp
CST226SE	Capacitive Touch	✔️	❌	TouchDrvCST.hpp
CST820	Capacitive Touch	✔️	❌	TouchDrvCST.hpp
CST816S/T/D	Capacitive Touch	✔️	❌	TouchDrvCST.hpp
CST9217	Capacitive Touch	✔️	❌	TouchDrvCST.hpp
CST9220	Capacitive Touch	✔️	❌	TouchDrvCST.hpp
CST3240	Capacitive Touch	✔️	❌	TouchDrvCST.hpp
CST3530	Capacitive Touch	✔️	❌	TouchDrvCST.hpp
CHSC5816	Capacitive Touch	✔️	❌	TouchDrvChipshine.hpp
HI8561	Capacitive Touch	✔️	❌	TouchDrvJadard.hpp
LED
AW9364	LED Driver (GPIO)	❌	❌	AW9364LedDriver.hpp
PMIC
AXP192	PMIC (XPowers)	✔️	❌	PmicXPowers.hpp
AXP202	PMIC (XPowers)	✔️	❌	PmicXPowers.hpp
AXP2101	PMIC (XPowers)	✔️	❌	PmicXPowers.hpp
AXP517	PMIC (XPowers, Type-C/USB-PD sink)	✔️	❌	PmicXPowers.hpp
BQ25896	Charger (TI)	✔️	❌	PmicTI.hpp
SY6970	Charger (Silergy)	✔️	❌	PmicSilergy.hpp
Gauge
BQ27220	Battery Gauge (TI)	✔️	❌	GaugeDrv.hpp
AXP2602	Battery Gauge (XPowers)	✔️	❌	GaugeDrv.hpp
Other
PAW-A350	Finger Navigation (PixArt)	✔️	❌	FingerNavigationDrv.hpp

Platform Compatibility

Platform	Status	Notes
ESP32	✔️	Primary target, full support
ESP32-S2	✔️	Single-core, USB OTG
ESP32-S3	✔️	Dual-core, USB OTG
ESP32-C3	✔️	RISC-V single-core
ESP32-C6	✔️	RISC-V, Wi-Fi 6

‍Other Arduino-compatible boards (RP2040, nRF52, etc.) may work for I2C devices but are not actively tested.

Notes

• I2C pull-ups: Most I2C devices require proper pull-up resistors (4.7kΩ typical) on SDA/SCL lines.
• I2C speed: Default is 100kHz. For faster transfers, use Wire.setClock(400000) before begin().
• SPI devices: QMI8658, BHI260AP, BHI360 support SPI. Touch and PMIC devices are I2C only.
• I2C addresses: Some devices have configurable addresses (e.g., GT911 has GT911_SLAVE_ADDRESS_L / GT911_SLAVE_ADDRESS_H). Check the header file for available constants.
• AXP517 USB-PD: PD voltage negotiation requires PMIC_IRQ wiring. Pass the IRQ pin during initialization and use pmic.irq().readStatus(true) in interrupt-driven code so normal PMIC IRQs and TCPC PD alerts are both drained.
• Troubleshooting: If a device is not detected, verify wiring, address selection, and I2C speed. Use examples/utility/wire_helper/ to scan the I2C bus.

License

SensorLib is licensed under the MIT License. See LICENSE.

Third-party licenses

This repository includes third-party code under src/bosch/ from Bosch Sensortec, licensed under the BSD 3-Clause License (BSD-3-Clause).

See THIRD_PARTY_NOTICES.md for details.