bhi260ap_aux_bmm150_quaternion.ino

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#include <Wire.h>
#include <SPI.h>
#include <Arduino.h>
#include <ImuDrv.hpp>
 
 
// #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;
 
/*
* Define the USING_DATA_HELPER use of data assistants.
* No callback function will be used. Data can be obtained directly through
* the data assistant. Note that this method is not a thread-safe function.
* Please pay attention to protecting data access security.
* */
#define USING_DATA_HELPER
 
#ifdef USING_DATA_HELPER
SensorQuaternion quaternion(bhy);
#endif
 
// 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 <BoschFirmware.h>
 
// 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*/
 
#ifndef USING_DATA_HELPER
void parse_quaternion(uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data)
{
    struct bhy2_data_quaternion data;
    uint32_t s, ns;
    uint64_t tns;
    // Function to parse FIFO frame data into orientation
    bhy2_parse_quaternion(data_ptr, &data);
    uint64_t _timestamp =  *timestamp;
    BoschSensorUtils::time_to_s_ns(_timestamp, &s, &ns, &tns);
    Serial.print("SID:"); Serial.print(sensor_id);
    Serial.print(" T:"); Serial.print(s);
    Serial.print("."); Serial.print(ns);
    Serial.print(" x:"); Serial.print(data.x / 16384.0f);
    Serial.print(" y:"); Serial.print(data.y / 16384.0f);
    Serial.print(" x:"); Serial.print(data.z / 16384.0f);
    Serial.print(" w:"); Serial.print(data.w / 16384.0f);
    Serial.print(" acc:"); Serial.println(((data.accuracy * 180.0f) / 16384.0f) / 3.141592653589793f);
}
#endif
 
// 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
 
    float sample_rate = 100.0;      /* Read out data measured at 100Hz */
    uint32_t report_latency_ms = 0; /* Report immediately */
 
    /*
    * Enable Quaternion function
    * The Quaternion function depends on BMM150.
    * If the hardware is not connected to BMM150, the Quaternion function cannot be used.
    * * */
#ifdef USING_DATA_HELPER
    quaternion.enable(sample_rate, report_latency_ms);
#else
    bhy.configure(BoschSensorID::ROTATION_VECTOR, sample_rate, report_latency_ms);
    // Register event callback function
    bhy.onResultEvent(BoschSensorID::ROTATION_VECTOR, parse_quaternion);
#endif
 
#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*/
 
#ifdef USING_DATA_HELPER
    if (quaternion.hasUpdated()) {
        uint32_t s;
        uint32_t ns;
        quaternion.getLastTime(s, ns);
#ifdef PLATFORM_HAS_PRINTF
        Serial.printf("[T: %" PRIu32 ".%09" PRIu32 "] QX:%+7.2f QY:%+7.2f QZ:%+7.2f QW:%+7.2f\n",
                      s, ns, quaternion.getX(), quaternion.getY(), quaternion.getZ(), quaternion.getW());
#else
        Serial.print("[T: ");
        Serial.print(s);
        Serial.print(".");
        Serial.print(ns);
        Serial.print("] ");
        Serial.print("QX:");
        Serial.print(quaternion.getX(), 2);
        Serial.print(" QY:");
        Serial.print(quaternion.getY(), 2);
        Serial.print(" QZ:");
        Serial.print(quaternion.getZ(), 2);
        Serial.print(" QW:");
        Serial.print(quaternion.getW(), 2);
        Serial.println();
#endif
    }
#endif
    delay(50);
}