@license MIT License More...

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

Include dependency graph for bhi360_euler.ino:

Macros
#define	USE_I2C_INTERFACE

#define	BHI360_SDA 2

#define	BHI360_SCL 3

#define	BHI360_IRQ 8

#define	BHI360_RST -1

#define	USING_DATA_HELPER

#define	BOSCH_SHUTTLE3_BHI360

#define	USING_SENSOR_IRQ_METHOD

Functions
SensorQuaternion	quaternion (bhy)

void	dataReadyISR ()

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

void	setup ()
	Parse the quaternion data from the sensor and convert it to Euler angles.

void	loop ()

Variables
SensorBHI360	bhy

bool	isReadyFlag = false

Detailed Description

@license MIT License

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: 2026-02-14

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

Definition in file bhi360_euler.ino.

Macro Definition Documentation

◆ BHI360_IRQ

#define BHI360_IRQ 8

Definition at line 78 of file bhi360_euler.ino.

◆ BHI360_RST

#define BHI360_RST -1

Definition at line 83 of file bhi360_euler.ino.

◆ BHI360_SCL

#define BHI360_SCL 3

Definition at line 73 of file bhi360_euler.ino.

◆ BHI360_SDA

#define BHI360_SDA 2

Definition at line 69 of file bhi360_euler.ino.

◆ BOSCH_SHUTTLE3_BHI360

#define BOSCH_SHUTTLE3_BHI360

Definition at line 108 of file bhi360_euler.ino.

◆ USE_I2C_INTERFACE

#define USE_I2C_INTERFACE

Definition at line 40 of file bhi360_euler.ino.

◆ USING_DATA_HELPER

#define USING_DATA_HELPER

Definition at line 94 of file bhi360_euler.ino.

◆ USING_SENSOR_IRQ_METHOD

#define USING_SENSOR_IRQ_METHOD

Definition at line 132 of file bhi360_euler.ino.

Function Documentation

◆ dataReadyISR()

void dataReadyISR ( )

Definition at line 138 of file bhi360_euler.ino.

References isReadyFlag.

Referenced by setup().

◆ loop()

void loop ( )

Definition at line 316 of file bhi360_euler.ino.

References bhy, isReadyFlag, and quaternion().

◆ progress_callback()

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

Definition at line 145 of file bhi360_euler.ino.

◆ quaternion()

SensorQuaternion quaternion ( bhy )

Referenced by loop(), and setup().

◆ setup()

void setup ( )

Parse the quaternion data from the sensor and convert it to Euler angles.

This function serves as a callback to handle the sensor data related to the game rotation vector. It takes the raw quaternion data received from the sensor, converts it into Euler angles (roll, pitch, and yaw),

Parameters

sensor_id	The ID of the sensor that generated the data. It helps in identifying which specific sensor the data is coming from, especially in systems with multiple sensors.
data_ptr	A pointer to the buffer containing the raw quaternion data. The data in this buffer represents the orientation of the sensor in quaternion format.
len	The length of the data buffer, indicating the size of the quaternion data in bytes.
timestamp	A pointer to a 64 - bit unsigned integer representing the timestamp when the sensor data was captured. This can be used to correlate the data with a specific point in time.
user_data	A generic pointer to user - defined data.

Set the axis remapping for the sensor based on the specified orientation.

This function allows you to configure the sensor's axis remapping according to a specific physical orientation of the chip. By passing one of the values from the SensorRemap enum, you can ensure that the sensor data is correctly interpreted based on how the chip is placed. bst-bhi260ab-ds000.pdf 20.3 Sensing axes and axes remapping

Parameters

remap An enumeration value from SensorRemap that specifies the desired axis remapping.

Returns: Returns true if the axis remapping is successfully set; false otherwise.

Definition at line 189 of file bhi360_euler.ino.

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

Variable Documentation

◆ bhy

SensorBHI360 bhy

Definition at line 86 of file bhi360_euler.ino.