bhi360_aux_bmm350_quaternion.ino File Reference

@license MIT License More...

#include <Wire.h>
#include <SPI.h>
#include <Arduino.h>
#include <ImuDrv.hpp>
#include <BoschFirmware.h>

Include dependency graph for bhi360_aux_bmm350_quaternion.ino:

Go to the source code of this file.

Macros
#define	USE_I2C_INTERFACE
#define	BHI360_SDA   2
#define	BHI360_SCL   3
#define	BHI360_IRQ   8
#define	BHI360_RST   -1
#define	BOSCH_SHUTTLE3_BHI360_BMM350C
#define	USING_SENSOR_IRQ_METHOD

Functions
void	dataReadyISR ()
void	parse_quaternion (uint8_t sensor_id, const uint8_t *data_ptr, uint32_t len, uint64_t *timestamp, void *user_data)
void	progress_callback (uint32_t total, uint32_t transferred, void *user_data)
void	setup ()
void	loop ()

Variables
SensorBHI360	bhy
bool	force_update_flash_firmware = true
volatile bool	isInterruptTriggered = false

Detailed Description

@license MIT License

Copyright (c) 2026 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.

Author

Lewis He (lewis.nosp@m.he@o.nosp@m.utloo.nosp@m.k.co.nosp@m.m)

Date

2026-02-25

Note

Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI

Definition in file bhi360_aux_bmm350_quaternion.ino.

Macro Definition Documentation

BHI360_IRQ

#define BHI360_IRQ   8

Definition at line 78 of file bhi360_aux_bmm350_quaternion.ino.

BHI360_RST

#define BHI360_RST   -1

Definition at line 83 of file bhi360_aux_bmm350_quaternion.ino.

BHI360_SCL

#define BHI360_SCL   3

Definition at line 73 of file bhi360_aux_bmm350_quaternion.ino.

BHI360_SDA

#define BHI360_SDA   2

Definition at line 69 of file bhi360_aux_bmm350_quaternion.ino.

BOSCH_SHUTTLE3_BHI360_BMM350C

#define BOSCH_SHUTTLE3_BHI360_BMM350C

Definition at line 113 of file bhi360_aux_bmm350_quaternion.ino.

USE_I2C_INTERFACE

#define USE_I2C_INTERFACE

Definition at line 40 of file bhi360_aux_bmm350_quaternion.ino.

USING_SENSOR_IRQ_METHOD

#define USING_SENSOR_IRQ_METHOD

Definition at line 137 of file bhi360_aux_bmm350_quaternion.ino.

Function Documentation

dataReadyISR()

void dataReadyISR

(

)

Definition at line 143 of file bhi360_aux_bmm350_quaternion.ino.

References isInterruptTriggered.

Referenced by setup().

loop()

void loop

(

)

Definition at line 271 of file bhi360_aux_bmm350_quaternion.ino.

References bhy, isInterruptTriggered, and quaternion().

parse_quaternion()

void parse_quaternion	(	uint8_t	sensor_id,
		const uint8_t *	data_ptr,
		uint32_t	len,
		uint64_t *	timestamp,
		void *	user_data
	)

Definition at line 150 of file bhi360_aux_bmm350_quaternion.ino.

References timestamp.

Referenced by setup().

progress_callback()

void progress_callback	(	uint32_t	total,
		uint32_t	transferred,
		void *	user_data
	)

Definition at line 171 of file bhi360_aux_bmm350_quaternion.ino.

setup()

void setup

(

)

Definition at line 179 of file bhi360_aux_bmm350_quaternion.ino.

References BHI360_IRQ, BHI360_RST, BHI360_SCL, BHI360_SDA, bhy, dataReadyISR(), parse_quaternion(), SPI_MISO, SPI_MOSI, SPI_SCK, stepCounter(), and stepDetector().

Variable Documentation

bhy

SensorBHI360 bhy

Definition at line 86 of file bhi360_aux_bmm350_quaternion.ino.

Referenced by loop(), and setup().

force_update_flash_firmware

bool force_update_flash_firmware = true

Definition at line 134 of file bhi360_aux_bmm350_quaternion.ino.

isInterruptTriggered

volatile bool isInterruptTriggered = false

Definition at line 141 of file bhi360_aux_bmm350_quaternion.ino.

Referenced by dataReadyISR(), and loop().