mikkeli/pi-dashboard
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

initial commit

Browse Source
This commit is contained in:
Mikkeli Matlock
2026-02-15 02:48:59 +09:00
commit 19db125619
258 changed files with 345581 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/ExternLib/SensorLib/src/bosch/BMM150/bmm150.c
+2187
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/BMM150/bmm150.h
+479
View File
@@ -0,0 +1,479 @@
/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmm150.h
* @date 2020-06-03
* @version v2.0.0
*
*/
/*!
* @defgroup bmm150 BMM150
*/
#ifndef _BMM150_H
#define _BMM150_H
/*! CPP guard */
#ifdef __cplusplus
extern "C" {
#endif
/********************************************************************/
/* header files */
#include "bmm150_defs.h"
/********************************************************************/
/* (extern) variable declarations */
/********************************************************************/
/* function prototype declarations */
/**
* \ingroup bmm150
* \defgroup bmm150ApiInit Initialization
* @brief Initialize the sensor and device structure
*/
/*!
* \ingroup bmm150ApiInit
* \page bmm150_api_bmm150_init bmm150_init
* \code
* int8_t bmm150_init(struct bmm150_dev *dev);
* \endcode
* @details This API is the entry point, Call this API before using other APIs.
* This API reads the chip-id of the sensor which is the first step to
* verify the sensor and also it configures the read mechanism of SPI and
* I2C interface.
*
* @param[in,out] dev : Structure instance of bmm150_dev
* @note : Refer user guide for detailed info.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_init(struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiRegs Registers
* @brief Read / Write data to the given register address of the sensor
*/
/*!
* \ingroup bmm150ApiRegs
* \page bmm150_api_bmm150_set_regs bmm150_set_regs
* \code
* int8_t bmm150_set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, struct bmm150_dev *dev);
* \endcode
* @details This API writes the given data to the register address
* of the sensor.
*
* @param[in] reg_addr : Register address from where the data to be written.
* @param[in] reg_data : Pointer to data buffer which is to be written
* in the reg_addr of sensor.
* @param[in] len : No of bytes of data to write..
* @param[in] dev : Structure instance of bmm150_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t len, struct bmm150_dev *dev);
/*!
* \ingroup bmm150ApiRegs
* \page bmm150_api_bmm150_get_regs bmm150_get_regs
* \code
* int8_t bmm150_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, struct bmm150_dev *dev)
* \endcode
* @details This API reads the data from the given register address of sensor.
*
* @param[in] reg_addr : Register address from where the data to be read
* @param[out] reg_data : Pointer to data buffer to store the read data.
* @param[in] len : No of bytes of data to be read.
* @param[in] dev : Structure instance of bmm150_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t len, struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiSoftreset Soft reset
* @brief Perform soft reset of the sensor
*/
/*!
* \ingroup bmm150ApiSoftreset
* \page bmm150_api_bmm150_soft_reset bmm150_soft_reset
* \code
* int8_t bmm150_soft_reset(struct bmm150_dev *dev);
* \endcode
* @details This API is used to perform soft-reset of the sensor
* where all the registers are reset to their default values except 0x4B.
*
* @param[in] dev : Structure instance of bmm150_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_soft_reset(struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiPowermode Power mode
* @brief Set / Get power mode of the sensor
*/
/*!
* \ingroup bmm150ApiPowermode
* \page bmm150_api_bmm150_set_op_mode bmm150_set_op_mode
* \code
* int8_t bmm150_set_op_mode(const struct bmm150_settings *settings, struct bmm150_dev *dev);
* \endcode
* @details This API is used to set the power mode of the sensor.
*
* @param[in] settings : Structure instance of bmm150_settings.
* @param[in] dev : Structure instance of bmm150_dev.
*
*@verbatim
* settings->pwr_mode | Power mode
* ------------------------|-----------------------
* 0x00 | BMM150_POWERMODE_NORMAL
* 0x01 | BMM150_POWERMODE_FORCED
* 0x03 | BMM150_POWERMODE_SLEEP
* 0x04 | BMM150_POWERMODE_SUSPEND
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_set_op_mode(const struct bmm150_settings *settings, struct bmm150_dev *dev);
/*!
* \ingroup bmm150ApiPowermode
* \page bmm150_api_bmm150_get_op_mode bmm150_get_op_mode
* \code
* int8_t bmm150_get_op_mode(uint8_t *op_mode, struct bmm150_dev *dev);
* \endcode
* @details This API is used to get the power mode of the sensor.
*
* @param[out] op_mode : power mode of the sensor.
* @param[in] dev : Structure instance of bmm150_dev.
*
*@verbatim
* op_mode | Power mode
* -------------|-----------------------
* 0x00 | BMM150_POWERMODE_NORMAL
* 0x01 | BMM150_POWERMODE_FORCED
* 0x03 | BMM150_POWERMODE_SLEEP
* 0x04 | BMM150_POWERMODE_SUSPEND
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_get_op_mode(uint8_t *op_mode, struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiPresetmode Preset mode
* @brief Set preset mode of the sensor
*/
/*!
* \ingroup bmm150ApiPresetmode
* \page bmm150_api_bmm150_set_presetmode bmm150_set_presetmode
* \code
* int8_t bmm150_set_presetmode(struct bmm150_settings *settings, struct bmm150_dev *dev);
* \endcode
* @details This API is used to set the preset mode of the sensor.
*
* @param[in] settings : Structure instance of bmm150_settings.
* @param[in] dev : Structure instance of bmm150_dev.
*
*@verbatim
* settings->preset_mode | Preset mode
* ---------------------------|----------------------------------
* 0x01 | BMM150_PRESETMODE_LOWPOWER
* 0x02 | BMM150_PRESETMODE_REGULAR
* 0x03 | BMM150_PRESETMODE_HIGHACCURACY
* 0x04 | BMM150_PRESETMODE_ENHANCED
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_set_presetmode(struct bmm150_settings *settings, struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiSensorSettings Sensor Settings
* @brief Set / Get sensor settings of the sensor
*/
/*!
* \ingroup bmm150ApiSensorSettings
* \page bmm150_api_bmm150_set_sensor_settings bmm150_set_sensor_settings
* \code
* int8_t bmm150_set_sensor_settings(uint16_t desired_settings, const struct bmm150_settings *settings, struct bmm150_dev *dev);
* \endcode
* @details This API sets the sensor settings based on the desired_settings
* and the dev structure configuration
*
* @param[in] desired_settings : Selection macro for selecting the setting.
* @param[in] settings : Structure instance of bmm150_settings.
* @param[in] dev : Structure instance of bmm150_dev.
*
* @note Assign the sensor setting macros (multiple macros can be
* set by doing a bitwise-OR operation) to the desired_settings parameter
* of this API to perform the corresponding setting.
*
* @note threshold interrupt for each axes are set by using bitwise AND
* operation of the following macros
* - BMM150_THRESHOLD_X
* - BMM150_THRESHOLD_Y
* - BMM150_THRESHOLD_Z
*
*@verbatim
* desired_settings | Selected sensor setting macros
* -------------------|--------------------------------
* 0x0001 | BMM150_SEL_DATA_RATE
* 0x0002 | BMM150_SEL_CONTROL_MEASURE
* 0x0004 | BMM150_SEL_XY_REP
* 0x0008 | BMM150_SEL_Z_REP
* 0x0010 | BMM150_SEL_DRDY_PIN_EN
* 0x0020 | BMM150_SEL_INT_PIN_EN
* 0x0040 | BMM150_SEL_DRDY_POLARITY
* 0x0080 | BMM150_SEL_INT_LATCH
* 0x0100 | BMM150_SEL_INT_POLARITY
* 0x0200 | BMM150_SEL_DATA_OVERRUN_INT
* 0x0400 | BMM150_SEL_OVERFLOW_INT
* 0x0800 | BMM150_SEL_HIGH_THRESHOLD_INT
* 0x1000 | BMM150_SEL_LOW_THRESHOLD_INT
* 0x2000 | BMM150_SEL_LOW_THRESHOLD_SETTING
* 0x4000 | BMM150_SEL_HIGH_THRESHOLD_SETTING
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_set_sensor_settings(uint16_t desired_settings,
const struct bmm150_settings *settings,
struct bmm150_dev *dev);
/*!
* \ingroup bmm150ApiSensorSettings
* \page bmm150_api_bmm150_get_sensor_settings bmm150_get_sensor_settings
* \code
* int8_t bmm150_get_sensor_settings(struct bmm150_settings *settings, struct bmm150_dev *dev);
* \endcode
* @details This API gets all the sensor settings and updates the dev structure
*
* @param[in] settings : Structure instance of bmm150_settings.
* @param[in] dev : Structure instance of bmm150_dev.
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_get_sensor_settings(struct bmm150_settings *settings, struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiMagData Read magnetometer data
* @brief Read magnetometer data
*/
/*!
* \ingroup bmm150ApiMagData
* \page bmm150_api_bmm150_read_mag_data bmm150_read_mag_data
* \code
* int8_t bbmm150_read_mag_data(struct bmm150_mag_data *mag_data, struct bmm150_dev *dev);
* \endcode
* @details This API reads the magnetometer data from registers 0x42 to 0x49
* and updates the dev structure with compensated mag data in micro-tesla
*
* @param[in] mag_data : Structure instance of bmm150_mag_data.
* @param[in,out] dev : Structure instance of bmm150_dev.
*
* @note The output mag data can be obtained either in int16_t or float format
* using this API.
* @note Enable the macro "BMM150_USE_FLOATING_POINT" in the bmm150_defs.h
* file and call this API to get the mag data in float,
* disable this macro to get the mag data in int16_t format
*
*@verbatim
* Mag data output(micro-tesla) | Mag data in dev structure(int16_t/float)
* --------------------------------|------------------------------------------
* X-axis data | mag_data->x
* Y-axis data | mag_data->y
* Z-axis data | mag_data->z
*@endverbatim
*
* @return Result of API execution status
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_read_mag_data(struct bmm150_mag_data *mag_data, struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiSelftest Self test
* @brief Perform self test
*/
/*!
* \ingroup bmm150ApiSelftest
* \page bmm150_api_bmm150_perform_self_test bmm150_perform_self_test
* \code
* int8_t bmm150_perform_self_test(uint8_t self_test_mode, struct bmm150_dev *dev);
* \endcode
* @details This API is used to perform the complete self test
* (both normal and advanced) for the BMM150 sensor
*
* @param[in] self_test_mode : The type of self test to be performed
* @param[in] dev : Structure instance of bmm150_dev.
*
*@verbatim
* self_test_mode | Self test enabled
* --------------------|--------------------------
* 0 | BMM150_SELF_TEST_NORMAL
* 1 | BMM150_SELF_TEST_ADVANCED
*@endverbatim
*
* @note The return value of this API gives us the result of self test.
*
* @note Performing advanced self test does soft reset of the sensor, User can
* set the desired settings after performing the advanced self test.
*
* @return Result of API execution status and self test result.
* @retval 0 BMM150_OK
* @retval 1 BMM150_W_NORMAL_SELF_TEST_YZ_FAIL
* @retval 2 BMM150_W_NORMAL_SELF_TEST_XZ_FAIL
* @retval 3 BMM150_W_NORMAL_SELF_TEST_Z_FAIL
* @retval 4 BMM150_W_NORMAL_SELF_TEST_XY_FAIL
* @retval 5 BMM150_W_NORMAL_SELF_TEST_Y_FAIL
* @retval 6 BMM150_W_NORMAL_SELF_TEST_X_FAIL
* @retval 7 BMM150_W_NORMAL_SELF_TEST_XYZ_FAIL
* @retval 8 BMM150_W_ADV_SELF_TEST_FAIL
*/
int8_t bmm150_perform_self_test(uint8_t self_test_mode, struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiInt Interrupt status
* @brief Obtain interrupt staus flags
*/
/*!
* \ingroup bmm150ApiInt
* \page bmm150_api_bmm150_get_interrupt_status bmm150_get_interrupt_status
* \code
* int8_t bmm150_get_interrupt_status(struct bmm150_dev *dev);
* \endcode
* @details This API obtains the status flags of all interrupt
* which is used to check for the assertion of interrupts
*
* @param[in,out] dev : Structure instance of bmm150_dev.
*
* @note The status flags of all the interrupts are stored in the
* dev->int_status.
*
* @note The value of dev->int_status is performed a bitwise AND operation
* with predefined interrupt status macros to find the interrupt status
* which is either set or reset.
*
* Ex.
* if (dev->int_status & BMM150_INT_ASSERTED_DRDY)
* {
* Occurrence of data ready interrupt
* } else {
* No interrupt occurred
* }
*
* @return Result of API execution status and self test result.
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_get_interrupt_status(struct bmm150_dev *dev);
/**
* \ingroup bmm150
* \defgroup bmm150ApiAux Compensate magnetometer data
* @brief Compensation of magnetometer data
*/
/*!
* \ingroup bmm150ApiAux
* \page bmm150_api_bmm150_aux_mag_data bmm150_aux_mag_data
* \code
* int8_t bmm150_aux_mag_data(uint8_t *aux_data, struct bmm150_mag_data *mag_data, const struct bmm150_dev *dev);
* \endcode
* @details This API is used to compensate the raw mag data
*
* @param[in] aux_data : Raw mag data obtained from BMI160 registers
* @param[in] mag_data : Structure instance of bmm150_mag_data.
* @param[in,out] dev : Structure instance of bmm150_dev.
*
* @return Result of API execution status and self test result.
* @retval 0 -> Success
* @retval >0 -> Warning
* @retval <0 -> Fail
*/
int8_t bmm150_aux_mag_data(uint8_t *aux_data, struct bmm150_mag_data *mag_data, const struct bmm150_dev *dev);
#ifdef __cplusplus
}
#endif /* End of CPP guard */
#endif /* _BMM150_H */
components/ExternLib/SensorLib/src/bosch/BMM150/bmm150_defs.h
+643
View File
@@ -0,0 +1,643 @@
/**
* Copyright (c) 2020 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bmm150_defs.h
* @date 2020-06-03
* @version v2.0.0
*
*/
/*! \file bmm150_defs.h */
#ifndef _BMM150_DEFS_H
#define _BMM150_DEFS_H
/******************************************************************************/
/*! @name Header includes */
/******************************************************************************/
#ifdef __KERNEL__
#include <linux/types.h>
#else
#include <stdint.h>
#include <stddef.h>
#endif
/******************************************************************************/
/*! @name Common macros */
/******************************************************************************/
#ifdef __KERNEL__
#if (LONG_MAX) > 0x7fffffff
#define __have_long64 1
#elif (LONG_MAX) == 0x7fffffff
#define __have_long32 1
#endif
#endif
#if !defined(UINT8_C)
#define INT8_C(x) x
#if (INT_MAX) > 0x7f
#define UINT8_C(x) x
#else
#define UINT8_C(x) x##U
#endif
#endif
#if !defined(UINT16_C)
#define INT16_C(x) x
#if (INT_MAX) > 0x7fff
#define UINT16_C(x) x
#else
#define UINT16_C(x) x##U
#endif
#endif
#if !defined(INT32_C) && !defined(UINT32_C)
#if __have_long32
#define INT32_C(x) x##L
#define UINT32_C(x) x##UL
#else
#define INT32_C(x) x
#define UINT32_C(x) x##U
#endif
#endif
#if !defined(INT64_C) && !defined(UINT64_C)
#if __have_long64
#define INT64_C(x) x##L
#define UINT64_C(x) x##UL
#else
#define INT64_C(x) x##LL
#define UINT64_C(x) x##ULL
#endif
#endif
/*! @name C standard macros */
#ifndef NULL
#ifdef __cplusplus
#define NULL 0
#else
#define NULL ((void *) 0)
#endif
#endif
/******************************************************************************/
/*! @name Compiler switch macros Definitions */
/******************************************************************************/
#ifndef BMM150_USE_FLOATING_POINT /*< Check if floating point (using BMM150_USE_FLOATING_POINT) is enabled */
#ifndef BMM150_USE_FIXED_POINT /*< If floating point is not enabled then enable BMM150_USE_FIXED_POINT */
#define BMM150_USE_FIXED_POINT
#endif
#endif
/******************************************************************************/
/*! @name General Macro Definitions */
/******************************************************************************/
/*! @name API success code */
#define BMM150_OK INT8_C(0)
/*! @name To define TRUE or FALSE */
#define BMM150_TRUE UINT8_C(1)
#define BMM150_FALSE UINT8_C(0)
/*! @name API error codes */
#define BMM150_E_NULL_PTR INT8_C(-1)
#define BMM150_E_DEV_NOT_FOUND INT8_C(-2)
#define BMM150_E_INVALID_CONFIG INT8_C(-3)
#define BMM150_E_COM_FAIL INT8_C(-4)
/*! @name API warning codes */
#define BMM150_W_NORMAL_SELF_TEST_YZ_FAIL INT8_C(1)
#define BMM150_W_NORMAL_SELF_TEST_XZ_FAIL INT8_C(2)
#define BMM150_W_NORMAL_SELF_TEST_Z_FAIL INT8_C(3)
#define BMM150_W_NORMAL_SELF_TEST_XY_FAIL INT8_C(4)
#define BMM150_W_NORMAL_SELF_TEST_Y_FAIL INT8_C(5)
#define BMM150_W_NORMAL_SELF_TEST_X_FAIL INT8_C(6)
#define BMM150_W_NORMAL_SELF_TEST_XYZ_FAIL INT8_C(7)
#define BMM150_W_ADV_SELF_TEST_FAIL INT8_C(8)
/*! @name CHIP ID & SOFT RESET VALUES */
#define BMM150_CHIP_ID UINT8_C(0x32)
#define BMM150_SET_SOFT_RESET UINT8_C(0x82)
/*! @name POWER MODE DEFINTIONS */
#define BMM150_POWERMODE_NORMAL UINT8_C(0x00)
#define BMM150_POWERMODE_FORCED UINT8_C(0x01)
#define BMM150_POWERMODE_SLEEP UINT8_C(0x03)
#define BMM150_POWERMODE_SUSPEND UINT8_C(0x04)
/*! @name Power mode settings */
#define BMM150_POWER_CNTRL_DISABLE UINT8_C(0x00)
#define BMM150_POWER_CNTRL_ENABLE UINT8_C(0x01)
/*! @name Sensor delay time settings */
#define BMM150_DELAY_SOFT_RESET UINT8_C(1000)
#define BMM150_DELAY_NORMAL_SELF_TEST UINT8_C(2000)
#define BMM150_START_UP_TIME UINT8_C(3000)
#define BMM150_DELAY_ADV_SELF_TEST UINT8_C(4000)
/*! @name ENABLE/DISABLE DEFINITIONS */
#define BMM150_XYZ_CHANNEL_ENABLE UINT8_C(0x00)
#define BMM150_XYZ_CHANNEL_DISABLE UINT8_C(0x07)
/*! @name Register Address */
#define BMM150_REG_CHIP_ID UINT8_C(0x40)
#define BMM150_REG_DATA_X_LSB UINT8_C(0x42)
#define BMM150_REG_DATA_READY_STATUS UINT8_C(0x48)
#define BMM150_REG_INTERRUPT_STATUS UINT8_C(0x4A)
#define BMM150_REG_POWER_CONTROL UINT8_C(0x4B)
#define BMM150_REG_OP_MODE UINT8_C(0x4C)
#define BMM150_REG_INT_CONFIG UINT8_C(0x4D)
#define BMM150_REG_AXES_ENABLE UINT8_C(0x4E)
#define BMM150_REG_LOW_THRESHOLD UINT8_C(0x4F)
#define BMM150_REG_HIGH_THRESHOLD UINT8_C(0x50)
#define BMM150_REG_REP_XY UINT8_C(0x51)
#define BMM150_REG_REP_Z UINT8_C(0x52)
/*! @name Macros to select the sensor settings to be set by the user
* These values are internal for API implementation. Don't relate this to
* data sheet.
*/
#define BMM150_SEL_DATA_RATE UINT16_C(1)
#define BMM150_SEL_CONTROL_MEASURE UINT16_C(1 << 1)
#define BMM150_SEL_XY_REP UINT16_C(1 << 2)
#define BMM150_SEL_Z_REP UINT16_C(1 << 3)
#define BMM150_SEL_DRDY_PIN_EN UINT16_C(1 << 4)
#define BMM150_SEL_INT_PIN_EN UINT16_C(1 << 5)
#define BMM150_SEL_DRDY_POLARITY UINT16_C(1 << 6)
#define BMM150_SEL_INT_LATCH UINT16_C(1 << 7)
#define BMM150_SEL_INT_POLARITY UINT16_C(1 << 8)
#define BMM150_SEL_DATA_OVERRUN_INT UINT16_C(1 << 9)
#define BMM150_SEL_OVERFLOW_INT UINT16_C(1 << 10)
#define BMM150_SEL_HIGH_THRESHOLD_INT UINT16_C(1 << 11)
#define BMM150_SEL_LOW_THRESHOLD_INT UINT16_C(1 << 12)
#define BMM150_SEL_LOW_THRESHOLD_SETTING UINT16_C(1 << 13)
#define BMM150_SEL_HIGH_THRESHOLD_SETTING UINT16_C(1 << 14)
/*! @name DATA RATE DEFINITIONS */
#define BMM150_DATA_RATE_10HZ UINT8_C(0x00)
#define BMM150_DATA_RATE_02HZ UINT8_C(0x01)
#define BMM150_DATA_RATE_06HZ UINT8_C(0x02)
#define BMM150_DATA_RATE_08HZ UINT8_C(0x03)
#define BMM150_DATA_RATE_15HZ UINT8_C(0x04)
#define BMM150_DATA_RATE_20HZ UINT8_C(0x05)
#define BMM150_DATA_RATE_25HZ UINT8_C(0x06)
#define BMM150_DATA_RATE_30HZ UINT8_C(0x07)
#define BMM150_ODR_MAX UINT8_C(0x07)
#define BMM150_ODR_MSK UINT8_C(0x38)
#define BMM150_ODR_POS UINT8_C(0x03)
/*! @name TRIM REGISTERS */
/* Trim Extended Registers */
#define BMM150_DIG_X1 UINT8_C(0x5D)
#define BMM150_DIG_Y1 UINT8_C(0x5E)
#define BMM150_DIG_Z4_LSB UINT8_C(0x62)
#define BMM150_DIG_Z4_MSB UINT8_C(0x63)
#define BMM150_DIG_X2 UINT8_C(0x64)
#define BMM150_DIG_Y2 UINT8_C(0x65)
#define BMM150_DIG_Z2_LSB UINT8_C(0x68)
#define BMM150_DIG_Z2_MSB UINT8_C(0x69)
#define BMM150_DIG_Z1_LSB UINT8_C(0x6A)
#define BMM150_DIG_Z1_MSB UINT8_C(0x6B)
#define BMM150_DIG_XYZ1_LSB UINT8_C(0x6C)
#define BMM150_DIG_XYZ1_MSB UINT8_C(0x6D)
#define BMM150_DIG_Z3_LSB UINT8_C(0x6E)
#define BMM150_DIG_Z3_MSB UINT8_C(0x6F)
#define BMM150_DIG_XY2 UINT8_C(0x70)
#define BMM150_DIG_XY1 UINT8_C(0x71)
/*! @name Threshold interrupt setting macros for x,y,z axes selection */
#define BMM150_THRESHOLD_X UINT8_C(0x06)
#define BMM150_THRESHOLD_Y UINT8_C(0x05)
#define BMM150_THRESHOLD_Z UINT8_C(0x03)
#define BMM150_HIGH_THRESHOLD_INT_MSK UINT8_C(0x38)
#define BMM150_HIGH_THRESHOLD_INT_POS UINT8_C(0x03)
#define BMM150_LOW_THRESHOLD_INT_MSK UINT8_C(0x07)
/*! @name User configurable interrupt setting macros */
#define BMM150_INT_ENABLE UINT8_C(0x01)
#define BMM150_INT_DISABLE UINT8_C(0x00)
#define BMM150_ACTIVE_HIGH_POLARITY UINT8_C(0x01)
#define BMM150_ACTIVE_LOW_POLARITY UINT8_C(0x00)
#define BMM150_LATCHED UINT8_C(0x01)
#define BMM150_NON_LATCHED UINT8_C(0x00)
/*! @name Interrupt status */
#define BMM150_INT_THRESHOLD_X_LOW UINT16_C(0x0001)
#define BMM150_INT_THRESHOLD_Y_LOW UINT16_C(0x0002)
#define BMM150_INT_THRESHOLD_Z_LOW UINT16_C(0x0004)
#define BMM150_INT_THRESHOLD_X_HIGH UINT16_C(0x0008)
#define BMM150_INT_THRESHOLD_Y_HIGH UINT16_C(0x0010)
#define BMM150_INT_THRESHOLD_Z_HIGH UINT16_C(0x0020)
#define BMM150_INT_DATA_OVERFLOW UINT16_C(0x0040)
#define BMM150_INT_DATA_OVERRUN UINT16_C(0x0080)
#define BMM150_INT_DATA_READY UINT16_C(0x0100)
#define BMM150_DRDY_EN_MSK UINT8_C(0x80)
#define BMM150_DRDY_EN_POS UINT8_C(0x07)
#define BMM150_DRDY_POLARITY_MSK UINT8_C(0x04)
#define BMM150_DRDY_POLARITY_POS UINT8_C(0x02)
#define BMM150_INT_PIN_EN_MSK UINT8_C(0x40)
#define BMM150_INT_PIN_EN_POS UINT8_C(0x06)
#define BMM150_INT_LATCH_MSK UINT8_C(0x02)
#define BMM150_INT_LATCH_POS UINT8_C(0x01)
#define BMM150_INT_POLARITY_MSK UINT8_C(0x01)
#define BMM150_DRDY_STATUS_MSK UINT8_C(0x01)
/*! @name Interrupt status macros */
#define BMM150_INT_ASSERTED_DRDY UINT16_C(0x0100)
#define BMM150_INT_ASSERTED_LOW_THRES UINT16_C(0x0007)
#define BMM150_INT_ASSERTED_HIGH_THRES UINT16_C(0x0380)
/*! @name Power control bit macros */
#define BMM150_PWR_CNTRL_MSK UINT8_C(0x01)
#define BMM150_CONTROL_MEASURE_MSK UINT8_C(0x38)
#define BMM150_CONTROL_MEASURE_POS UINT8_C(0x03)
#define BMM150_POWER_CONTROL_BIT_MSK UINT8_C(0x01)
#define BMM150_POWER_CONTROL_BIT_POS UINT8_C(0x00)
/*! @name Data macros */
#define BMM150_DATA_X_MSK UINT8_C(0xF8)
#define BMM150_DATA_X_POS UINT8_C(0x03)
#define BMM150_DATA_Y_MSK UINT8_C(0xF8)
#define BMM150_DATA_Y_POS UINT8_C(0x03)
#define BMM150_DATA_Z_MSK UINT8_C(0xFE)
#define BMM150_DATA_Z_POS UINT8_C(0x01)
#define BMM150_DATA_RHALL_MSK UINT8_C(0xFC)
#define BMM150_DATA_RHALL_POS UINT8_C(0x02)
#define BMM150_DATA_OVERRUN_INT_MSK UINT8_C(0x80)
#define BMM150_DATA_OVERRUN_INT_POS UINT8_C(0x07)
#define BMM150_OVERFLOW_INT_MSK UINT8_C(0x40)
#define BMM150_OVERFLOW_INT_POS UINT8_C(0x06)
/*! @name OVERFLOW DEFINITIONS */
#define BMM150_OVERFLOW_ADCVAL_XYAXES_FLIP INT16_C(-4096)
#define BMM150_OVERFLOW_ADCVAL_ZAXIS_HALL INT16_C(-16384)
#define BMM150_OVERFLOW_OUTPUT INT16_C(-32768)
#define BMM150_NEGATIVE_SATURATION_Z INT16_C(-32767)
#define BMM150_POSITIVE_SATURATION_Z INT16_C(32767)
#ifdef BMM150_USE_FLOATING_POINT
#define BMM150_OVERFLOW_OUTPUT_FLOAT 0.0f
#endif
/*! @name PRESET MODE DEFINITIONS */
#define BMM150_PRESETMODE_LOWPOWER UINT8_C(0x01)
#define BMM150_PRESETMODE_REGULAR UINT8_C(0x02)
#define BMM150_PRESETMODE_HIGHACCURACY UINT8_C(0x03)
#define BMM150_PRESETMODE_ENHANCED UINT8_C(0x04)
#define BMM150_OP_MODE_MSK UINT8_C(0x06)
#define BMM150_OP_MODE_POS UINT8_C(0x01)
/*! @name PRESET MODES - REPETITIONS-XY RATES */
#define BMM150_REPXY_LOWPOWER UINT8_C(0x01)
#define BMM150_REPXY_REGULAR UINT8_C(0x04)
#define BMM150_REPXY_ENHANCED UINT8_C(0x07)
#define BMM150_REPXY_HIGHACCURACY UINT8_C(0x17)
/*! @name PRESET MODES - REPETITIONS-Z RATES */
#define BMM150_REPZ_LOWPOWER UINT8_C(0x01)
#define BMM150_REPZ_REGULAR UINT8_C(0x07)
#define BMM150_REPZ_ENHANCED UINT8_C(0x0D)
#define BMM150_REPZ_HIGHACCURACY UINT8_C(0x29)
/*! @name Self test settings */
#define BMM150_DISABLE_XY_AXIS UINT8_C(0x03)
#define BMM150_SELF_TEST_REP_Z UINT8_C(0x04)
/*! @name Self test selection macros */
#define BMM150_SELF_TEST_NORMAL UINT8_C(0)
#define BMM150_SELF_TEST_ADVANCED UINT8_C(1)
/*! @name Advanced self-test current settings */
#define BMM150_DISABLE_SELF_TEST_CURRENT UINT8_C(0x00)
#define BMM150_ENABLE_NEGATIVE_CURRENT UINT8_C(0x02)
#define BMM150_ENABLE_POSITIVE_CURRENT UINT8_C(0x03)
/*! @name Normal self-test status */
#define BMM150_SELF_TEST_STATUS_XYZ_FAIL UINT8_C(0x00)
#define BMM150_SELF_TEST_STATUS_SUCCESS UINT8_C(0x07)
#define BMM150_SELF_TEST_MSK UINT8_C(0x01)
#define BMM150_ADV_SELF_TEST_MSK UINT8_C(0xC0)
#define BMM150_ADV_SELF_TEST_POS UINT8_C(0x06)
/*! @name Register read lengths */
#define BMM150_LEN_SELF_TEST UINT8_C(5)
#define BMM150_LEN_SETTING_DATA UINT8_C(8)
#define BMM150_LEN_XYZR_DATA UINT8_C(8)
/*! @name Boundary check macros */
#define BMM150_BOUNDARY_MAXIMUM UINT8_C(0)
#define BMM150_BOUNDARY_MINIMUM UINT8_C(1)
/*! @name Macro to SET and GET BITS of a register*/
#define BMM150_SET_BITS(reg_data, bitname, data) \
((reg_data & ~(bitname##_MSK)) | \
((data << bitname##_POS) & bitname##_MSK))
#define BMM150_GET_BITS(reg_data, bitname) ((reg_data & (bitname##_MSK)) >> \
(bitname##_POS))
#define BMM150_SET_BITS_POS_0(reg_data, bitname, data) \
((reg_data & ~(bitname##_MSK)) | \
(data & bitname##_MSK))
#define BMM150_GET_BITS_POS_0(reg_data, bitname) (reg_data & (bitname##_MSK))
/********************************************************/
/*!
* @brief Interface selection Enums
*/
enum bmm150_intf {
/*! SPI interface */
BMM150_SPI_INTF,
/*! I2C interface */
BMM150_I2C_INTF
};
/******************************************************************************/
/*! @name Function Pointers */
/******************************************************************************/
#ifndef BMM150_INTF_RET_TYPE
#define BMM150_INTF_RET_TYPE int8_t
#endif
#ifndef BMM150_INTF_RET_SUCCESS
#define BMM150_INTF_RET_SUCCESS INT8_C(0)
#endif
/*!
* @brief Bus communication function pointer which should be mapped to
* the platform specific read functions of the user
*
* @param[in] reg_addr : 8bit register address of the sensor
* @param[out] reg_data : Data from the specified address
* @param[in] length : Length of the reg_data array
* @param[in,out] intf_ptr : Void pointer that can enable the linking of descriptors
* for interface related callbacks
* @retval 0 for Success
* @retval Non-zero for Failure
*/
typedef BMM150_INTF_RET_TYPE (*bmm150_read_fptr_t)(uint8_t reg_addr, uint8_t *reg_data, uint32_t length,
void *intf_ptr);
/*!
* @brief Bus communication function pointer which should be mapped to
* the platform specific write functions of the user
*
* @param[in] reg_addr : 8bit register address of the sensor
* @param[out] reg_data : Data to the specified address
* @param[in] length : Length of the reg_data array
* @param[in,out] intf_ptr : Void pointer that can enable the linking of descriptors
* for interface related callbacks
* @retval 0 for Success
* @retval Non-zero for Failure
*
*/
typedef BMM150_INTF_RET_TYPE (*bmm150_write_fptr_t)(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length,
void *intf_ptr);
/*!
* @brief Delay function pointer which should be mapped to
* delay function of the user
*
* @param period : The time period in microseconds
* @param[in,out] intf_ptr : Void pointer that can enable the linking of descriptors
* for interface related callbacks
*/
typedef void (*bmm150_delay_us_fptr_t)(uint32_t period, void *intf_ptr);
/******************************************************************************/
/*! @name Structure Declarations */
/******************************************************************************/
/*!
* @brief bmm150 trim data structure
*/
struct bmm150_trim_registers {
/*! trim x1 data */
int8_t dig_x1;
/*! trim y1 data */
int8_t dig_y1;
/*! trim x2 data */
int8_t dig_x2;
/*! trim y2 data */
int8_t dig_y2;
/*! trim z1 data */
uint16_t dig_z1;
/*! trim z2 data */
int16_t dig_z2;
/*! trim z3 data */
int16_t dig_z3;
/*! trim z4 data */
int16_t dig_z4;
/*! trim xy1 data */
uint8_t dig_xy1;
/*! trim xy2 data */
int8_t dig_xy2;
/*! trim xyz1 data */
uint16_t dig_xyz1;
};
/*!
* @brief bmm150 interrupt pin settings
*/
struct bmm150_int_ctrl_settings {
/*! Data ready interrupt enable */
uint8_t drdy_pin_en;
/*! Threshold and overflow interrupts enable */
uint8_t int_pin_en;
/*! Data ready interrupt polarity Active high/low */
uint8_t drdy_polarity;
/*! Interrupt pin - Latched or Non-latched */
uint8_t int_latch;
/*! Interrupt polarity Active high/low */
uint8_t int_polarity;
/*! Data overrun interrupt enable */
uint8_t data_overrun_en;
/*! Overflow interrupt enable */
uint8_t overflow_int_en;
/*! high interrupt enable/disable axis selection */
uint8_t high_int_en;
/*! low interrupt enable/disable axis selection */
uint8_t low_int_en;
/*! low threshold limit */
uint8_t low_threshold;
/*! high threshold limit */
uint8_t high_threshold;
};
/*!
* @brief bmm150 sensor settings
*/
struct bmm150_settings {
/*! Control measurement of XYZ axes */
uint8_t xyz_axes_control;
/*! Power mode of sensor */
uint8_t pwr_mode;
/*! Data rate value (ODR) */
uint8_t data_rate;
/*! XY Repetitions */
uint8_t xy_rep;
/*! Z Repetitions */
uint8_t z_rep;
/*! Preset mode of sensor */
uint8_t preset_mode;
/*! Interrupt configuration settings */
struct bmm150_int_ctrl_settings int_settings;
};
/*!
* @brief bmm150 un-compensated (raw) magnetometer data
*/
struct bmm150_raw_mag_data {
/*! Raw mag X data */
int16_t raw_datax;
/*! Raw mag Y data */
int16_t raw_datay;
/*! Raw mag Z data */
int16_t raw_dataz;
/*! Raw mag resistance value */
uint16_t raw_data_r;
};
#ifdef BMM150_USE_FLOATING_POINT
/*!
* @brief bmm150 compensated magnetometer data in float
*/
struct bmm150_mag_data {
/*! compensated mag X data */
float x;
/*! compensated mag Y data */
float y;
/*! compensated mag Z data */
float z;
};
#else
/*!
* @brief bmm150 compensated magnetometer data in int16_t format
*/
struct bmm150_mag_data {
/*! compensated mag X data */
int16_t x;
/*! compensated mag Y data */
int16_t y;
/*! compensated mag Z data */
int16_t z;
};
#endif
/*!
* @brief bmm150 device structure
*/
struct bmm150_dev {
/*! Chip Id */
uint8_t chip_id;
/*! SPI/I2C Interface */
enum bmm150_intf intf;
/*!
* The interface pointer is used to enable the user
* to link their interface descriptors for reference during the
* implementation of the read and write interfaces to the
* hardware.
*/
void *intf_ptr;
/*! Variable that holds result of read/write function */
BMM150_INTF_RET_TYPE intf_rslt;
/*! Bus read function pointer */
bmm150_read_fptr_t read;
/*! Bus write function pointer */
bmm150_write_fptr_t write;
/*! delay(in us) function pointer */
bmm150_delay_us_fptr_t delay_us;
/*! Trim registers */
struct bmm150_trim_registers trim_data;
/*! Interrupt status */
uint16_t int_status;
/*! Power control bit value */
uint8_t pwr_cntrl_bit;
};
#endif /* BMM150_DEFS_H_ */
components/ExternLib/SensorLib/src/bosch/BoschParseBase.hpp
+41
View File
@@ -0,0 +1,41 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BoschParseBase.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-30
*
*/
#pragma once
#include "bhy2_defs.h"
class BoschParseBase
{
public:
virtual void parseData(const struct bhy2_fifo_parse_data_info *fifo, void *user_data) = 0;
virtual void parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) = 0;
virtual void parseDebugMessage(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data) = 0;
virtual ~BoschParseBase() {}
};
components/ExternLib/SensorLib/src/bosch/BoschParseCallbackManager.hpp
+169
View File
@@ -0,0 +1,169 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BoschParseCallbackManager.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-31
*/
#pragma once
#include <stdint.h>
#include <cstdlib>
#include <assert.h>
#if __GNUC__ < 10
#define USE_CUSTOM_VECTOR
#else
#include <vector>
#endif
using SensorDataParseCallback = void (*)(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data);
class BoschParseCallbackManager
{
private:
struct Entry {
uint8_t id;
SensorDataParseCallback cb;
uint32_t length;
uint8_t *data;
void *user_data;
Entry() : id(0), cb(nullptr), length(0), data(nullptr), user_data(nullptr) {}
};
#ifdef USE_CUSTOM_VECTOR
Entry *entries;
uint32_t size;
uint32_t capacity;
bool expand()
{
capacity *= 2;
Entry *newEntries = static_cast<Entry *>(std::realloc(entries, capacity * sizeof(Entry)));
if (!newEntries) {
return false;
}
entries = newEntries;
return true;
}
#else
std::vector<Entry> entries;
#endif
public:
BoschParseCallbackManager()
{
#ifdef USE_CUSTOM_VECTOR
size = 0;
capacity = 10;
entries = static_cast<Entry *>(std::malloc(capacity * sizeof(Entry)));
if (!entries) {
assert(0);
}
#else
#endif
}
~BoschParseCallbackManager()
{
#ifdef USE_CUSTOM_VECTOR
std::free(entries);
#endif
}
bool add(uint8_t sensor_id, SensorDataParseCallback callback, void *user_data)
{
if (!callback) {
return false;
}
#ifdef USE_CUSTOM_VECTOR
if (size == capacity) {
if (!expand()) {
return false;
}
}
Entry newEntry;
newEntry.id = sensor_id;
newEntry.cb = callback;
newEntry.user_data = user_data;
entries[size++] = newEntry;
#else
Entry newEntry;
newEntry.id = sensor_id;
newEntry.cb = callback;
newEntry.user_data = user_data;
entries.push_back(newEntry);
#endif
return true;
}
bool remove(uint8_t sensor_id, SensorDataParseCallback callback)
{
if (!callback) {
return false;
}
#ifdef USE_CUSTOM_VECTOR
for (uint32_t i = 0; i < size; i++) {
if (entries[i].cb == callback && entries[i].id == sensor_id) {
for (uint32_t j = i; j < size - 1; j++) {
entries[j] = entries[j + 1];
}
size--;
break;
}
}
#else
for (auto it = entries.begin(); it != entries.end(); ++it) {
if (it->cb == callback && it->id == sensor_id) {
entries.erase(it);
break;
}
}
#endif
return true;
}
void call(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp)
{
#ifdef USE_CUSTOM_VECTOR
for (uint32_t i = 0; i < size; i++) {
if (entries[i].cb) {
if (entries[i].id == sensor_id) {
entries[i].cb(sensor_id, data, size, timestamp, entries[i].user_data);
}
}
}
#else
for (uint32_t i = 0; i < entries.size(); i++) {
if (entries[i].cb) {
if (entries[i].id == sensor_id) {
entries[i].cb(sensor_id, data, size, timestamp, entries[i].user_data);
}
}
}
#endif
}
};
components/ExternLib/SensorLib/src/bosch/BoschParseStatic.cpp
+54
View File
@@ -0,0 +1,54 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BoschParseStatic.cpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-30
*
*/
#include "BoschParseStatic.hpp"
void BoschParseStatic::parseData(const struct bhy2_fifo_parse_data_info *fifo, void *user_data)
{
BoschParseBase *sensor = static_cast<BoschParseBase *>(user_data);
if (sensor) {
sensor->parseData(fifo, user_data);
}
}
void BoschParseStatic::parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data)
{
BoschParseBase *sensor = static_cast<BoschParseBase *>(user_data);
if (sensor) {
sensor->parseMetaEvent(callback_info, user_data);
}
}
void BoschParseStatic::parseDebugMessage(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data)
{
BoschParseBase *sensor = static_cast<BoschParseBase *>(user_data);
if (sensor) {
sensor->parseDebugMessage(callback_info, user_data);
}
}
components/ExternLib/SensorLib/src/bosch/BoschParseStatic.hpp
+42
View File
@@ -0,0 +1,42 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BoschParseStatic.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-30
*
*/
#pragma once
#include "BoschParseBase.hpp"
class BoschParseStatic
{
public:
static void parseData(const struct bhy2_fifo_parse_data_info *fifo, void *user_data);
static void parseMetaEvent(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data);
static void parseDebugMessage(const struct bhy2_fifo_parse_data_info *callback_info, void *user_data);
};
components/ExternLib/SensorLib/src/bosch/BoschPhySensorInfo.hpp
+155
View File
@@ -0,0 +1,155 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BHI260APSensorInfo.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-22
*
*/
#pragma once
#include <stdint.h>
#include <stdio.h>
#include "bhy2_parse.h"
#ifdef ARDUINO
#include <Stream.h>
#endif
class BoschPhySensorInfo
{
public:
uint8_t sensor_type;
uint8_t driver_id;
uint8_t driver_version;
float power_current;
uint16_t curr_range;
bool irq_status;
int master_intf;
int power_mode;
uint8_t slave_address;
uint8_t gpio_assignment;
float curr_rate;
uint8_t num_axis;
int8_t orientation_matrix[9];
uint8_t reserved;
uint8_t flags;
BoschPhySensorInfo() : sensor_type(0), driver_id(0), driver_version(0), power_current(0), curr_range(0), irq_status(false),
master_intf(0), power_mode(0), slave_address(0), gpio_assignment(0), curr_rate(0), num_axis(0), reserved(0), flags(0)
{
memset(orientation_matrix, 0, sizeof(orientation_matrix));
}
#if defined(ARDUINO) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_ZEPHYR)
void print(Stream &stream)
{
const char *irq_status_str[2] = { "Disabled", "Enabled" };
const char *master_intf_str[5] = { "None", "SPI0", "I2C0", "SPI1", "I2C1" };
const char *power_mode_str[8] = {
"Sensor Not Present", "Power Down", "Suspend", "Self-Test", "Interrupt Motion", "One Shot",
"Low Power Active", "Active"
};
stream.printf("Field Name hex | Value (dec)\n");
stream.printf("----------------------------------------------------------\n");
stream.printf("Physical Sensor ID %02X | %d\n", sensor_type, sensor_type);
stream.printf("Driver ID %02X | %d\n", driver_id, driver_id);
stream.printf("Driver Version %02X | %d\n", driver_version, driver_version);
stream.printf("Current Consumption %02X | %0.3f mA\n", (int)power_current, power_current);
stream.printf("Dynamic Range %04X | %d\n", curr_range, curr_range);
stream.printf("Flags %02X | IRQ status : %s\n", flags, irq_status_str[irq_status ? 1 : 0]);
stream.printf(" | Master interface : %s\n", master_intf_str[master_intf]);
stream.printf(" | Power mode : %s\n", power_mode_str[power_mode]);
stream.printf("Slave Address %02X | %d\n", slave_address, slave_address);
stream.printf("GPIO Assignment %02X | %d\n", gpio_assignment, gpio_assignment);
stream.printf("Current Rate %08X | %.3f Hz\n", (unsigned int)curr_rate, curr_rate);
stream.printf("Number of axes %02X | %d\n", num_axis, num_axis);
stream.printf("Orientation Matrix %02X%02X%02X%02X%02X | %+02d %+02d %+02d |\n",
orientation_matrix[0],
orientation_matrix[1],
orientation_matrix[2],
orientation_matrix[3],
orientation_matrix[4],
orientation_matrix[0],
orientation_matrix[1],
orientation_matrix[2]);
stream.printf(" | %+02d %+02d %+02d |\n",
orientation_matrix[3],
orientation_matrix[4],
orientation_matrix[5]);
stream.printf(" | %+02d %+02d %+02d |\n",
orientation_matrix[6],
orientation_matrix[7],
orientation_matrix[8]);
stream.printf("Reserved %02X | %d\n", reserved, reserved);
stream.printf("\n");
}
#else
void print()
{
const char *irq_status_str[2] = { "Disabled", "Enabled" };
const char *master_intf_str[5] = { "None", "SPI0", "I2C0", "SPI1", "I2C1" };
const char *power_mode_str[8] = {
"Sensor Not Present", "Power Down", "Suspend", "Self-Test", "Interrupt Motion", "One Shot",
"Low Power Active", "Active"
};
printf("Field Name hex | Value (dec)\n");
printf("----------------------------------------------------------\n");
printf("Physical Sensor ID %02X | %d\n", sensor_type, sensor_type);
printf("Driver ID %02X | %d\n", driver_id, driver_id);
printf("Driver Version %02X | %d\n", driver_version, driver_version);
printf("Current Consumption %02X | %0.3f mA\n", (int)power_current, power_current);
printf("Dynamic Range %04X | %d\n", curr_range, curr_range);
printf("Flags %02X | IRQ status : %s\n", flags, irq_status_str[irq_status ? 1 : 0]);
printf(" | Master interface : %s\n", master_intf_str[master_intf]);
printf(" | Power mode : %s\n", power_mode_str[power_mode]);
printf("Slave Address %02X | %d\n", slave_address, slave_address);
printf("GPIO Assignment %02X | %d\n", gpio_assignment, gpio_assignment);
printf("Current Rate %08X | %.3f Hz\n", (unsigned int)curr_rate, curr_rate);
printf("Number of axes %02X | %d\n", num_axis, num_axis);
printf("Orientation Matrix %02X%02X%02X%02X%02X | %+02d %+02d %+02d |\n",
orientation_matrix[0],
orientation_matrix[1],
orientation_matrix[2],
orientation_matrix[3],
orientation_matrix[4],
orientation_matrix[0],
orientation_matrix[1],
orientation_matrix[2]);
printf(" | %+02d %+02d %+02d |\n",
orientation_matrix[3],
orientation_matrix[4],
orientation_matrix[5]);
printf(" | %+02d %+02d %+02d |\n",
orientation_matrix[6],
orientation_matrix[7],
orientation_matrix[8]);
printf("Reserved %02X | %d\n", reserved, reserved);
printf("\n");
}
#endif
};
components/ExternLib/SensorLib/src/bosch/BoschSensorControl.hpp
+82
View File
@@ -0,0 +1,82 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BoschSensorControl.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-22
*
*/
#pragma once
#include <stdint.h>
#include <stdio.h>
#ifdef ARDUINO
#include <Stream.h>
#endif
class SensorBHI260APControl
{
public:
bool wakeUpFIFOEnabled;
bool nonWakeUpFIFOEnabled;
bool statusFIFOEnabled;
bool debuggingEnabled;
bool faultEnabled;
bool interruptIsActiveLow;
bool interruptIsPulseTriggered;
bool interruptPinDriveIsOpenDrain;
SensorBHI260APControl() : wakeUpFIFOEnabled(true), nonWakeUpFIFOEnabled(true), statusFIFOEnabled(true),
debuggingEnabled(true), faultEnabled(true), interruptIsActiveLow(false),
interruptIsPulseTriggered(false), interruptPinDriveIsOpenDrain(false) {}
#if defined(ARDUINO) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_ZEPHYR)
void print(Stream &stream)
{
stream.printf("Host interrupt control\n");
stream.printf("-- Wake up FIFO :%s\n", (wakeUpFIFOEnabled ? "enabled" : "disabled"));
stream.printf("-- Non wake up FIFO :%s\n", (nonWakeUpFIFOEnabled ? "enabled" : "disabled"));
stream.printf("-- Status FIFO :%s\n", (statusFIFOEnabled ? "enabled" : "disabled"));
stream.printf("-- Debugging :%s\n", (debuggingEnabled ? "enabled" : "disabled"));
stream.printf("-- Fault :%s\n", (faultEnabled ? "enabled" : "disabled"));
stream.printf("-- Interrupt is :%s\n", (interruptIsActiveLow ? "active low" : "active high"));
stream.printf("-- Interrupt is :%s triggered.\n", (interruptIsPulseTriggered ? "pulse" : "level"));
stream.printf("-- Interrupt pin drive is :%s\n", (interruptPinDriveIsOpenDrain ? "open drain" : "push-pull"));
}
#else
void print()
{
printf("Host interrupt control\n");
printf("-- Wake up FIFO :%s\n", (wakeUpFIFOEnabled ? "enabled" : "disabled"));
printf("-- Non wake up FIFO :%s\n", (nonWakeUpFIFOEnabled ? "enabled" : "disabled"));
printf("-- Status FIFO :%s\n", (statusFIFOEnabled ? "enabled" : "disabled"));
printf("-- Debugging :%s\n", (debuggingEnabled ? "enabled" : "disabled"));
printf("-- Fault :%s\n", (faultEnabled ? "enabled" : "disabled"));
printf("-- Interrupt is :%s\n", (interruptIsActiveLow ? "active low" : "active high"));
printf("-- Interrupt is :%s triggered.\n", (interruptIsPulseTriggered ? "pulse" : "level"));
printf("-- Interrupt pin drive is :%s\n", (interruptPinDriveIsOpenDrain ? "open drain" : "push-pull"));
}
#endif
};
components/ExternLib/SensorLib/src/bosch/BoschSensorDataHelper.hpp
+575
View File
@@ -0,0 +1,575 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BoschSensorDataHelper.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-02-04
*
*/
#pragma once
#include "../SensorBHI260AP.hpp"
#include "bhy2_defs.h"
#include <math.h>
class BoschSensorDataHelperBase
{
public:
typedef union {
float temperature;
float humidity;
float pressure;
float altitude;
bhy2_data_quaternion quaternion;
bhy2_data_orientation orientation;
bhy2_data_xyz vector;
uint32_t step_counter;
uint32_t gas;
uint16_t activity_bitmap;
uint8_t dev_ori;
bool detected;
} SensorData;
BoschSensorDataHelperBase(SensorBHI260AP::BoschSensorID sensor_id, SensorBHI260AP &handle)
: _sensor_id(sensor_id), _handle(handle)
{
_scaling_factor = _handle.getScaling(_sensor_id);
}
virtual ~BoschSensorDataHelperBase() = default;
uint8_t id() const
{
return _sensor_id;
}
bool configure(float sample_rate, uint32_t report_latency_ms)
{
return _handle.configure(_sensor_id, sample_rate, report_latency_ms);
}
bool setRange(uint16_t range)
{
return _handle.configureRange(_sensor_id, range);
}
const SensorConfig getConfiguration()
{
return _handle.getConfigure(_sensor_id);
}
float getScaling()
{
return _scaling_factor;
}
protected:
SensorData parse_data(uint8_t sensor_id, const uint8_t *data)
{
SensorData result;
switch (sensor_id) {
case BHY2_SENSOR_ID_TEMP:
case BHY2_SENSOR_ID_TEMP_WU:
bhy2_parse_temperature_celsius(data, &result.temperature);
break;
case BHY2_SENSOR_ID_HUM:
case BHY2_SENSOR_ID_HUM_WU:
bhy2_parse_humidity(data, &result.humidity);
break;
case BHY2_SENSOR_ID_BARO:
case BHY2_SENSOR_ID_BARO_WU:
bhy2_parse_pressure(data, &result.pressure);
break;
case BHY2_SENSOR_ID_GAS:
case BHY2_SENSOR_ID_GAS_WU:
result.gas = BHY2_LE2U32(data);
break;
case BHY2_SENSOR_ID_RV:
case BHY2_SENSOR_ID_RV_WU:
case BHY2_SENSOR_ID_GAMERV:
case BHY2_SENSOR_ID_GAMERV_WU:
case BHY2_SENSOR_ID_GEORV:
case BHY2_SENSOR_ID_GEORV_WU:
bhy2_parse_quaternion(data, &result.quaternion);
break;
case BHY2_SENSOR_ID_ORI:
case BHY2_SENSOR_ID_ORI_WU:
bhy2_parse_orientation(data, &result.orientation);
break;
case BHY2_SENSOR_ID_DEVICE_ORI:
case BHY2_SENSOR_ID_DEVICE_ORI_WU:
result.dev_ori = data[0];
break;
case BHY2_SENSOR_ID_ACC_PASS:
case BHY2_SENSOR_ID_ACC_RAW:
case BHY2_SENSOR_ID_ACC:
case BHY2_SENSOR_ID_ACC_BIAS:
case BHY2_SENSOR_ID_ACC_WU:
case BHY2_SENSOR_ID_ACC_RAW_WU:
case BHY2_SENSOR_ID_GRA:
case BHY2_SENSOR_ID_GRA_WU:
case BHY2_SENSOR_ID_LACC:
case BHY2_SENSOR_ID_LACC_WU:
case BHY2_SENSOR_ID_ACC_BIAS_WU:
case BHY2_SENSOR_ID_GYRO_PASS:
case BHY2_SENSOR_ID_GYRO_RAW:
case BHY2_SENSOR_ID_GYRO:
case BHY2_SENSOR_ID_GYRO_BIAS:
case BHY2_SENSOR_ID_GYRO_WU:
case BHY2_SENSOR_ID_GYRO_RAW_WU:
case BHY2_SENSOR_ID_GYRO_BIAS_WU:
case BHY2_SENSOR_ID_MAG_PASS:
case BHY2_SENSOR_ID_MAG_RAW:
case BHY2_SENSOR_ID_MAG:
case BHY2_SENSOR_ID_MAG_BIAS:
case BHY2_SENSOR_ID_MAG_WU:
case BHY2_SENSOR_ID_MAG_RAW_WU:
case BHY2_SENSOR_ID_MAG_BIAS_WU:
bhy2_parse_xyz(data, &result.vector);
break;
case BHY2_SENSOR_ID_STC:
case BHY2_SENSOR_ID_STC_WU:
result.step_counter = bhy2_parse_step_counter(data);
break;
case BHY2_SENSOR_ID_STD:
result.detected = true;
break;
case BHY2_SENSOR_ID_AR:
result.activity_bitmap = (data[1] << 8) | data[0];
break;
default:
log_e("Sensor ID Undefined");
break;
}
return result;
}
SensorBHI260AP::BoschSensorID _sensor_id;
float _scaling_factor;
SensorBHI260AP &_handle;
};
template <typename DataType>
class SensorTemplateBase : public BoschSensorDataHelperBase
{
public:
SensorTemplateBase(SensorBHI260AP::BoschSensorID sensor_id, SensorBHI260AP &handle)
: BoschSensorDataHelperBase(sensor_id, handle)
{
}
~SensorTemplateBase() override
{
}
const DataType &getValue() const
{
return _value;
}
bool enable(float sample_rate, uint32_t report_latency_ms)
{
_handle.onResultEvent(_sensor_id, staticCallback, this);
return configure(sample_rate, report_latency_ms);
}
void disable()
{
_handle.removeResultEvent(_sensor_id, staticCallback);
_handle.configure(_sensor_id, 0, 0);
}
bool hasUpdated()
{
bool result = _lastUpdateTime != _currentTime;
_lastUpdateTime = _currentTime;
return result;
}
uint64_t getTimestamp()
{
return _currentTime;
}
uint32_t getLastUpdateSecond()
{
uint64_t tns = getNanosecondsFromCurrentTime();
return static_cast<uint32_t>(tns / UINT64_C(1000000000));
}
uint64_t getLastUpdateNanoseconds()
{
uint64_t tns = getNanosecondsFromCurrentTime();
uint32_t s = static_cast<uint32_t>(tns / UINT64_C(1000000000));
return tns - (static_cast<uint64_t>(s) * UINT64_C(1000000000));
}
void getLastTime(uint32_t &s, uint32_t &ns)
{
uint64_t tns = getNanosecondsFromCurrentTime(); /* timestamp is now in nanoseconds */
s = (uint32_t)(tns / UINT64_C(1000000000));
ns = (uint32_t)(tns - ((s) * UINT64_C(1000000000)));
}
protected:
virtual void updateValue(const SensorData &data) = 0;
DataType _value;
uint64_t _lastUpdateTime;
uint64_t _currentTime;
private:
uint64_t getNanosecondsFromCurrentTime() const
{
return _currentTime * 15625;
}
static void staticCallback(uint8_t sensor_id, uint8_t *data, uint32_t size, uint64_t *timestamp, void *user_data)
{
auto self = static_cast<SensorTemplateBase<DataType>*>(user_data);
SensorData parsedData = self->parse_data(sensor_id, data);
self->updateValue(parsedData);
self->_lastUpdateTime = self->_currentTime;
self->_currentTime = *timestamp;
}
};
class SensorTemperature : public SensorTemplateBase<float>
{
public:
SensorTemperature(SensorBHI260AP &handle)
: SensorTemplateBase<float>(SensorBHI260AP::TEMPERATURE, handle) {}
float getCelsius() const
{
return getValue();
}
float getFahrenheit()
{
return getCelsius() * (9.0 / 5.0) + 32;
}
float getKelvin()
{
return getCelsius() + 273.15;
}
bool enable()
{
return SensorTemplateBase::enable(1, 0);
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.temperature;
}
};
class SensorHumidity : public SensorTemplateBase<float>
{
public:
SensorHumidity(SensorBHI260AP &handle)
: SensorTemplateBase<float>(SensorBHI260AP::HUMIDITY, handle) {}
float getHumidity() const
{
return getValue();
}
bool enable()
{
return SensorTemplateBase::enable(1, 0);
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.humidity;
}
};
class SensorPressure : public SensorTemplateBase<float>
{
public:
SensorPressure(SensorBHI260AP &handle)
: SensorTemplateBase<float>(SensorBHI260AP::BAROMETER, handle) {}
float getPressure() const
{
return getValue();
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.pressure;
}
};
class SensorGas : public SensorTemplateBase<uint32_t>
{
public:
SensorGas(SensorBHI260AP &handle)
: SensorTemplateBase<uint32_t>(SensorBHI260AP::GAS, handle) {}
uint32_t getGas() const
{
return getValue() * _scaling_factor;
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.gas;
}
};
class SensorOrientation : public SensorTemplateBase<uint8_t>
{
public:
SensorOrientation(SensorBHI260AP &handle)
: SensorTemplateBase<uint8_t>(SensorBHI260AP::DEVICE_ORIENTATION, handle) {}
uint32_t getOrientation() const
{
return getValue();
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.dev_ori;
}
};
class SensorEuler : public SensorTemplateBase<bhy2_data_orientation>
{
public:
SensorEuler(SensorBHI260AP &handle)
: SensorTemplateBase<bhy2_data_orientation>(SensorBHI260AP::ORIENTATION, handle) {}
float getHeading() const
{
return getValue().heading * _scaling_factor;
}
float getPitch() const
{
return getValue().pitch * _scaling_factor;
}
float getRoll() const
{
return getValue().roll * _scaling_factor;
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.orientation;
}
};
class SensorQuaternion : public SensorTemplateBase<bhy2_data_quaternion>
{
public:
SensorQuaternion(SensorBHI260AP &handle)
: SensorTemplateBase<bhy2_data_quaternion>(SensorBHI260AP::GAME_ROTATION_VECTOR, handle) {}
float getX() const
{
return getValue().x * _scaling_factor;
}
float getY() const
{
return getValue().y * _scaling_factor;
}
float getZ() const
{
return getValue().z * _scaling_factor;
}
float getW() const
{
return getValue().w * _scaling_factor;
}
uint16_t getAccuracy() const
{
return getValue().accuracy;
}
float getHeading() const
{
return heading;
}
float getPitch() const
{
return pitch;
}
float getRoll() const
{
return roll;
}
void toEuler()
{
float w, x, y, z;
w = _value.w / 16384.0f;
x = _value.x / 16384.0f;
y = _value.y / 16384.0f;
z = _value.z / 16384.0f;
roll = atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y));
pitch = asin(2 * (w * y - z * x));
heading = atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z));
// Convert radians to degrees
roll = roll * (180.0 / M_PI);
pitch = pitch * (180.0 / M_PI);
heading = heading * (180.0 / M_PI);
}
protected:
float heading;
float pitch;
float roll;
void updateValue(const SensorData &data) override
{
_value = data.quaternion;
}
};
class SensorStepCounter : public SensorTemplateBase<uint32_t>
{
public:
SensorStepCounter(SensorBHI260AP &handle)
: SensorTemplateBase<uint32_t>(SensorBHI260AP::STEP_COUNTER, handle) {}
uint32_t getStepCount() const
{
return getValue();
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.step_counter;
}
};
class SensorStepDetector : public SensorTemplateBase<bool>
{
public:
SensorStepDetector(SensorBHI260AP &handle)
: SensorTemplateBase<bool>(SensorBHI260AP::STEP_DETECTOR, handle) {}
bool isDetected()
{
bool tmp = getValue();
_value = false;
return tmp;
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.detected;
}
};
class SensorXYZ : public SensorTemplateBase<bhy2_data_xyz>
{
public:
SensorXYZ(SensorBHI260AP::BoschSensorID sensor_id, SensorBHI260AP &handle)
: SensorTemplateBase<bhy2_data_xyz>(sensor_id, handle) {}
float getX() const
{
return getValue().x * _scaling_factor;
}
float getY() const
{
return getValue().y * _scaling_factor;
}
float getZ() const
{
return getValue().z * _scaling_factor;
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.vector;
}
};
class SensorActivity : public SensorTemplateBase<uint16_t>
{
public:
// See [bst-bhi260ab-ds000.pdf](https://www.mouser.com/datasheet/2/783/bst-bhi260ab-ds000-1816249.pdf)
// 15.1.4 Format "Activity"
enum ActivityStatus {
STILL_ACTIVITY_ENDED,
WALKING_ACTIVITY_ENDED,
RUNNING_ACTIVITY_ENDED,
ON_BICYCLE_ACTIVITY_ENDED,
IN_VEHICLE_ACTIVITY_ENDED,
TILTING_ACTIVITY_ENDED,
IN_VEHICLE_STILL_ENDED,
RESERVED_LOW,
STILL_ACTIVITY_STARTED,
WALKING_ACTIVITY_STARTED,
RUNNING_ACTIVITY_STARTED,
ON_BICYCLE_ACTIVITY_STARTED,
IN_VEHICLE_ACTIVITY_STARTED,
TILTING_ACTIVITY_STARTED,
IN_VEHICLE_STILL_STARTED,
RESERVED_HIGH
};
SensorActivity(SensorBHI260AP &handle)
: SensorTemplateBase<uint16_t>(SensorBHI260AP::ACTIVITY_RECOGNITION, handle) {}
/**
* @brief Check if a specific activity status is set in the activity bitmap.
*
* This function checks if the bit corresponding to the given activity status is set.
*
* @param status The activity status to check. It is an enumeration value of ActivityStatus.
* @return bool Returns true if the bit corresponding to the given activity status is set in the bitmap,
* false otherwise.
*/
bool isActivitySet(ActivityStatus status)
{
bool bitStatus = (_value & (1 << static_cast<uint16_t>(status))) != 0;
_value &= ~(1 << static_cast<uint16_t>(status));
return bitStatus;
}
/**
* @brief Manually clear all motion status
* @retval None
*/
void clear()
{
_value = 0;
}
protected:
void updateValue(const SensorData &data) override
{
_value = data.activity_bitmap;
}
};
components/ExternLib/SensorLib/src/bosch/BoschSensorID.hpp
+114
View File
@@ -0,0 +1,114 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BoschSensorID.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-30
* @note Raw API sensor IDs in bhy2_defs.h
*/
#pragma once
class BoschVirtualSensor
{
public:
enum BoschSensorID {
ACCEL_PASSTHROUGH = (1), /*BHY2_SENSOR_ID_ACC_PASS: Accelerometer passthrough */
ACCEL_UNCALIBRATED = (3), /*BHY2_SENSOR_ID_ACC_RAW: Accelerometer uncalibrated */
ACCEL_CORRECTED = (4), /*BHY2_SENSOR_ID_ACC: Accelerometer corrected */
ACCEL_OFFSET = (5), /*BHY2_SENSOR_ID_ACC_BIAS: Accelerometer offset */
ACCEL_CORRECTED_WAKE_UP = (6), /*BHY2_SENSOR_ID_ACC_WU: Accelerometer corrected wake up */
ACCEL_UNCALIBRATED_WAKE_UP = (7), /*BHY2_SENSOR_ID_ACC_RAW_WU: Accelerometer uncalibrated wake up */
// VIRTUAL_SENSOR_ID_FOR_ACCEL = (8), /*BHY2_SENSOR_ID_SI_ACCEL: Virtual Sensor ID for Accelerometer */
GYRO_PASSTHROUGH = (10), /*BHY2_SENSOR_ID_GYRO_PASS: Gyroscope passthrough */
GYRO_UNCALIBRATED = (12), /*BHY2_SENSOR_ID_GYRO_RAW: Gyroscope uncalibrated */
GYRO_CORRECTED = (13), /*BHY2_SENSOR_ID_GYRO: Gyroscope corrected */
GYRO_OFFSET = (14), /*BHY2_SENSOR_ID_GYRO_BIAS: Gyroscope offset */
GYRO_WAKE_UP = (15), /*BHY2_SENSOR_ID_GYRO_WU: Gyroscope wake up */
GYRO_UNCALIBRATED_WAKE_UP = (16), /*BHY2_SENSOR_ID_GYRO_RAW_WU: Gyroscope uncalibrated wake up */
// VIRTUAL_SENSOR_ID_FOR_GYRO = (17), /*BHY2_SENSOR_ID_SI_GYROS: Virtual Sensor ID for Gyroscope */
MAGNETOMETER_PASSTHROUGH = (19), /*BHY2_SENSOR_ID_MAG_PASS: Magnetometer passthrough */
MAGNETOMETER_UNCALIBRATED = (21), /*BHY2_SENSOR_ID_MAG_RAW: Magnetometer uncalibrated */
MAGNETOMETER_CORRECTED = (22), /*BHY2_SENSOR_ID_MAG: Magnetometer corrected */
MAGNETOMETER_OFFSET = (23), /*BHY2_SENSOR_ID_MAG_BIAS: Magnetometer offset */
MAGNETOMETER_WAKE_UP = (24), /*BHY2_SENSOR_ID_MAG_WU: Magnetometer wake up */
MAGNETOMETER_UNCALIBRATED_WAKE_UP = (25), /*BHY2_SENSOR_ID_MAG_RAW_WU: Magnetometer uncalibrated wake up */
GRAVITY_VECTOR = (28), /*BHY2_SENSOR_ID_GRA: Gravity vector */
GRAVITY_VECTOR_WAKE_UP = (29), /*BHY2_SENSOR_ID_GRA_WU: Gravity vector wake up */
LINEAR_ACCELERATION = (31), /*BHY2_SENSOR_ID_LACC: Linear acceleration */
LINEAR_ACCELERATION_WAKE_UP = (32), /*BHY2_SENSOR_ID_LACC_WU: Linear acceleration wake up */
ROTATION_VECTOR = (34), /*BHY2_SENSOR_ID_RV: Rotation vector , quaternion*/
ROTATION_VECTOR_WAKE_UP = (35), /*BHY2_SENSOR_ID_RV_WU: Rotation vector wake up */
GAME_ROTATION_VECTOR = (37), /*BHY2_SENSOR_ID_GAMERV: Game rotation vector */
GAME_ROTATION_VECTOR_WAKE_UP = (38), /*BHY2_SENSOR_ID_GAMERV_WU: Game rotation vector wake up */
GEO_MAGNETIC_ROTATION_VECTOR = (40), /*BHY2_SENSOR_ID_GEORV: Geo-magnetic rotation vector */
GEO_MAGNETIC_ROTATION_VECTOR_WAKE_UP = (41), /*BHY2_SENSOR_ID_GEORV_WU: Geo-magnetic rotation vector wake up */
ORIENTATION = (43), /*BHY2_SENSOR_ID_ORI: Orientation */
ORIENTATION_WAKE_UP = (44), /*BHY2_SENSOR_ID_ORI_WU: Orientation wake up , Euler*/
TILT_DETECTOR = (48), /*BHY2_SENSOR_ID_TILT_DETECTOR: Tilt detector */
STEP_DETECTOR = (50), /*BHY2_SENSOR_ID_STD: Step detector */
STEP_COUNTER = (52), /*BHY2_SENSOR_ID_STC: Step counter */
STEP_COUNTER_WAKE_UP = (53), /*BHY2_SENSOR_ID_STC_WU: Step counter wake up */
SIGNIFICANT_MOTION = (55), /*BHY2_SENSOR_ID_SIG: Significant motion */
WAKE_GESTURE = (57), /*BHY2_SENSOR_ID_WAKE_GESTURE: Wake gesture */
GLANCE_GESTURE = (59), /*BHY2_SENSOR_ID_GLANCE_GESTURE: Glance gesture */
PICKUP_GESTURE = (61), /*BHY2_SENSOR_ID_PICKUP_GESTURE: Pickup gesture */
ACTIVITY_RECOGNITION = (63), /*BHY2_SENSOR_ID_AR: Activity recognition */
WRIST_TILT_GESTURE = (67), /*BHY2_SENSOR_ID_WRIST_TILT_GESTURE: Wrist tilt gesture */
DEVICE_ORIENTATION = (69), /*BHY2_SENSOR_ID_DEVICE_ORI: Device orientation */
DEVICE_ORIENTATION_WAKE_UP = (70), /*BHY2_SENSOR_ID_DEVICE_ORI_WU: Device orientation wake up */
STATIONARY_DETECT = (75), /*BHY2_SENSOR_ID_STATIONARY_DET: Stationary detect */
MOTION_DETECT = (77), /*BHY2_SENSOR_ID_MOTION_DET: Motion detect */
ACCEL_OFFSET_WAKE_UP = (91), /*BHY2_SENSOR_ID_ACC_BIAS_WU: Accelerometer offset wake up */
GYRO_OFFSET_WAKE_UP = (92), /*BHY2_SENSOR_ID_GYRO_BIAS_WU: Gyroscope offset wake up */
MAGNETOMETER_OFFSET_WAKE_UP = (93), /*BHY2_SENSOR_ID_MAG_BIAS_WU: Magnetometer offset wake up */
STEP_DETECTOR_WAKE_UP = (94), /*BHY2_SENSOR_ID_STD_WU: Step detector wake up */
KLIO = (112), /*BHY2_SENSOR_ID_KLIO Supported by klio firmware ,defined in bhy2_klio_defs.h */
SWIM = (114), /*BHY2_SENSOR_ID_SWIM:Supported by swim firmware ,defined in bhy2_swim_defs.h */
KLIO_LOG = (127), /*BHY2_SENSOR_ID_KLIO_LOG Supported by klio firmware ,defined in bhy2_klio_defs.h */
TEMPERATURE = (128), /*BHY2_SENSOR_ID_TEMP: Temperature */
BAROMETER = (129), /*BHY2_SENSOR_ID_BARO: Barometer */
HUMIDITY = (130), /*BHY2_SENSOR_ID_HUM: Humidity */
GAS = (131), /*BHY2_SENSOR_ID_GAS: Gas */
TEMPERATURE_WAKE_UP = (132), /*BHY2_SENSOR_ID_TEMP_WU: Temperature wake up */
BAROMETER_WAKE_UP = (133), /*BHY2_SENSOR_ID_BARO_WU: Barometer wake up */
HUMIDITY_WAKE_UP = (134), /*BHY2_SENSOR_ID_HUM_WU: Humidity wake up */
GAS_WAKE_UP = (135), /*BHY2_SENSOR_ID_GAS_WU: Gas wake up */
STEP_COUNTER_LOW_POWER = (136), /*BHY2_SENSOR_ID_STC_LP: Step counter Low Power */
STEP_DETECTOR_LOW_POWER = (137), /*BHY2_SENSOR_ID_STD_LP: Step detector Low Power */
SIGNIFICANT_MOTION_LOW_POWER = (138), /*BHY2_SENSOR_ID_SIG_LP: Significant motion Low Power */
STEP_COUNTER_LOW_POWER_WAKE_UP = (139), /*BHY2_SENSOR_ID_STC_LP_WU: Step counter Low Power wake up */
STEP_DETECTOR_LOW_POWER_WAKE_UP = (140), /*BHY2_SENSOR_ID_STD_LP_WU: Step detector Low Power wake up */
SIGNIFICANT_MOTION_LOW_POWER_WAKE_UP = (141), /*BHY2_SENSOR_ID_SIG_LP_WU: Significant motion Low Power wake up */
ANY_MOTION_LOW_POWER = (142), /*BHY2_SENSOR_ID_ANY_MOTION_LP: Any motion Low Power */
ANY_MOTION_LOW_POWER_WAKE_UP = (143), /*BHY2_SENSOR_ID_ANY_MOTION_LP_WU: Any motion Low Power wake up */
EXTERNAL_CAMERA_TRIGGER = (144), /*BHY2_SENSOR_ID_EXCAMERA: External camera trigger */
GPS = (145), /*BHY2_SENSOR_ID_GPS: GPS */
LIGHT = (146), /*BHY2_SENSOR_ID_LIGHT: Light */
PROXIMITY = (147), /*BHY2_SENSOR_ID_PROX: Proximity */
LIGHT_WAKE_UP = (148), /*BHY2_SENSOR_ID_LIGHT_WU: Light wake up */
PROXIMITY_WAKE_UP = (149), /*BHY2_SENSOR_ID_PROX_WU: Proximity wake up */
GPIO_EXP = (151), /*BHY2_SENSOR_ID_GPIO_EXP: GPIO_EXP*/
};
};
components/ExternLib/SensorLib/src/bosch/BoschSensorInfo.hpp
+297
View File
@@ -0,0 +1,297 @@
/**
*
* @license MIT License
*
* Copyright (c) 2025 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.
*
* @file BoschSensorInfo.hpp
* @author Lewis He (lewishe@outlook.com)
* @date 2025-01-22
*
*/
#pragma once
#include <stdint.h>
#include <stdio.h>
#include "bhy2_parse.h"
#include "bhy2_defs.h"
#include "common/common.h"
#ifdef ARDUINO
#include <Stream.h>
#endif
class BoschSensorInfo
{
public:
uint16_t kernel_version;
uint16_t user_version;
uint16_t rom_version;
uint8_t product_id;
uint8_t host_status;
uint8_t feat_status;
uint8_t boot_status;
uint8_t sensor_error;
bhy2_dev *dev;
struct bhy2_sensor_info *info;
BoschSensorInfo() : kernel_version(0), user_version(0), rom_version(0),
product_id(0), host_status(0), feat_status(0), boot_status(0), sensor_error(0), dev(nullptr), info(nullptr)
{
info = (struct bhy2_sensor_info *)calloc(BHY2_SENSOR_ID_MAX, sizeof(struct bhy2_sensor_info));
}
~BoschSensorInfo()
{
if (info) {
free(info);
}
}
BoschSensorInfo(const BoschSensorInfo &other)
: kernel_version(other.kernel_version),
user_version(other.user_version),
rom_version(other.rom_version),
product_id(other.product_id),
host_status(other.host_status),
feat_status(other.feat_status),
boot_status(other.boot_status),
sensor_error(other.sensor_error),
dev(other.dev),
info(nullptr)
{
if (other.info) {
info = (struct bhy2_sensor_info *)calloc(BHY2_SENSOR_ID_MAX, sizeof(struct bhy2_sensor_info));
for (int i = 0; i < BHY2_SENSOR_ID_MAX; ++i) {
info[i] = other.info[i];
}
}
}
BoschSensorInfo &operator=(const BoschSensorInfo &other)
{
if (this != &other) {
if (info) {
free(info);
}
kernel_version = other.kernel_version;
user_version = other.user_version;
rom_version = other.rom_version;
product_id = other.product_id;
host_status = other.host_status;
feat_status = other.feat_status;
boot_status = other.boot_status;
sensor_error = other.sensor_error;
dev = other.dev;
info = nullptr;
if (other.info) {
info = (struct bhy2_sensor_info *)calloc(BHY2_SENSOR_ID_MAX, sizeof(struct bhy2_sensor_info));
for (int i = 0; i < BHY2_SENSOR_ID_MAX; ++i) {
info[i] = other.info[i];
}
}
}
return *this;
}
BoschSensorInfo(BoschSensorInfo &&other) noexcept
: kernel_version(other.kernel_version),
user_version(other.user_version),
rom_version(other.rom_version),
product_id(other.product_id),
host_status(other.host_status),
feat_status(other.feat_status),
boot_status(other.boot_status),
sensor_error(other.sensor_error),
dev(other.dev),
info(other.info)
{
other.info = nullptr;
other.dev = nullptr;
}
BoschSensorInfo &operator=(BoschSensorInfo &&other) noexcept
{
if (this != &other) {
if (info) {
free(info);
}
kernel_version = other.kernel_version;
user_version = other.user_version;
rom_version = other.rom_version;
product_id = other.product_id;
host_status = other.host_status;
feat_status = other.feat_status;
boot_status = other.boot_status;
sensor_error = other.sensor_error;
dev = other.dev;
info = other.info;
other.info = nullptr;
other.dev = nullptr;
}
return *this;
}
#if defined(ARDUINO) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_ZEPHYR)
void printVirtualSensorList(Stream &stream)
{
if (!dev) {
return;
}
if (!info) {
return;
}
if (feat_status & BHY2_FEAT_STATUS_OPEN_RTOS_MSK) {
stream.printf("Virtual sensor list.\n");
stream.printf("Sensor ID | Sensor Name | ID | Ver | Min rate | Max rate |\n");
stream.printf("----------+--------------------------------------+-----+-----+-----------+-----------|\n");
for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; i++) {
if (bhy2_is_sensor_available(i, dev)) {
if (i < BHY2_SENSOR_ID_CUSTOM_START) {
stream.printf(" %8u | %36s ", i, get_sensor_name(i));
}
stream.printf("| %3u | %3u | %9.4f | %9.4f |\n",
(unsigned int)info[i].driver_id,
(unsigned int)info[i].driver_version,
info[i].min_rate.f_val,
info[i].max_rate.f_val);
}
}
}
}
void printBootStatus(Stream &stream)
{
stream.printf("Boot Status : 0x%02x: ", boot_status);
if (boot_status & BHY2_BST_FLASH_DETECTED) {
stream.printf("\tFlash detected. \n");
}
if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) {
stream.printf("\tFlash verify done. \n");
}
if (boot_status & BHY2_BST_FLASH_VERIFY_ERROR) {
stream.printf("Flash verification failed. \n");
}
if (boot_status & BHY2_BST_NO_FLASH) {
stream.printf("\tNo flash installed. \n");
}
if (boot_status & BHY2_BST_HOST_INTERFACE_READY) {
stream.printf("\tHost interface ready. \n");
}
if (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) {
stream.printf("\tFirmware verification done. \n");
}
if (boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR) {
stream.printf("\tFirmware verification error. \n");
}
if (boot_status & BHY2_BST_HOST_FW_IDLE) {
stream.printf("\tFirmware halted. \n");
}
}
void printInfo(Stream &stream)
{
stream.printf("Product ID : %02x\n", product_id);
stream.printf("Kernel version : %04u\n", kernel_version);
stream.printf("User version : %04u\n", user_version);
stream.printf("ROM version : %04u\n", rom_version);
stream.printf("Power state : %s\n", (host_status & BHY2_HST_POWER_STATE) ? "sleeping" : "active");
stream.printf("Host interface : %s\n", (host_status & BHY2_HST_HOST_PROTOCOL) ? "SPI" : "I2C");
stream.printf("Feature status : 0x%02x\n", feat_status);
printBootStatus(stream);
if (sensor_error) {
stream.printf( "%s\n", get_sensor_error_text(sensor_error));
}
printVirtualSensorList(stream);
}
#else
void printVirtualSensorList()
{
if (!dev) {
return;
}
if (!info) {
return;
}
if (feat_status & BHY2_FEAT_STATUS_OPEN_RTOS_MSK) {
printf("Virtual sensor list.\n");
printf("Sensor ID | Sensor Name | ID | Ver | Min rate | Max rate |\n");
printf("----------+--------------------------------------+-----+-----+-----------+-----------|\n");
for (uint8_t i = 0; i < BHY2_SENSOR_ID_MAX; i++) {
if (bhy2_is_sensor_available(i, dev)) {
if (i < BHY2_SENSOR_ID_CUSTOM_START) {
printf(" %8u | %36s ", i, get_sensor_name(i));
}
printf("| %3u | %3u | %9.4f | %9.4f |\n",
(unsigned int)info[i].driver_id,
(unsigned int)info[i].driver_version,
info[i].min_rate.f_val,
info[i].max_rate.f_val);
}
}
}
}
void printBootStatus()
{
printf("Boot Status : 0x%02x: ", boot_status);
if (boot_status & BHY2_BST_FLASH_DETECTED) {
printf("\tFlash detected. \n");
}
if (boot_status & BHY2_BST_FLASH_VERIFY_DONE) {
printf("\tFlash verify done. \n");
}
if (boot_status & BHY2_BST_FLASH_VERIFY_ERROR) {
printf("Flash verification failed. \n");
}
if (boot_status & BHY2_BST_NO_FLASH) {
printf("\tNo flash installed. \n");
}
if (boot_status & BHY2_BST_HOST_INTERFACE_READY) {
printf("\tHost interface ready. \n");
}
if (boot_status & BHY2_BST_HOST_FW_VERIFY_DONE) {
printf("\tFirmware verification done. \n");
}
if (boot_status & BHY2_BST_HOST_FW_VERIFY_ERROR) {
printf("\tFirmware verification error. \n");
}
if (boot_status & BHY2_BST_HOST_FW_IDLE) {
printf("\tFirmware halted. \n");
}
}
void printInfo()
{
printf("Product ID : %02x\n", product_id);
printf("Kernel version : %04u\n", kernel_version);
printf("User version : %04u\n", user_version);
printf("ROM version : %04u\n", rom_version);
printf("Power state : %s\n", (host_status & BHY2_HST_POWER_STATE) ? "sleeping" : "active");
printf("Host interface : %s\n", (host_status & BHY2_HST_HOST_PROTOCOL) ? "SPI" : "I2C");
printf("Feature status : 0x%02x\n", feat_status);
if (sensor_error) {
printf( "%s\n", get_sensor_error_text(sensor_error));
}
printBootStatus();
printVirtualSensorList();
}
#endif
};
components/ExternLib/SensorLib/src/bosch/bhi3.c
+730
View File
@@ -0,0 +1,730 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhi3.c
* @date 2023-03-24
* @version v1.6.0
*
*/
/*********************************************************************/
/* system header files */
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
/*********************************************************************/
/* BHI3 SensorAPI header files */
#include "bhi3.h"
/*************************Private Functions***************************/
/*!
* @brief To set the Physical Sensor Control Parameters
*/
int8_t bhi3_physical_sensor_control_set_config(uint8_t sensor_id,
const uint8_t *payload,
uint16_t len,
uint8_t control_code,
struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint16_t cmnd_len = BHY2_LE24MUL(len + 1); /*1 byte added for control code */
uint8_t cmnd[cmnd_len];
memset(cmnd, 0, cmnd_len);
cmnd[0] = BHI3_PHY_SENSOR_CTRL_CODE(BHI3_PHY_SENSOR_CTRL_WRITE, control_code);
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
if (payload == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
for (int i = 0; i < len; i++)
{
cmnd[i + 1] = *(payload + i);
}
rslt = bhy2_set_parameter(BHI3_PHY_SENSOR_CTRL_PARAM(sensor_id), cmnd, cmnd_len, dev);
}
}
return rslt;
}
/*!
* @brief To get the Physical Sensor Control Parameters
*/
int8_t bhi3_physical_sensor_control_get_config(uint8_t sensor_id,
uint8_t *payload,
uint32_t len,
uint8_t control_code,
struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t ret_len = 0;
uint8_t cmnd[BHY2_COMMAND_HEADER_LEN] = {0};
uint8_t rdbck[BHY2_LE24MUL(len)];
cmnd[0] = BHI3_PHY_SENSOR_CTRL_CODE(BHI3_PHY_SENSOR_CTRL_READ, control_code);
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
rslt = bhy2_set_parameter(BHI3_PHY_SENSOR_CTRL_PARAM(sensor_id), cmnd, BHY2_COMMAND_HEADER_LEN, dev);
if (rslt != BHY2_OK)
{
return rslt;
}
rslt = bhy2_get_parameter(BHI3_PHY_SENSOR_CTRL_PARAM(sensor_id), rdbck, BHY2_LE24MUL(len), &ret_len, dev);
if (rslt != BHY2_OK)
{
return rslt;
}
memcpy(payload, &rdbck[1], len); /*0th element holds control code */
}
return rslt;
}
/**************************Public Functions***************************/
/*!
* @brief To parse Wrist Gesture Detection Data
*/
int8_t bhi3_wrist_gesture_detect_parse_data(const uint8_t *data, bhi3_wrist_gesture_detect_t *output)
{
int8_t rslt = BHY2_OK;
if ((data == NULL) || (output == NULL))
{
rslt = BHY2_E_NULL_PTR;
}
else
{
output->wrist_gesture = (enum bhi3_wrist_gesture_activity) * (data);
}
return rslt;
}
/*!
* @brief To set the Accelerometer Fast Offset Calibration
*/
int8_t bhi3_set_acc_foc(const struct bhy2_data_xyz *acc_foc, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_ACCELEROMETER,
(uint8_t *)acc_foc,
BHI3_PHY_ACC_FOC_CTRL_LEN,
BHI3_PHY_ACC_FOC_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Accelerometer Fast Offset Calibration
*/
int8_t bhi3_get_acc_foc(struct bhy2_data_xyz *acc_foc, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_ACCELEROMETER,
(uint8_t *)acc_foc,
BHI3_PHY_ACC_FOC_CTRL_LEN,
BHI3_PHY_ACC_FOC_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Accelerometer Power Mode
*/
int8_t bhi3_set_acc_power_mode(const uint8_t *acc_pwm, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_ACCELEROMETER,
acc_pwm,
BHI3_PHY_ACC_LOW_POWER_MODE_CTRL_LEN,
BHI3_PHY_ACC_LOW_POWER_MODE_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Accelerometer Power Mode
*/
int8_t bhi3_get_acc_power_mode(uint8_t *acc_pwm, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_ACCELEROMETER,
acc_pwm,
BHI3_PHY_ACC_LOW_POWER_MODE_CTRL_LEN,
BHI3_PHY_ACC_LOW_POWER_MODE_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Gyroscope Fast Offset Calibration
*/
int8_t bhi3_set_gyro_foc(const struct bhy2_data_xyz *gyro_foc, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
(uint8_t *)gyro_foc,
BHI3_PHY_GYRO_FOC_CTRL_LEN,
BHI3_PHY_GYRO_FOC_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Gyroscope Fast Offset Calibration
*/
int8_t bhi3_get_gyro_foc(struct bhy2_data_xyz *gyro_foc, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
(uint8_t *)gyro_foc,
BHI3_PHY_GYRO_FOC_CTRL_LEN,
BHI3_PHY_GYRO_FOC_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Gyroscope OIS
*/
int8_t bhi3_set_gyro_ois(const uint8_t *gyro_ois, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_ois,
BHI3_PHY_GYRO_OIS_CTRL_LEN,
BHI3_PHY_GYRO_OIS_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Gyroscope OIS
*/
int8_t bhi3_get_gyro_ois(uint8_t *gyro_ois, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_ois,
BHI3_PHY_GYRO_OIS_CTRL_LEN,
BHI3_PHY_GYRO_OIS_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Gyroscope Fast Startup
*/
int8_t bhi3_set_gyro_fast_startup(const uint8_t *gyro_fs, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_fs,
BHI3_PHY_GYRO_FAST_STARTUP_CTRL_LEN,
BHI3_PHY_GYRO_FAST_STARTUP_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Gyroscope Fast Startup
*/
int8_t bhi3_get_gyro_fast_startup(uint8_t *gyro_fs, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_fs,
BHI3_PHY_GYRO_FAST_STARTUP_CTRL_LEN,
BHI3_PHY_GYRO_FAST_STARTUP_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Gyroscope CRT
*/
int8_t bhi3_set_gyro_crt(const uint8_t *gyro_crt, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_crt,
BHI3_PHY_GYRO_CRT_CTRL_LEN,
BHI3_PHY_GYRO_CRT_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Gyroscope CRT
*/
/*lint -e506, -e778 */
int8_t bhi3_get_gyro_crt(uint8_t *gyro_crt, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt =
bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_crt,
BHY2_LE24MUL(BHI3_PHY_GYRO_CRT_CTRL_LEN),
BHI3_PHY_GYRO_CRT_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Gyroscope Power Mode
*/
int8_t bhi3_set_gyro_power_mode(const uint8_t *gyro_pwm, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_pwm,
BHI3_PHY_GYRO_LOW_POWER_MODE_CTRL_LEN,
BHI3_PHY_GYRO_LOW_POWER_MODE_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Gyroscope Power Mode
*/
int8_t bhi3_get_gyro_power_mode(uint8_t *gyro_pwm, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_pwm,
BHI3_PHY_GYRO_LOW_POWER_MODE_CTRL_LEN,
BHI3_PHY_GYRO_LOW_POWER_MODE_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Gyroscope Timer Auto Trim state
*/
int8_t bhi3_set_gyro_timer_auto_trim(const uint8_t *gyro_tat, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_tat,
BHI3_PHY_GYRO_TIMER_AUTO_TRIM_CTRL_LEN,
BHI3_PHY_GYRO_TIMER_AUTO_TRIM_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Gyroscope Timer Auto Trim Status
*/
int8_t bhi3_get_gyro_timer_auto_trim(uint8_t *gyro_tat, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_GYROSCOPE,
gyro_tat,
BHI3_PHY_GYRO_TIMER_AUTO_TRIM_CTRL_LEN,
BHI3_PHY_GYRO_TIMER_AUTO_TRIM_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Wrist Wear Wakeup Configuration
*/
int8_t bhi3_set_wrist_wear_wakeup_config(const uint8_t *www_cnfg, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_WRIST_WEAR_WAKEUP,
www_cnfg,
BHI3_PHY_WRIST_WEAR_WAKEUP_CTRL_LEN,
BHI3_PHY_WRIST_WEAR_WAKEUP_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Wrist Wear Wakeup Configuration
*/
int8_t bhi3_get_wrist_wear_wakeup_config(uint8_t *www_cnfg, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_WRIST_WEAR_WAKEUP,
www_cnfg,
BHI3_PHY_WRIST_WEAR_WAKEUP_CTRL_LEN,
BHI3_PHY_WRIST_WEAR_WAKEUP_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Any Motion Configuration
*/
int8_t bhi3_set_anymotion_config(const uint8_t *any_motion_cnfg, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_PHYS_ANY_MOTION,
any_motion_cnfg,
BHI3_PHY_ANY_MOTION_CTRL_LEN,
BHI3_PHY_ANY_MOTION_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Any Motion Configuration
*/
int8_t bhi3_get_anymotion_config(uint8_t *any_motion_cnfg, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_PHYS_ANY_MOTION,
any_motion_cnfg,
BHI3_PHY_ANY_MOTION_CTRL_LEN,
BHI3_PHY_ANY_MOTION_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the No Motion Configuration
*/
int8_t bhi3_set_nomotion_config(const uint8_t *no_motion_cnfg, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_PHYS_NO_MOTION,
no_motion_cnfg,
BHI3_PHY_NO_MOTION_CTRL_LEN,
BHI3_PHY_NO_MOTION_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the No Motion Configuration
*/
int8_t bhi3_get_nomotion_config(uint8_t *no_motion_cnfg, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the configuration parameter */
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_PHYS_NO_MOTION,
no_motion_cnfg,
BHI3_PHY_NO_MOTION_CTRL_LEN,
BHI3_PHY_NO_MOTION_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To set the Wrist Gesture Detect Configuration
*/
int8_t bhi3_set_wrist_gesture_detect_config(const uint8_t *wgd_cnfg, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the configuration parameter */
rslt = bhi3_physical_sensor_control_set_config(BHY2_PHYS_SENSOR_ID_WRIST_GESTURE_DETECT,
wgd_cnfg,
BHI3_PHY_WRIST_GESTURE_DETECT_CTRL_LEN,
BHI3_PHY_WRIST_GESTURE_DETECT_CTRL_CODE,
dev);
}
return rslt;
}
/*!
* @brief To get the Wrist Gesture Detect Configuration
*/
int8_t bhi3_get_wrist_gesture_detect_config(uint8_t *wgd_cnfg, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
rslt = bhi3_physical_sensor_control_get_config(BHY2_PHYS_SENSOR_ID_WRIST_GESTURE_DETECT,
wgd_cnfg,
BHI3_PHY_WRIST_GESTURE_DETECT_CTRL_LEN,
BHI3_PHY_WRIST_GESTURE_DETECT_CTRL_CODE,
dev);
}
return rslt;
}
components/ExternLib/SensorLib/src/bosch/bhi3.h
+330
View File
@@ -0,0 +1,330 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhi3.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef __BHI3_H__
#define __BHI3_H__
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include "bhy2.h"
#include "bhi3_defs.h"
/*!
* @brief To parse Wrist Gesture Detection Data
*
* @param[in] Wrist Gesture Detection Data
* @param[in] Wrist Gesture Detection Output Structure
*
* @return API error codes
*
*/
int8_t bhi3_wrist_gesture_detect_parse_data(const uint8_t *data, bhi3_wrist_gesture_detect_t *output);
/*!
* @brief To set the Accelerometer Fast Offset Calibration
*
* @param[in] Physical Accelerometer FOC data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_acc_foc(const struct bhy2_data_xyz *acc_foc, struct bhy2_dev *dev);
/*!
* @brief To get the Accelerometer Fast Offset Calibration
*
* @param[out] Physical Accelerometer FOC data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_acc_foc(struct bhy2_data_xyz *acc_foc, struct bhy2_dev *dev);
/*!
* @brief To set the Accelerometer Power Mode
*
* @param[in] Physical Accelerometer Power Mode data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_acc_power_mode(const uint8_t *acc_pwm, struct bhy2_dev *dev);
/*!
* @brief To get the Accelerometer Power Mode
*
* @param[out] Physical Accelerometer Power Mode data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_acc_power_mode(uint8_t *acc_pwm, struct bhy2_dev *dev);
/*!
* @brief To set the Gyroscope Fast Offset Calibration
*
* @param[in] Physical Gyroscope FOC data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_gyro_foc(const struct bhy2_data_xyz *gyro_foc, struct bhy2_dev *dev);
/*!
* @brief To get the Gyroscope Fast Offset Calibration
*
* @param[out] Physical Gyroscope FOC data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_gyro_foc(struct bhy2_data_xyz *gyro_foc, struct bhy2_dev *dev);
/*!
* @brief To set the Gyroscope OIS
*
* @param[in] Physical Gyroscope OIS data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_gyro_ois(const uint8_t *gyro_ois, struct bhy2_dev *dev);
/*!
* @brief To get the Gyroscope OIS
*
* @param[out] Physical Gyroscope OIS data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_gyro_ois(uint8_t *gyro_ois, struct bhy2_dev *dev);
/*!
* @brief To set the Gyroscope Fast Startup
*
* @param[in] Physical Gyroscope Fast Startup data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_gyro_fast_startup(const uint8_t *gyro_fs, struct bhy2_dev *dev);
/*!
* @brief To get the Gyroscope Fast Startup
*
* @param[out] Physical Gyroscope Fast Startup data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_gyro_fast_startup(uint8_t *gyro_fs, struct bhy2_dev *dev);
/*!
* @brief To set the Gyroscope CRT
*
* @param[in] Physical Gyroscope CRT data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_gyro_crt(const uint8_t *gyro_crt, struct bhy2_dev *dev);
/*!
* @brief To get the Gyroscope CRT
*
* @param[out] Physical Gyroscope CRT data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_gyro_crt(uint8_t *gyro_crt, struct bhy2_dev *dev);
/*!
* @brief To set the Gyroscope Power Mode
*
* @param[in] Physical Gyroscope Power Mode data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_gyro_power_mode(const uint8_t *gyro_pwm, struct bhy2_dev *dev);
/*!
* @brief To get the Gyroscope Power Mode
*
* @param[out] Physical Gyroscope Power Mode data
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_gyro_power_mode(uint8_t *gyro_pwm, struct bhy2_dev *dev);
/*!
* @brief To set the Gyroscope Timer Auto Trim state
*
* @param[in] Physical Gyroscope Timer Auto Trim state
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_gyro_timer_auto_trim(const uint8_t *gyro_tat, struct bhy2_dev *dev);
/*!
* @brief To get the Gyroscope Timer Auto Trim status
*
* @param[out] Physical Gyroscope Timer Auto Trim state
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_gyro_timer_auto_trim(uint8_t *gyro_tat, struct bhy2_dev *dev);
/*!
* @brief To set the Wrist Wear Wakeup Configuration
*
* @param[in] Wrist Wear Wakeup Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_wrist_wear_wakeup_config(const uint8_t *www_cnfg, struct bhy2_dev *dev);
/*!
* @brief To get the Wrist Wear Wakeup Configuration
*
* @param[out] Wrist Wear Wakeup Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_wrist_wear_wakeup_config(uint8_t *www_cnfg, struct bhy2_dev *dev);
/*!
* @brief To set the Any Motion Configuration
*
* @param[in] Any Motion Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_anymotion_config(const uint8_t *any_motion_cnfg, struct bhy2_dev *dev);
/*!
* @brief To get the Any Motion Configuration
*
* @param[out] Any Motion Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_anymotion_config(uint8_t *any_motion_cnfg, struct bhy2_dev *dev);
/*!
* @brief To set the No Motion Configuration
*
* @param[in] No Motion Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_nomotion_config(const uint8_t *no_motion_cnfg, struct bhy2_dev *dev);
/*!
* @brief To get the No Motion Configuration
*
* @param[out] No Motion Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_nomotion_config(uint8_t *no_motion_cnfg, struct bhy2_dev *dev);
/*!
* @brief To set the Wrist Gesture Detection Configuration
*
* @param[in] Wrist Gesture Detection Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_set_wrist_gesture_detect_config(const uint8_t *wgd_cnfg, struct bhy2_dev *dev);
/*!
* @brief To get the Wrist Gesture Detection Configuration
*
* @param[out] Wrist Gesture Detection Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhi3_get_wrist_gesture_detect_config(uint8_t *wgd_cnfg, struct bhy2_dev *dev);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* __BHI3_H__ */
components/ExternLib/SensorLib/src/bosch/bhi3_defs.h
+204
View File
@@ -0,0 +1,204 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhi3_defs.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef __BHI3_DEFS_H__
#define __BHI3_DEFS_H__
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include "bhy2_defs.h"
/*! The Product ID needs to be replaced with Chip ID for explicit HW specific Identification*/
#define BHI3_PRODUCT_ID BHY2_PRODUCT_ID
/*! Firmware header identifier */
/*#define BHY2_FW_MAGIC UINT16_C(0x662B) */
/*! BHI3 Variant IDs */
#define BHI3_VARIANT_ID_BHI360 UINT32_C(0x18BC5434)
#define BHI3_VARIANT_ID_BHI380 UINT32_C(0x6E6D6CA6)
/*! BHI3 Specifc Sensor IDs */
#define BHI3_SENSOR_ID_AR_WEAR_WU UINT8_C(154) /* Activity Recognition (wear/hear) */
#define BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU UINT8_C(156) /* Wrist Gesture Detector Low Power Wakeup*/
#define BHI3_SENSOR_ID_WRIST_WEAR_LP_WU UINT8_C(158) /* Wrist Wear Low Power Wakeup */
#define BHI3_SENSOR_ID_NO_MOTION_LP_WU UINT8_C(159) /* No motion Low Power */
/*! Physical Sensor Control Parameter Page Base Address*/
#define BHI3_PHY_SENSOR_CTRL_PAGE UINT16_C(0x0E)
/*! Physical Sensor Control pages
* Here the 'id' refers to the Sensor ID of requisite Physical Sensors (Acc/Gyro)
* */
#define BHI3_PHY_SENSOR_CTRL_PARAM(id) (((BHI3_PHY_SENSOR_CTRL_PAGE) << 8) | (id))
#define BHI3_PHY_SENSOR_CTRL_CODE(dir, code) ((dir << 7) | (code))
#define BHI3_PHY_SENSOR_CTRL_WRITE UINT8_C(0x00)
#define BHI3_PHY_SENSOR_CTRL_READ UINT8_C(0x01)
#define BHI3_PHY_ACC_FOC_CTRL_CODE UINT8_C(0x01)
#define BHI3_PHY_ACC_FOC_CTRL_LEN 6
#define BHI3_PHY_ACC_LOW_POWER_MODE_CTRL_CODE UINT8_C(0x05)
#define BHI3_PHY_ACC_NORMAL_POWER_MODE UINT8_C(0x00)
#define BHI3_PHY_ACC_LOW_POWER_MODE UINT8_C(0x02)
#define BHI3_PHY_ACC_LOW_POWER_MODE_CTRL_LEN 1
#define BHI3_PHY_GYRO_FOC_CTRL_CODE UINT8_C(0x01)
#define BHI3_PHY_GYRO_FOC_CTRL_LEN 6
#define BHI3_PHY_GYRO_OIS_CTRL_CODE UINT8_C(0x02)
#define BHI3_PHY_GYRO_DISABLE_OIS UINT8_C(0x00)
#define BHI3_PHY_GYRO_ENABLE_OIS UINT8_C(0x01)
#define BHI3_PHY_GYRO_OIS_CTRL_LEN 1
#define BHI3_PHY_GYRO_FAST_STARTUP_CTRL_CODE UINT8_C(0x03)
#define BHI3_PHY_GYRO_DISABLE_FAST_STARTUP UINT8_C(0x00)
#define BHI3_PHY_GYRO_ENABLE_FAST_STARTUP UINT8_C(0x01)
#define BHI3_PHY_GYRO_FAST_STARTUP_CTRL_LEN 1
#define BHI3_PHY_GYRO_CRT_CTRL_CODE UINT8_C(0x04)
#define BHI3_PHY_GYRO_CRT_STATUS_SUCCESS UINT8_C(0x00)
#define BHI3_PHY_GYRO_ENABLE_CRT UINT8_C(0x01)
#define BHI3_PHY_GYRO_CRT_CTRL_LEN 1
#define BHI3_PHY_GYRO_LOW_POWER_MODE_CTRL_CODE UINT8_C(0x05)
#define BHI3_PHY_GYRO_NORMAL_POWER_MODE UINT8_C(0x00)
#define BHI3_PHY_GYRO_PERFORMANCE_POWER_MODE UINT8_C(0x01)
#define BHI3_PHY_GYRO_LOW_POWER_MODE UINT8_C(0x02)
#define BHI3_PHY_GYRO_LOW_POWER_MODE_CTRL_LEN 1
#define BHI3_PHY_GYRO_TIMER_AUTO_TRIM_CTRL_CODE UINT8_C(0x06)
#define BHI3_PHY_GYRO_DISABLE_TIMER_AUTO_TRIM UINT8_C(0x00)
#define BHI3_PHY_GYRO_ENABLE_TIMER_AUTO_TRIM UINT8_C(0x01)
#define BHI3_PHY_GYRO_TIMER_AUTO_TRIM_CTRL_LEN 1
#define BHI3_PHY_WRIST_WEAR_WAKEUP_CTRL_CODE UINT8_C(0x01)
#define BHI3_PHY_WRIST_WEAR_WAKEUP_CTRL_LEN 10
#define BHI3_PHY_ANY_MOTION_CTRL_CODE UINT8_C(0x01)
#define BHI3_PHY_ANY_MOTION_CTRL_LEN 4
#define BHI3_PHY_NO_MOTION_CTRL_CODE UINT8_C(0x01)
#define BHI3_PHY_NO_MOTION_CTRL_LEN 4
#define BHI3_PHY_WRIST_GESTURE_DETECT_CTRL_CODE UINT8_C(0x07)
#define BHI3_PHY_WRIST_GESTURE_DETECT_CTRL_LEN 19
typedef struct bhi3_wrist_wear_wakeup_config_param {
uint16_t min_angle_focus;
uint16_t min_angle_nonfocus;
uint8_t angle_landscape_right;
uint8_t angle_landscape_left;
uint8_t angle_portrait_down;
uint8_t angle_portrait_up;
uint8_t min_dur_moved;
uint8_t min_dur_quite;
} __attribute__ ((packed)) bhi3_wrist_wear_wakeup_config_param_t;
typedef struct bhi3_any_no_motion_config_param {
uint16_t duration;
uint8_t axis;
uint16_t threshold;
} __attribute__ ((packed)) bhi3_any_no_motion_config_param_t;
typedef struct bhi3_wrist_gesture_detect_config_param {
uint16_t min_flick_peak_y_threshold;
uint16_t min_flick_peak_z_threshold;
uint16_t gravity_bounds_x_pos;
uint16_t gravity_bounds_x_neg;
uint16_t gravity_bounds_y_neg;
uint16_t gravity_bounds_z_neg;
uint16_t flick_peak_decay_coeff;
uint16_t lp_mean_filter_coeff;
uint16_t max_duration_jiggle_peaks;
uint8_t device_position;
} __attribute__ ((packed)) bhi3_wrist_gesture_detect_config_param_t;
enum bhi3_wrist_gesture_activity {
NO_GESTURE,
WRIST_SHAKE_JIGGLE = 0x03,
FLICK_IN,
FLICK_OUT
};
typedef struct bhi3_wrist_gesture_detect {
enum bhi3_wrist_gesture_activity wrist_gesture;
} __attribute__ ((packed)) bhi3_wrist_gesture_detect_t;
static const char *const bhi3_wrist_gesture_detect_output[] = {
[NO_GESTURE] = "NO_GESTURE",
[1] = "",
[2] = "",
[WRIST_SHAKE_JIGGLE] = "WRIST_SHAKE_JIGGLE",
[FLICK_IN] = "FLICK_IN",
[FLICK_OUT] = "FLICK_OUT"
}; /*lint -e528 */
enum bhi3_phy_sensor_acc_power_mode {
ACC_NORMAL,
ACC_LOW_POWER = 0x02
};
enum bhi3_phy_sensor_gyro_power_mode {
GYRO_NORMAL,
GYRO_PERFORMANCE,
GYRO_LOW_POWER
};
static const char *const bhi3_phy_sensor_acc_pwm_output[] = {
[ACC_NORMAL] = "NORMAL",
[1] = "",
[ACC_LOW_POWER] = "LOW POWER"
}; /*lint -e528 */
static const char *const bhi3_phy_sensor_gyro_pwm_output[] = {
[GYRO_NORMAL] = "NORMAL",
[GYRO_PERFORMANCE] = "PERFORMANCE",
[GYRO_LOW_POWER] = "LOW POWER"
}; /*lint -e528 */
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* __BHI3_DEFS_H__ */
components/ExternLib/SensorLib/src/bosch/bhi3_multi_tap.c
+211
View File
@@ -0,0 +1,211 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhi3_multi_tap.c
* @date 2023-03-24
* @version v1.6.0
*
*/
/*********************************************************************/
/* system header files */
/*********************************************************************/
#include <string.h>
#include <stdio.h>
/*********************************************************************/
/* BHI3 SensorAPI header files */
/*********************************************************************/
#include "bhi3.h"
/*********************************************************************/
/* own header files */
/*********************************************************************/
#include "bhi3_multi_tap.h"
/*lint -e506, -e778*/
/*!
* @brief This API writes to the configuration parameter
*
* @param[in] buffer to store Multi Tap configuration
* @param[out] dev hub handle.
*
* @return rslt execution result.
*/
int8_t bhi3_multi_tap_set_config(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the Multi Tap configuration parameter */
rslt = bhy2_set_parameter(BHI3_MULTI_TAP_PARAM(BHI3_MULTI_TAP_ENABLE_PARAM),
(uint8_t*)buffer,
BHI3_MULTI_TAP_ENABLE_LENGTH,
dev);
}
return rslt;
}
/*!
* @brief To get the MULTI-TAP configuration parameters
*
* @param[out] buffer to store Multi Tap configuration
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhi3_multi_tap_get_config(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t ret_length;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the Multi Tap configuration from the parameter page*/
rslt =
bhy2_get_parameter(BHI3_MULTI_TAP_PARAM(BHI3_MULTI_TAP_ENABLE_PARAM),
(uint8_t *)buffer,
BHY2_LE24MUL(BHI3_MULTI_TAP_ENABLE_LENGTH),
&ret_length,
dev);
if (rslt != BHY2_OK)
{
/*! Invalid number of parameters readout */
rslt = BHY2_E_INVALID_EVENT_SIZE;
}
}
return rslt;
}
/*!
* @brief This API writes to the tap detector configuration parameter
*
* @param[in] buffer to store Multi Tap Detector configuration
* @param[out] dev hub handle.
*
* @return rslt execution result.
*/
int8_t bhi3_multi_tap_detector_set_config(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the Multi Tap configuration parameter */
rslt = bhy2_set_parameter(BHI3_MULTI_TAP_PARAM(BHI3_MULTI_TAP_DETECTOR_CONFIG_PARAM),
(uint8_t*)buffer,
BHI3_MULTI_TAP_DETECTOR_CONFIG_LENGTH,
dev);
}
return rslt;
}
/*!
* @brief To get the MULTI-TAP Detector configuration parameters
*
* @param[out] buffer to store Multi Tap Detector configuration
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhi3_multi_tap_detector_get_config(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t ret_length;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the Multi Tap configuration from the parameter page*/
rslt = bhy2_get_parameter(BHI3_MULTI_TAP_PARAM(BHI3_MULTI_TAP_DETECTOR_CONFIG_PARAM),
(uint8_t *)buffer,
BHY2_LE24MUL(BHI3_MULTI_TAP_DETECTOR_CONFIG_LENGTH),
&ret_length,
dev);
if (rslt != BHY2_OK)
{
/*! Invalid number of parameters readout */
rslt = BHY2_E_INVALID_EVENT_SIZE;
}
}
return rslt;
}
/*!
* @brief Parsing the fifo data to Multi Tap output format
*
* @param[in] Multi Tap data
* @param[out] buffer to store parameter data
*
* @return API error codes
*
*/
int8_t bhi3_multi_tap_parse_data(const uint8_t *data, uint8_t* output)
{
int8_t rslt = BHY2_OK;
if ((data == NULL) || (output == NULL))
{
rslt = BHY2_E_NULL_PTR;
}
else
{
*output = *data;
}
return rslt;
}
components/ExternLib/SensorLib/src/bosch/bhi3_multi_tap.h
+111
View File
@@ -0,0 +1,111 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhi3_multi_tap.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef _BHY2_MULTI_TAP_H_
#define _BHY2_MULTI_TAP_H_
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#include <stdlib.h>
#include "bhi3.h"
#include "bhi3_multi_tap_defs.h"
/*!
* @brief Parsing the fifo data to MULTI_TAP output structure format
*
* @param[in] Multi Tap data
* @param[out] buffer to store parameter data
*
* @return API error codes
*
*/
int8_t bhi3_multi_tap_parse_data(const uint8_t *data, uint8_t *output);
/*!
* @brief To set the MULTI_TAP configuration parameters
* @param[out] buffer to store parameter data
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhi3_multi_tap_set_config(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the MULTI_TAP configuration parameters
*
* @param[out] buffer to store parameter data
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhi3_multi_tap_get_config(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To set the MULTI_TAP Detector configuration parameters
* @param[out] buffer to store parameter data
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhi3_multi_tap_detector_set_config(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the MULTI_TAP Detector configuration parameters
*
* @param[out] buffer to store parameter data
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhi3_multi_tap_detector_get_config(const void *buffer, struct bhy2_dev *dev);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* _BHY2_MULTI_TAP_H_ */
components/ExternLib/SensorLib/src/bosch/bhi3_multi_tap_defs.h
+189
View File
@@ -0,0 +1,189 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhi3_multi_tap_defs.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef _BHI3_MULTI_TAP_DEFS_H_
#define _BHI3_MULTI_TAP_DEFS_H_
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#include <string.h>
/*! Sensor ID for Multi-Tap */
#define BHI3_SENSOR_ID_MULTI_TAP UINT8_C(153)
/*! Multi-Tap Parameter Page Base Address*/
#define BHI3_MULTI_TAP_PAGE UINT16_C(0x0D)
/*! Multi-Tap Configuration pages */
#define BHI3_MULTI_TAP_ENABLE_PARAM 0x01
#define BHI3_MULTI_TAP_DETECTOR_CONFIG_PARAM 0x02
#define BHI3_MULTI_TAP_PARAM(id) (((BHI3_MULTI_TAP_PAGE) << 8) | (id))
#define BHI3_MULTI_TAP_ENABLE_LENGTH UINT8_C(4)
#define BHI3_MULTI_TAP_DETECTOR_CONFIG_LENGTH UINT8_C(6)
#define BHI3_MULTI_TAP_AXIS_SEL_X UINT8_C(0)
#define BHI3_MULTI_TAP_AXIS_SEL_Y UINT8_C(1)
#define BHI3_MULTI_TAP_AXIS_SEL_Z UINT8_C(2)
#define BHI3_MULTI_TAP_WAIT_TIMEOUT_DISABLE UINT8_C(0)
#define BHI3_MULTI_TAP_WAIT_TIMEOUT_ENABLE UINT8_C(1)
#define BHI3_MULTI_TAP_FILTER_MODE_SENSITIVE UINT8_C(0)
#define BHI3_MULTI_TAP_FILTER_MODE_NORMAL UINT8_C(1)
#define BHI3_MULTI_TAP_FILTER_MODE_ROBUST UINT8_C(2)
#define BHI3_SINGLE_TAP_AXIS_SEL_MASK 0x03
#define BHI3_SINGLE_TAP_WAIT_TIMEOUT_MASK 0x04
#define BHI3_SINGLE_TAP_MAX_PEAKS_FOR_TAP_MASK 0x38
#define BHI3_SINGLE_TAP_FILTER_MODE_MASK 0xC0
#define BHI3_DOUBLE_TAP_TAP_PEAK_DUR_MASK 0x03FF
#define BHI3_DOUBLE_TAP_MAX_GES_DUR_MASK 0xFC00
#define BHI3_TRIPLE_TAP_MAX_DUR_BW_PEAKS_MASK 0x0F
#define BHI3_TRIPLE_TAP_TAP_SHOCK_SETL_DUR_MASK 0xF0
#define BHI3_TRIPLE_TAP_MIN_QT_DUR_BW_PEAKS_MASK 0x0F
#define BHI3_TRIPLE_TAP_QT_TM_AFTER_GESTURE_MASK 0xF0
#define BHI3_SINGLE_TAP_AXIS_SEL_SHIFT UINT8_C(0)
#define BHI3_SINGLE_TAP_WAIT_TIMEOUT_SHIFT UINT8_C(2)
#define BHI3_SINGLE_TAP_MAX_PEAKS_FOR_TAP_SHIFT UINT8_C(3)
#define BHI3_SINGLE_TAP_FILTER_MODE_SHIFT UINT8_C(6)
#define BHI3_DOUBLE_TAP_TAP_PEAK_DUR_SHIFT UINT8_C(0)
#define BHI3_DOUBLE_TAP_MAX_GES_DUR_SHIFT UINT8_C(10)
#define BHI3_TRIPLE_TAP_MAX_DUR_BW_PEAKS_SHIFT UINT8_C(0)
#define BHI3_TRIPLE_TAP_TAP_SHOCK_SETL_DUR_SHIFT UINT8_C(4)
#define BHI3_TRIPLE_TAP_MIN_QT_DUR_BW_PEAKS_SHIFT UINT8_C(0)
#define BHI3_TRIPLE_TAP_QT_TM_AFTER_GESTURE_SHIFT UINT8_C(4)
/*!
* Single Tap Configuration.
*/
typedef union bhi3_singletap_detector_settings
{
uint16_t as_uint16;
struct
{
uint16_t axis_sel : 2; /* Tap axis selection */
uint16_t wait_for_timeout : 1; /* Wait for gesture confirmation */
uint16_t max_peaks_for_tap : 3; /* Maximum number of peaks that can occur when a tap is done
* */
uint16_t mode : 2; /* Filter configuration for various detection mode: SENSITIVE, NORMAL and
* ROBUST */
uint16_t reserved8 : 8;
} as_s;
} __attribute__ ((packed)) bhi3_singletap_detector_settings_t;
/*!
* Double Tap Configuration.
*/
typedef union bhi3_doubletap_detector_settings
{
uint16_t as_uint16;
struct
{
uint16_t tap_peak_thres : 10; /* Minimum threshold for peak detection */
uint16_t max_gesture_dur : 6; /* Maximum time duration from first tap within which matching
* tap/s should happen to be detected as double/triple tap */
} as_s;
} __attribute__ ((packed)) bhi3_doubletap_detector_settings_t;
/*!
* Triple Tap Configuration.
*/
typedef union bhi3_tripletap_detector_settings
{
uint16_t as_uint16;
struct
{
uint16_t max_dur_between_peaks : 4; /* Maximum time duration within which matching peaks of tap
* should occur */
uint16_t tap_shock_settling_dur : 4; /* Maximum duration to wait for tap shock settling */
uint16_t min_quite_dur_between_taps : 4; /* Minimum quite time between detection of consecutive taps
* of double/triple taps*/
uint16_t quite_time_after_gesture : 4; /* Minimum quite time between detection of 2 consecutive
* selected gesture */
} as_s;
} __attribute__ ((packed)) bhi3_tripletap_detector_settings_t;
/*!
* Multi Tap Configuration.
*/
typedef struct bhi3_multi_tap_detector
{
bhi3_singletap_detector_settings_t stap_setting;
bhi3_doubletap_detector_settings_t dtap_setting;
bhi3_tripletap_detector_settings_t ttap_setting;
} __attribute__ ((packed)) bhi3_multi_tap_detector_t;
/*!
* Multi Tap Setting.
*/
enum bhi3_multi_tap_val {
NO_TAP,
SINGLE_TAP,
DOUBLE_TAP,
DOUBLE_SINGLE_TAP,
TRIPLE_TAP,
TRIPLE_SINGLE_TAP,
TRIPLE_DOUBLE_TAP,
TRIPLE_DOUBLE_SINGLE_TAP
};
/*!
* Multi Tap Output.
*/
static const char * const bhi3_multi_tap_string_out[] = {
[NO_TAP] = "NO_TAP", [SINGLE_TAP] = "SINGLE_TAP", [DOUBLE_TAP] = "DOUBLE_TAP",
[DOUBLE_SINGLE_TAP] = "DOUBLE_SINGLE_TAP", [TRIPLE_TAP] = "TRIPLE_TAP", [TRIPLE_SINGLE_TAP] = "TRIPLE_SINGLE_TAP",
[TRIPLE_DOUBLE_TAP] = "TRIPLE_DOUBLE_TAP", [TRIPLE_DOUBLE_SINGLE_TAP] = "TRIPLE_DOUBLE_SINGLE_TAP"
}; /*lint -e528 */
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* _BHI3_MULTI_TAP_DEFS_H_ */
components/ExternLib/SensorLib/src/bosch/bhy2.c
+1787
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/bhy2.h
+665
View File
@@ -0,0 +1,665 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef __BHY2_H__
#define __BHY2_H__
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include "bhy2_defs.h"
/**
* @brief Function to link the callback interfaces
* @param[in] intf : Physical communication interface
* @param[in] read : Read function pointer
* @param[in] write : Write function pointer
* @param[in] delay_us : Microsecond delay function pointer
* @param[in] read_write_len : Maximum read/write lengths supported
* @param[in] intf_ptr : Reference to the interface. Can be NULL
* @param[out] dev : Device reference
* @return API error codes
*/
int8_t bhy2_init(enum bhy2_intf intf,
bhy2_read_fptr_t read,
bhy2_write_fptr_t write,
bhy2_delay_us_fptr_t delay_us,
uint32_t read_write_len,
void *intf_ptr,
struct bhy2_dev *dev);
/**
* @brief Function to get data from registers
* @param[in] reg_addr : Register address to be read from
* @param[out] reg_data : Reference to the data buffer
* @param[in] length : Length of the data buffer
* @param[in] dev : Device reference
* @return API Error codes
*/
int8_t bhy2_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint16_t length, struct bhy2_dev *dev);
/**
* @brief Function to set data to registers
* @param[in] reg_addr : Register address to write to
* @param[in] reg_data : Reference to the data buffer
* @param[in] length : Length of the data buffer
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint16_t length, struct bhy2_dev *dev);
/**
* @brief Function to get the product ID
* @param[out] product_id : Reference to data buffer to store the product ID
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_product_id(uint8_t *product_id, struct bhy2_dev *dev);
/**
* @brief Function to get the chip ID
* @param[out] chip_id : Reference to data buffer to store the chip ID
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_chip_id(uint8_t *chip_id, struct bhy2_dev *dev);
/**
* @brief Function to get the revision ID
* @param[out] revision_id : Reference to data buffer to store the revision ID
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_revision_id(uint8_t *revision_id, struct bhy2_dev *dev);
/**
* @brief Function to get the ROM version
* @param[out] rom_version : Reference to the data buffer to store the ROM version
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_rom_version(uint16_t *rom_version, struct bhy2_dev *dev);
/**
* @brief Function to get the kernel version
* @param[out] kernel_version : Reference to the data buffer to store the kernel version
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_kernel_version(uint16_t *kernel_version, struct bhy2_dev *dev);
/**
* @brief Function to get the user version
* @param[out] user_version : Reference to the data buffer to store the user version
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_user_version(uint16_t *user_version, struct bhy2_dev *dev);
/**
* @brief Function to get the boot status
* @param[out] boot_status : Reference to the data buffer to store the boot status
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_boot_status(uint8_t *boot_status, struct bhy2_dev *dev);
/**
* @brief Function to get the host status
* @param[out] host_status : Reference to the data buffer to store the host status
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_host_status(uint8_t *host_status, struct bhy2_dev *dev);
/**
* @brief Function to get the feature status
* @param[out] feat_status : Reference to the data buffer to store the feature status
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_feature_status(uint8_t *feat_status, struct bhy2_dev *dev);
/**
* @brief Function to get the virtual sensor list and store in the device structure
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_virt_sensor_list(struct bhy2_dev *dev);
/**
* @brief Function to get the virtual sensor configuration
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[out] virt_sensor_conf : Reference to the data buffer to store the virtual sensor configuration
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_virt_sensor_cfg(uint8_t sensor_id, struct bhy2_virt_sensor_conf *virt_sensor_conf,
struct bhy2_dev *dev);
/**
* @brief Function to set the sample rate and latency of the virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] sample_rate : Sample rate in Hz
* @param[in] latency : Report latency in milliseconds
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_virt_sensor_cfg(uint8_t sensor_id, bhy2_float sample_rate, uint32_t latency, struct bhy2_dev *dev);
/**
* @brief Function set the range of the virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] range : Range of the virtual sensor
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_virt_sensor_range(uint8_t sensor_id, uint16_t range, struct bhy2_dev *dev);
/**
* @brief Function to get and process the FIFOs
* @param[in] work_buffer : Reference to the data buffer where the FIFO data is copied to before parsing
* @param[in] buffer_size : Size of the data buffer
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_and_process_fifo(uint8_t *work_buffer, uint32_t buffer_size, struct bhy2_dev *dev);
/**
* @brief Function get the FIFO control register
* @param[out] fifo_ctrl : Reference to the data buffer to store the FIFO control
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_fifo_ctrl(uint32_t *fifo_ctrl, struct bhy2_dev *dev);
/**
* @brief Function to set the Wake up FIFO watermark
* @param[in] watermark : Size of the watermark
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_fifo_wmark_wkup(uint32_t watermark, struct bhy2_dev *dev);
/**
* @brief Function to get the Wake up FIFO watermark
* @param[out] watermark : Reference to the data buffer to store the FIFO watermark size
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_fifo_wmark_wkup(uint32_t *watermark, struct bhy2_dev *dev);
/**
* @brief Function to set the Non wake up FIFO watermark
* @param[in] watermark : Size of the watermark
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_fifo_wmark_nonwkup(uint32_t watermark, struct bhy2_dev *dev);
/**
* @brief Function to get the Non wake up FIFO watermark
* @param[out] watermark : Reference to the data buffer to store the FIFO watermark size
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_fifo_wmark_nonwkup(uint32_t *watermark, struct bhy2_dev *dev);
/**
* @brief Function to flush data of a virtual sensor from the FIFOs
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_flush_fifo(uint8_t sensor_id, struct bhy2_dev *dev);
/**
* @brief Function to set the FIFO format
* @param[in] param : FIFO format settings
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_fifo_format_ctrl(uint8_t param, struct bhy2_dev *dev);
/**
* @brief Function to upload firmware to RAM
* @param[in] firmware : Reference to the data buffer containing the firmware
* @param[in] length : Size of the firmware
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, struct bhy2_dev *dev);
/**
* @brief Function to upload part of the firmware to RAM
* @param[in] firmware : Reference to the data buffer containing the current firmware section
* @param[in] total_size : Total size of the firmware
* @param[in] cur_pos : Current position of the part being loaded
* @param[in] packet_len : Size of the part being loaded
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_upload_firmware_to_ram_partly(const uint8_t *firmware,
uint32_t total_size,
uint32_t cur_pos,
uint32_t packet_len,
struct bhy2_dev *dev);
/**
* @brief Function to boot firmware from RAM
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_boot_from_ram(struct bhy2_dev *dev);
/**
* @brief Function to erase the flash
* @param[in] start_addr : Start address
* @param[in] end_addr : End address
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_erase_flash(uint32_t start_address, uint32_t end_addr, struct bhy2_dev *dev);
/**
* @brief Function to upload firmware to Flash
* @param[in] firmware : Reference to the data buffer containing the firmware
* @param[in] length : Size of the firwmare
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_upload_firmware_to_flash(const uint8_t *firmware, uint32_t length, struct bhy2_dev *dev,
bhy2_progress_callback progress_cb, void *user_data);
/**
* @brief Function to upload part of the firmware to Flash
* @param[in] firmware : Reference to the data buffer containing the current firmware section
* @param[in] cur_pos : Current position of the part being loaded
* @param[in] packet_len : Size of the part being loaded
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_upload_firmware_to_flash_partly(const uint8_t *firmware,
uint32_t cur_pos,
uint32_t packet_len,
struct bhy2_dev *dev);
/**
* @brief Function to boot from Flash
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_boot_from_flash(struct bhy2_dev *dev);
/**
* @brief Function to set the host interrupt control register
* @param[in] hintr_ctrl : Host interrupt control configuration
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_host_interrupt_ctrl(uint8_t hintr_ctrl, struct bhy2_dev *dev);
/**
* @brief Function to get the host interrupt control register
* @param[out] hintr_ctrl : Reference to the data buffer to store the configuration
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_host_interrupt_ctrl(uint8_t *hintr_ctrl, struct bhy2_dev *dev);
/**
* @brief Function to get the interrupt status register
* @param[out] int_status : Reference to the data buffer to store the interrupt status
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_interrupt_status(uint8_t *int_status, struct bhy2_dev *dev);
/**
* @brief Function to set the host interface control register
* @param[in] hintf_ctrl : Host interface control configuration
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_host_intf_ctrl(uint8_t hintf_ctrl, struct bhy2_dev *dev);
/**
* @brief Function to get the host interface control register
* @param[out] hintf_ctrl : Reference to the data buffer to store the configuration
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_host_intf_ctrl(uint8_t *hintf_ctrl, struct bhy2_dev *dev);
/**
* @brief Function to trigger a timestamp event
* @param[in] ts_ev_req : Pass a non-zero value to trigger a timestamp event
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_timestamp_event_req(uint8_t ts_ev_req, struct bhy2_dev *dev);
/**
* @brief Function to get the timestamp of the sensor in nanoseconds
* @param[out] timestamp_ns : Reference to the data buffer to store the timestamp in nanoseconds
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_hw_timestamp_ns(uint64_t *timestamp_ns, struct bhy2_dev *dev);
/**
* @brief Function to get the host control register
* @param[in] host_ctrl : Host control configuration
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_host_ctrl(uint8_t host_ctrl, struct bhy2_dev *dev);
/**
* @brief Function to get the host control register
* @param[out] host_ctrl : Reference to the data buffer to store the host control configuration
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_host_ctrl(uint8_t *host_ctrl, struct bhy2_dev *dev);
/**
* @brief Function to trigger a soft reset
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_soft_reset(struct bhy2_dev *dev);
/**
* @brief Function to perform a self test of a virtual sensor
* @param[in] phys_sensor_id : Physical sensor ID of the virtual sensor
* @param[out] self_test_resp : Reference to the data buffer to store the self test response from the virtual sensor
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_perform_self_test(uint8_t phys_sensor_id, struct bhy2_self_test_resp *self_test_resp, struct bhy2_dev *dev);
/**
* @brief Function to perform a fast offset compensation of a virtual sensor
* @param[in] phys_sensor_id : Physical Sensor ID of the virtual sensor
* @param[out] self_test_resp : Reference to the data buffer to store the FOC response from the virtual sensor
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_perform_foc(uint8_t phys_sensor_id, struct bhy2_foc_resp *foc_resp, struct bhy2_dev *dev);
/**
* @brief Function to set the orientation matrix of a physical sensor
* @param[in] phys_sensor_id : Sensor ID of the virtual sensor
* @param[in] orient_matrix : Orientation matrix
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_orientation_matrix(uint8_t phys_sensor_id, struct bhy2_orient_matrix orient_matrix,
struct bhy2_dev *dev);
/**
* @brief Function to get the physical sensor information
* @param[in] phys_sensor_id : Sensor ID of the physical sensor
* @param[out] phy_sen_info : Reference to the data buffer to the store the physical sensor information
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_phys_sensor_info(uint8_t phys_sensor_id,
struct bhy2_phys_sensor_info *phy_sen_info,
struct bhy2_dev *dev);
/**
* @brief Function to get the orientation matrix of a physical sensor
* @param[in] phys_sensor_id : Sensor ID of the virtual sensor
* @param[out] orient_matrix : Reference to the data buffer to the store the orientation matrix
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_orientation_matrix(uint8_t phys_sensor_id,
struct bhy2_orient_matrix *orient_matrix,
struct bhy2_dev *dev);
/**
* @brief Function to set the Soft Iron Correction matrix
* @param[in] sic_matrix : Reference to the data buffer storing the Soft Iron Correction matrix
* @param[in] matrix_len : Length of the matrix
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_sic_matrix(const uint8_t *sic_matrix, uint16_t matrix_len, struct bhy2_dev *dev);
/**
* @brief Function to get the Soft Iron Correction matrix
* @param[out] sic_matrix : Reference to the data buffer to store the Soft Iron Correction matrix
* @param[in] matrix_len : Length of data buffer
* @param[out] actual_len : Actual length of the Soft Iron Correction matrix
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_sic_matrix(uint8_t *sic_matrix, uint16_t matrix_len, uint32_t *actual_len, struct bhy2_dev *dev);
/**
* @brief Function to get the calibration profile of a BSX virtual sensor
* @param[in] phys_sensor_id: Physical Sensor ID of the virtual sensor
* @param[out] calib_prof : Reference to the data buffer to store the calibration profile
* @param[in] prof_len : Length of the data buffer
* @param[out] actual_len : Actual length of the calibration profile
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_calibration_profile(uint8_t phys_sensor_id,
uint8_t *calib_prof,
uint16_t prof_len,
uint32_t *actual_len,
struct bhy2_dev *dev);
/**
* @brief Function to set the calibration profile of a BSX virtual sensor
* @param[in] phys_sensor_id: Physical Sensor ID of the virtual sensor
* @param[in] calib_prof : Reference to the data buffer storing the calibration profile
* @param[in] prof_len : Length of the profil
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_calibration_profile(uint8_t phys_sensor_idv,
const uint8_t *calib_prof,
uint16_t prof_len,
struct bhy2_dev *dev);
/**
* @brief Function to get the post mortem data
* @param[out] post_mortem : Reference to the data buffer to store the post mortem data
* @param[in] buffer_len : Length of the data buffer
* @param[out] actual_len : Actual length of the post mortem data
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_post_mortem_data(uint8_t *post_mortem, uint32_t buffer_len, uint32_t *actual_len, struct bhy2_dev *dev);
/**
* @brief Function to link a callback and relevant reference when the sensor event is available in the FIFO
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] callback : Reference of the callback function
* @param[in] callback_ref : Reference needed inside the callback function. Can be NULL
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_register_fifo_parse_callback(uint8_t sensor_id,
bhy2_fifo_parse_callback_t callback,
void *callback_ref,
struct bhy2_dev *dev);
/**
* @brief Function to unlink a callback and relevant reference
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_deregister_fifo_parse_callback(uint8_t sensor_id, struct bhy2_dev *dev);
/**
* @brief Function to update the callback table's information
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_update_virtual_sensor_list(struct bhy2_dev *dev);
/**
* @brief Function to get information of a virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[out] info : Reference to the data buffer to store the virtual sensor information
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_sensor_info(uint8_t sensor_id, struct bhy2_sensor_info *info, struct bhy2_dev *dev);
/**
* @brief Function to set a parameter
* @param[in] param : Parameter ID
* @param[in] payload : Reference to the data buffer storing the parameter's payload
* @param[in] length : Length of the payload
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_parameter(uint16_t param, const uint8_t *payload, uint32_t length, struct bhy2_dev *dev);
/**
* @brief Function to get a parameter
* @param[in] param : Parameter ID
* @param[out] payload : Reference to the data buffer to store the parameter's payload
* @param[in] payload_len : Length of the data buffer
* @param[out] actual_len : Actual length of the payload
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_parameter(uint16_t param,
uint8_t *payload,
uint32_t payload_len,
uint32_t *actual_len,
struct bhy2_dev *dev);
/**
* @brief Function to get the error value register
* @param[out] error_value : Reference to the data buffer to store the error value
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_get_error_value(uint8_t *error_value, struct bhy2_dev *dev);
/**
* @brief Function to directly communicate with the sensor
* @param[in] conf : The configuration of the transfer
* @param[in] reg_addr : Register address to write to
* @param[in] length : Length of the data buffer to be transferred
* @param[in/out] reg_data : Reference to the data buffer
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_soft_passthrough_transfer(union bhy2_soft_passthrough_conf *conf,
uint8_t reg_addr,
uint8_t length,
uint8_t *reg_data,
struct bhy2_dev *dev);
/**
* @brief Function to check if a virtual sensor is available
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] dev : Device reference
* @return 1 if the sensor is available. 0 otherwise
*/
uint8_t bhy2_is_sensor_available(uint8_t sensor_id, const struct bhy2_dev *dev);
/**
* @brief Function to get the BHy260 variant ID
*
* @param[in] variant_id : Reference to store the variant ID
* @param[in] dev : Device reference
* @return int8_t API error codes
*/
int8_t bhy2_get_variant_id(uint32_t *variant_id, struct bhy2_dev *dev);
/**
* @brief Function to inject data
* @param[in] payload : Reference to the data buffer
* @param[in] payload_len : Length of the data buffer
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_inject_data(const uint8_t *payload, uint32_t payload_len, struct bhy2_dev *dev);
/**
* @brief Function to set inject mode
* @param[in] mode : Type of data inject mode
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_set_data_injection_mode(enum bhy2_data_inj_mode mode, struct bhy2_dev *dev);
/**
* @brief Function to clear the FIFO
* @param[in] flush_cfg : Type of FIFO Flush
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_clear_fifo(uint8_t flush_cfg, struct bhy2_dev *dev);
/**
* @brief Function to read the status FIFO
* @param[out] status_code : Status Code
* @param[in] status_buff : Buffer for reading Status Response
* @param[in] status_len : Length of the Response
* @param[out] actual_len : Length of Data read
* @param[in] dev : Device reference
* @return API error codes
*/
int8_t bhy2_read_status(uint16_t *status_code,
uint8_t *status_buff,
uint32_t status_len,
uint32_t *actual_len,
struct bhy2_dev *dev);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* __BHY2_H__ */
components/ExternLib/SensorLib/src/bosch/bhy2_bsec.c
+77
View File
@@ -0,0 +1,77 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_bsec.c
* @date 2023-03-24
* @version v1.6.0
*
*/
/*********************************************************************/
/* system header files */
/*********************************************************************/
#include <string.h>
#include <stdlib.h>
/*********************************************************************/
/* BHY2 SensorAPI header files */
/*********************************************************************/
#include "bhy2.h"
/*********************************************************************/
/* own header files */
/*********************************************************************/
#include "bhy2_bsec.h"
void bhy2_bsec_parse_air_quality(const uint8_t *payload, struct bhy2_bsec_air_quality *data)
{
uint8_t i = 0;
if ((payload != NULL) && (data != NULL))
{
data->comp_temp = BHY2_LE2U32(payload + i);
i += 4;
data->comp_hum = BHY2_LE2U32(payload + i);
i += 4;
data->comp_gas = BHY2_LE2U32(payload + i);
i += 4;
data->iaq = BHY2_LE2U32(payload + i);
i += 4;
data->static_iaq = BHY2_LE2U32(payload + i);
i += 4;
data->e_co2 = BHY2_LE2U32(payload + i);
i += 4;
data->voc = BHY2_LE2U32(payload + i);
i += 4;
data->iaq_accuracy = payload[i];
}
}
components/ExternLib/SensorLib/src/bosch/bhy2_bsec.h
+74
View File
@@ -0,0 +1,74 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_bsec.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef _BHY2_BSEC_H_
#define _BHY2_BSEC_H_
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#include <stdlib.h>
#include <stdlib.h>
#include "bhy2.h"
#define BHY2_SENSOR_ID_AIR_QUALITY UINT8_C(115)
struct bhy2_bsec_air_quality
{
float comp_temp; /* Sensor heat compensated temperature (deg C) */
float comp_hum; /* Sensor heat compensated humidity (%rH) */
float comp_gas; /* Compensated gas resistance (ohms) */
float iaq; /* Indoor Air Quality index */
float static_iaq; /* Static IAQ index */
float e_co2; /* Equivalent CO2 (ppm) */
float voc; /* Volatile organic compounds (ppb) */
uint8_t iaq_accuracy; /* IAQ index accuracy (0-3) */
};
void bhy2_bsec_parse_air_quality(const uint8_t *payload, struct bhy2_bsec_air_quality *data);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* _BHY2_BSEC_H_ */
components/ExternLib/SensorLib/src/bosch/bhy2_defs.h
+798
View File
@@ -0,0 +1,798 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_defs.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef __BHY2_DEFS_H__
#define __BHY2_DEFS_H__
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#ifdef __KERNEL__
#include <linux/string.h>
#include <linux/slab.h>
#include <linux/types.h>
#else
#include <string.h>
#include <stdint.h>
#endif /*~ __KERNEL__ */
#ifndef UNUSED
#define UNUSED(__x__) ((void)(__x__))
#endif /*~ UNUSED */
#ifdef __KERNEL__
#define bhy2_float u32
#else
#define bhy2_float float
#endif /*~ __KERNEL__ */
#ifdef __KERNEL__
#if !defined(UINT8_C) && !defined(INT8_C)
#define INT8_C(x) S8_C(x)
#define UINT8_C(x) U8_C(x)
#endif
#if !defined(UINT16_C) && !defined(INT16_C)
#define INT16_C(x) S16_C(x)
#define UINT16_C(x) U16_C(x)
#endif
#if !defined(INT32_C) && !defined(UINT32_C)
#define INT32_C(x) S32_C(x)
#define UINT32_C(x) U32_C(x)
#endif
#if !defined(INT64_C) && !defined(UINT64_C)
#define INT64_C(x) S64_C(x)
#define UINT64_C(x) U64_C(x)
#endif
#else /* __KERNEL__ */
#if !defined(UINT8_C) && !defined(INT8_C)
#define INT8_C(x) (x)
#define UINT8_C(x) (x##U)
#endif
#if !defined(UINT16_C) && !defined(INT16_C)
#define INT16_C(x) (x)
#define UINT16_C(x) (x##U)
#endif
#if !defined(INT32_C) && !defined(UINT32_C)
#define INT32_C(x) (x)
#define UINT32_C(x) (x##U)
#endif
#if !defined(INT64_C) && !defined(UINT64_C)
#define INT64_C(x) (x##LL)
#define UINT64_C(x) (x##ULL)
#endif
#endif /* __KERNEL__ */
#ifndef NULL
#ifdef __cplusplus
#define NULL 0
#else
#define NULL ((void *) 0)
#endif
#endif
#ifndef BHY2_PACKED
#define BHY2_PACKED __attribute__ ((__packed__))
#endif
/** API error codes */
#define BHY2_OK INT8_C(0)
#define BHY2_E_NULL_PTR INT8_C(-1)
#define BHY2_E_INVALID_PARAM INT8_C(-2)
#define BHY2_E_IO INT8_C(-3)
#define BHY2_E_MAGIC INT8_C(-4)
#define BHY2_E_TIMEOUT INT8_C(-5)
#define BHY2_E_BUFFER INT8_C(-6)
#define BHY2_E_INVALID_FIFO_TYPE INT8_C(-7)
#define BHY2_E_INVALID_EVENT_SIZE INT8_C(-8)
#define BHY2_E_PARAM_NOT_SET INT8_C(-9)
#define BHy2_E_INSUFFICIENT_MAX_SIMUL_SENSORS INT8_C(-10)
#ifndef BHY2_COMMAND_PACKET_LEN
#define BHY2_COMMAND_PACKET_LEN UINT16_C(256)
#endif
#ifndef BHY2_COMMAND_HEADER_LEN
#define BHY2_COMMAND_HEADER_LEN UINT16_C(4)
#endif
#if (BHY2_COMMAND_PACKET_LEN < BHY2_COMMAND_HEADER_LEN)
#error "BHY2_COMMAND_PACKET_LEN should be at least 4 bytes"
#endif
#define BHY2_PRODUCT_ID UINT8_C(0x89)
/*! Register map */
#define BHY2_REG_CHAN_CMD UINT8_C(0x00)
#define BHY2_REG_CHAN_FIFO_W UINT8_C(0x01)
#define BHY2_REG_CHAN_FIFO_NW UINT8_C(0x02)
#define BHY2_REG_CHAN_STATUS UINT8_C(0x03)
#define BHY2_REG_CHIP_CTRL UINT8_C(0x05)
#define BHY2_REG_HOST_INTERFACE_CTRL UINT8_C(0x06)
#define BHY2_REG_HOST_INTERRUPT_CTRL UINT8_C(0x07)
#define BHY2_REG_RESET_REQ UINT8_C(0x14)
#define BHY2_REG_TIME_EV_REQ UINT8_C(0x15)
#define BHY2_REG_HOST_CTRL UINT8_C(0x16)
#define BHY2_REG_HOST_STATUS UINT8_C(0x17)
#define BHY2_REG_CRC_0 UINT8_C(0x18) /* Totally 4 */
#define BHY2_REG_PRODUCT_ID UINT8_C(0x1C)
#define BHY2_REG_REVISION_ID UINT8_C(0x1D)
#define BHY2_REG_ROM_VERSION_0 UINT8_C(0x1E) /* Totally 2 */
#define BHY2_REG_KERNEL_VERSION_0 UINT8_C(0x20) /* Totally 2 */
#define BHY2_REG_USER_VERSION_0 UINT8_C(0x22) /* Totally 2 */
#define BHY2_REG_FEATURE_STATUS UINT8_C(0x24)
#define BHY2_REG_BOOT_STATUS UINT8_C(0x25)
#define BHY2_REG_HOST_INTR_TIME_0 UINT8_C(0x26) /* Totally 5 */
#define BHY2_REG_CHIP_ID UINT8_C(0x2B)
#define BHY2_REG_INT_STATUS UINT8_C(0x2D)
#define BHY2_REG_ERROR_VALUE UINT8_C(0x2E)
#define BHY2_REG_ERROR_AUX UINT8_C(0x2F)
#define BHY2_REG_DEBUG_VALUE UINT8_C(0x30)
#define BHY2_REG_DEBUG_STATE UINT8_C(0x31)
#define BHY2_REG_GP_5 UINT8_C(0x32)
#define BHY2_REG_GP_6 UINT8_C(0x36)
#define BHY2_REG_GP_7 UINT8_C(0x3A)
/*! Command packets */
#define BHY2_CMD_REQ_POST_MORTEM_DATA UINT16_C(0x0001)
#define BHY2_CMD_UPLOAD_TO_PROGRAM_RAM UINT16_C(0x0002)
#define BHY2_CMD_BOOT_PROGRAM_RAM UINT16_C(0x0003)
#define BHY2_CMD_ERASE_FLASH UINT16_C(0x0004)
#define BHY2_CMD_WRITE_FLASH UINT16_C(0x0005)
#define BHY2_CMD_BOOT_FLASH UINT16_C(0x0006)
#define BHY2_CMD_SET_INJECT_MODE UINT16_C(0x0007)
#define BHY2_CMD_INJECT_DATA UINT16_C(0x0008)
#define BHY2_CMD_FIFO_FLUSH UINT16_C(0x0009)
#define BHY2_CMD_SW_PASSTHROUGH UINT16_C(0x000A)
#define BHY2_CMD_REQ_SELF_TEST UINT16_C(0x000B)
#define BHY2_CMD_REQ_FOC UINT16_C(0x000C)
#define BHY2_CMD_CONFIG_SENSOR UINT16_C(0x000D)
#define BHY2_CMD_CHANGE_RANGE UINT16_C(0x000E)
#define BHY2_CMD_FIFO_FORMAT_CTRL UINT16_C(0x0015)
/*! Soft passthrough feature */
#define BHY2_SPASS_READ UINT8_C(0)
#define BHY2_SPASS_WRITE UINT8_C(1)
#define BHY2_SPASS_SINGLE_TRANS UINT8_C(0)
#define BHY2_SPASS_MULTI_TRANS UINT8_C(1)
#define BHY2_SPASS_DELAY_DIS UINT8_C(0)
#define BHY2_SPASS_DELAY_EN UINT8_C(1)
#define BHY2_SPASS_SIF1 UINT8_C(1)
#define BHY2_SPASS_SIF2 UINT8_C(2)
#define BHY2_SPASS_SIF3 UINT8_C(3)
#define BHY2_SPASS_SPI_4_WIRE UINT8_C(0)
#define BHY2_SPASS_SPI_3_WIRE UINT8_C(1)
#define BHY2_SPASS_SPI_CPOL_0 UINT8_C(0)
#define BHY2_SPASS_SPI_CPOL_1 UINT8_C(1)
#define BHY2_SPASS_SPI_CPHA_0 UINT8_C(0)
#define BHY2_SPASS_SPI_CPHA_1 UINT8_C(1)
#define BHY2_SPASS_SPI_CS_LOW UINT8_C(0)
#define BHY2_SPASS_SPI_CS_HIGH UINT8_C(1)
#define BHY2_SPASS_SPI_LSB_FIRST_DIS UINT8_C(0)
#define BHY2_SPASS_SPI_LSB_FIRST_EN UINT8_C(1)
#define BHY2_SPASS_SPI_READ_BIT_POL_LOW UINT8_C(0)
#define BHY2_SPASS_SPI_READ_BIT_POL_HIGH UINT8_C(1)
#define BHY2_SPASS_SPI_READ_BIT_POS_0 UINT8_C(0)
#define BHY2_SPASS_SPI_READ_BIT_POS_1 UINT8_C(1)
#define BHY2_SPASS_SPI_READ_BIT_POS_2 UINT8_C(2)
#define BHY2_SPASS_SPI_READ_BIT_POS_3 UINT8_C(3)
#define BHY2_SPASS_SPI_READ_BIT_POS_4 UINT8_C(4)
#define BHY2_SPASS_SPI_READ_BIT_POS_5 UINT8_C(5)
#define BHY2_SPASS_SPI_READ_BIT_POS_6 UINT8_C(6)
#define BHY2_SPASS_SPI_READ_BIT_POS_7 UINT8_C(7)
#define BHY2_SPASS_READ_PACKET_LEN UINT8_C(0x13)
#define BHY2_SPASS_WRITE_RESP_PACKET_LEN UINT8_C(16)
/*! Helper macros */
#define BHY2_CHK_BIT(data, bit) (((uint32_t)data >> bit) & 0x01)
#define BHY2_ROUND_WORD_LOWER(x) ((x >> 2) << 2)
#define BHY2_ROUND_WORD_HIGHER(x) (((x >> 2) + 1) << 2)
#define BHY2_COUNTOF(__BUFFER__) (sizeof(__BUFFER__) / sizeof(*(__BUFFER__)))
#define BHY2_DATA_INJECT_MODE_PAYLOAD_LEN UINT8_C(0x04)
/*! Firmware header identifier */
#define BHY2_FW_MAGIC UINT16_C(0x662B)
/*! BHy260 Variant IDs */
#define BHY2_VARIANT_ID_BHA260AB UINT32_C(0x2838C2C2)
#define BHY2_VARIANT_ID_BHI260AB UINT32_C(0x266EB6E7)
#define BHY2_VARIANT_ID_BHI260AP UINT32_C(0x98D7A5D1)
/*! Boot status */
#define BHY2_BST_FLASH_DETECTED UINT8_C(0x01)
#define BHY2_BST_FLASH_VERIFY_DONE UINT8_C(0x02)
#define BHY2_BST_FLASH_VERIFY_ERROR UINT8_C(0x04)
#define BHY2_BST_NO_FLASH UINT8_C(0x08)
#define BHY2_BST_HOST_INTERFACE_READY UINT8_C(0x10)
#define BHY2_BST_HOST_FW_VERIFY_DONE UINT8_C(0x20)
#define BHY2_BST_HOST_FW_VERIFY_ERROR UINT8_C(0x40)
#define BHY2_BST_HOST_FW_IDLE UINT8_C(0x80)
#define BHY2_BST_CHECK_RETRY UINT8_C(100)
/*! Host status */
#define BHY2_HST_POWER_STATE UINT8_C(0x01)
#define BHY2_HST_HOST_PROTOCOL UINT8_C(0x02)
#define BHY2_HST_HOST_CHANNEL_0 UINT8_C(0x10)
#define BHY2_HST_HOST_CHANNEL_1 UINT8_C(0x20)
#define BHY2_HST_HOST_CHANNEL_2 UINT8_C(0x40)
#define BHY2_HST_HOST_CHANNEL_3 UINT8_C(0x80)
/*! Interrupt status masks */
#define BHY2_IST_MASK_ASSERTED (0x1)
#define BHY2_IST_MASK_FIFO_W (0x6)
#define BHY2_IST_MASK_FIFO_NW (0x18)
#define BHY2_IST_MASK_STATUS (0x20)
#define BHY2_IST_MASK_DEBUG (0x40)
#define BHY2_IST_MASK_RESET_FAULT (0x80)
#define BHY2_IST_FIFO_W_DRDY UINT8_C(0x2)
#define BHY2_IST_FIFO_W_LTCY UINT8_C(0x4)
#define BHY2_IST_FIFO_W_WM UINT8_C(0x6)
#define BHY2_IST_FIFO_NW_DRDY UINT8_C(0x8)
#define BHY2_IST_FIFO_NW_LTCY UINT8_C(0x10)
#define BHY2_IST_FIFO_NW_WM UINT8_C(0x18)
#define BHY2_IS_INT_FIFO_W(status) (status & BHY2_IST_MASK_FIFO_W)
#define BHY2_IS_INT_FIFO_NW(status) (status & BHY2_IST_MASK_FIFO_NW)
#define BHY2_IS_INT_STATUS(status) (status & BHY2_IST_MASK_STATUS)
#define BHY2_IS_INT_ASYNC_STATUS(status) (status & BHY2_IST_MASK_DEBUG)
#define BHY2_IS_INT_RESET(status) (status & BHY2_IST_MASK_RESET_FAULT)
#define BHY2_IST_MASK_FIFO (BHY2_IST_MASK_FIFO_W | BHY2_IST_MASK_FIFO_NW)
#define BHY2_IS_INT_FIFO(status) (status & BHY2_IST_MASK_FIFO)
/*! Chip control bits */
#define BHY2_CHIP_CTRL_DISABLE UINT8_C(0x00)
#define BHY2_CHIP_CTRL_TURBO_ENABLE UINT8_C(0x01)
#define BHY2_CHIP_CTRL_CLR_ERR_REG UINT8_C(0x02)
/*! Host interface control bits */
#define BHY2_HIF_CTRL_ABORT_TRANSFER_CHANNEL_0 UINT8_C(0x01)
#define BHY2_HIF_CTRL_ABORT_TRANSFER_CHANNEL_1 UINT8_C(0x02)
#define BHY2_HIF_CTRL_ABORT_TRANSFER_CHANNEL_2 UINT8_C(0x04)
#define BHY2_HIF_CTRL_ABORT_TRANSFER_CHANNEL_3 UINT8_C(0x08)
#define BHY2_HIF_CTRL_AP_SUSPENDED UINT8_C(0x10)
#define BHY2_HIF_CTRL_TIMESTAMP_EV_CTRL UINT8_C(0x40)
#define BHY2_HIF_CTRL_ASYNC_STATUS_CHANNEL UINT8_C(0x80)
/*! Interrupt control bits */
#define BHY2_ICTL_DISABLE_FIFO_W UINT8_C(0x01)
#define BHY2_ICTL_DISABLE_FIFO_NW UINT8_C(0x02)
#define BHY2_ICTL_DISABLE_STATUS_FIFO UINT8_C(0x04)
#define BHY2_ICTL_DISABLE_DEBUG UINT8_C(0x08)
#define BHY2_ICTL_DISABLE_FAULT UINT8_C(0x10)
#define BHY2_ICTL_ACTIVE_LOW UINT8_C(0x20)
#define BHY2_ICTL_EDGE UINT8_C(0x40)
#define BHY2_ICTL_OPEN_DRAIN UINT8_C(0x80)
/*! Reset command */
#define BHY2_REQUEST_RESET UINT8_C(0x01)
/*! FIFO Format bit */
#define BHY2_FIFO_FORMAT_CTRL_MASK UINT8_C(0x03)
#define BHY2_FIFO_FORMAT_CTRL_DIS_DELTA_TS UINT8_C(0x01)
#define BHY2_FIFO_FORMAT_CTRL_DIS_FULL_TS UINT8_C(0x02)
#define BHY2_FIFO_FORMAT_CTRL_DIS_ALL_TS UINT8_C(0x03)
/*! System parameters */
#define BHY2_PARAM_READ_MASK UINT16_C(0x1000)
#define BHY2_PARAM_FIFO_CTRL UINT16_C(0x103)
#define BHY2_PARAM_SYS_VIRT_SENSOR_PRESENT UINT16_C(0x11F)
#define BHY2_PARAM_SYS_PHYS_SENSOR_PRESENT UINT16_C(0x120)
#define BHY2_PARAM_PHYSICAL_SENSOR_BASE UINT16_C(0x120)
#define BHY2_PARAM_BSX_CALIB_STATE_BASE UINT16_C(0x200)
#define BHY2_PARAM_BSX_CALIB_STATE_ACCEL UINT16_C(0x201)
#define BHY2_PARAM_BSX_CALIB_STATE_GYRO UINT16_C(0x203)
#define BHY2_PARAM_BSX_CALIB_STATE_MAG UINT16_C(0x205)
#define BHY2_PARAM_BSX_SIC UINT16_C(0x27D)
#define BHY2_PARAM_BSX_VERSION UINT16_C(0x27E)
#define BHY2_PARAM_SET_SENSOR_CTRL UINT16_C(0x0E00)
#define BHY2_PARAM_GET_SENSOR_CTRL UINT16_C(0x1E00)
#define BHY2_PARAM_SENSOR_CTRL_FOC UINT8_C(0x1)
#define BHY2_PARAM_SENSOR_CTRL_OIS UINT8_C(0x2)
#define BHY2_PARAM_SENSOR_CTRL_FST UINT8_C(0x3)
#define BHY2_PARAM_SENSOR_CTRL_READ UINT8_C(0x80)
#define BHY2_PARAM_SENSOR_INFO_0 UINT16_C(0x300)
#define BHY2_PARAM_SENSOR_CONF_0 UINT16_C(0x500)
#define BHY2_BSX_STATE_TRANSFER_COMPLETE UINT8_C(0x80)
#define BHY2_BSX_STATE_BLOCK_NUM_MSK UINT8_C(0x7F)
#define BHY2_BSX_STATE_BLOCK_LEN UINT8_C(64)
#define BHY2_BSX_STATE_STRUCT_LEN UINT8_C(68)
#define BHY2_QUERY_PARAM_STATUS_READY_MAX_RETRY UINT16_C(1000)
#define BHY2_QUERY_FLASH_MAX_RETRY UINT16_C(1200)
/*! Meta event definitions */
#define BHY2_META_EVENT_FLUSH_COMPLETE (1)
#define BHY2_META_EVENT_SAMPLE_RATE_CHANGED (2)
#define BHY2_META_EVENT_POWER_MODE_CHANGED (3)
#define BHY2_META_EVENT_ALGORITHM_EVENTS (5)
#define BHY2_META_EVENT_SENSOR_STATUS (6)
#define BHY2_META_EVENT_BSX_DO_STEPS_MAIN (7)
#define BHY2_META_EVENT_BSX_DO_STEPS_CALIB (8)
#define BHY2_META_EVENT_BSX_GET_OUTPUT_SIGNAL (9)
#define BHY2_META_EVENT_RESERVED1 (10)
#define BHY2_META_EVENT_SENSOR_ERROR (11)
#define BHY2_META_EVENT_FIFO_OVERFLOW (12)
#define BHY2_META_EVENT_DYNAMIC_RANGE_CHANGED (13)
#define BHY2_META_EVENT_FIFO_WATERMARK (14)
#define BHY2_META_EVENT_RESERVED2 (15)
#define BHY2_META_EVENT_INITIALIZED (16)
#define BHY2_META_TRANSFER_CAUSE (17)
#define BHY2_META_EVENT_SENSOR_FRAMEWORK (18)
#define BHY2_META_EVENT_RESET (19)
#define BHY2_META_EVENT_SPACER (20)
/* Flash start address in memory */
#define BHY2_FLASH_SECTOR_START_ADDR UINT32_C(0x1F84)
#define BHY2_FLASH_BULK_ERASE UINT32_C(0xFFFFFFFF)
/* End address for common flash sizes */
#define BHY2_FLASH_SIZE_0_5MB UINT32_C(0x7FFFF)
#define BHY2_FLASH_SIZE_1MB UINT32_C(0xFFFFF)
#define BHY2_FLASH_SIZE_2MB UINT32_C(0x1FFFFF)
#define BHY2_FLASH_SIZE_4MB UINT32_C(0x3FFFFF)
#define BHY2_FLASH_SIZE_8MB UINT32_C(0x7FFFFF)
/* Sensor IDs */
#define BHY2_SENSOR_ID_CUSTOM_START UINT8_C(160)
#define BHY2_SENSOR_ID_CUSTOM_END UINT8_C(191)
#define BHY2_SENSOR_ID_MAX UINT8_C(200)
#define BHY2_SENSOR_ID_TBD UINT8_C(BHY2_SENSOR_ID_MAX - 1)
/* Virtual Sensor IDs */
#define BHY2_SENSOR_ID_ACC_PASS UINT8_C(1) /* Accelerometer passthrough */
#define BHY2_SENSOR_ID_ACC_RAW UINT8_C(3) /* Accelerometer uncalibrated */
#define BHY2_SENSOR_ID_ACC UINT8_C(4) /* Accelerometer corrected */
#define BHY2_SENSOR_ID_ACC_BIAS UINT8_C(5) /* Accelerometer offset */
#define BHY2_SENSOR_ID_ACC_WU UINT8_C(6) /* Accelerometer corrected wake up */
#define BHY2_SENSOR_ID_ACC_RAW_WU UINT8_C(7) /* Accelerometer uncalibrated wake up */
#define BHY2_SENSOR_ID_SI_ACCEL UINT8_C(8) /* Virtual Sensor ID for Accelerometer */
#define BHY2_SENSOR_ID_GYRO_PASS UINT8_C(10) /* Gyroscope passthrough */
#define BHY2_SENSOR_ID_GYRO_RAW UINT8_C(12) /* Gyroscope uncalibrated */
#define BHY2_SENSOR_ID_GYRO UINT8_C(13) /* Gyroscope corrected */
#define BHY2_SENSOR_ID_GYRO_BIAS UINT8_C(14) /* Gyroscope offset */
#define BHY2_SENSOR_ID_GYRO_WU UINT8_C(15) /* Gyroscope wake up */
#define BHY2_SENSOR_ID_GYRO_RAW_WU UINT8_C(16) /* Gyroscope uncalibrated wake up */
#define BHY2_SENSOR_ID_SI_GYROS UINT8_C(17) /* Virtual Sensor ID for Gyroscope */
#define BHY2_SENSOR_ID_MAG_PASS UINT8_C(19) /* Magnetometer passthrough */
#define BHY2_SENSOR_ID_MAG_RAW UINT8_C(21) /* Magnetometer uncalibrated */
#define BHY2_SENSOR_ID_MAG UINT8_C(22) /* Magnetometer corrected */
#define BHY2_SENSOR_ID_MAG_BIAS UINT8_C(23) /* Magnetometer offset */
#define BHY2_SENSOR_ID_MAG_WU UINT8_C(24) /* Magnetometer wake up */
#define BHY2_SENSOR_ID_MAG_RAW_WU UINT8_C(25) /* Magnetometer uncalibrated wake up */
#define BHY2_SENSOR_ID_GRA UINT8_C(28) /* Gravity vector */
#define BHY2_SENSOR_ID_GRA_WU UINT8_C(29) /* Gravity vector wake up */
#define BHY2_SENSOR_ID_LACC UINT8_C(31) /* Linear acceleration */
#define BHY2_SENSOR_ID_LACC_WU UINT8_C(32) /* Linear acceleration wake up */
#define BHY2_SENSOR_ID_RV UINT8_C(34) /* Rotation vector */
#define BHY2_SENSOR_ID_RV_WU UINT8_C(35) /* Rotation vector wake up */
#define BHY2_SENSOR_ID_GAMERV UINT8_C(37) /* Game rotation vector */
#define BHY2_SENSOR_ID_GAMERV_WU UINT8_C(38) /* Game rotation vector wake up */
#define BHY2_SENSOR_ID_GEORV UINT8_C(40) /* Geo-magnetic rotation vector */
#define BHY2_SENSOR_ID_GEORV_WU UINT8_C(41) /* Geo-magnetic rotation vector wake up */
#define BHY2_SENSOR_ID_ORI UINT8_C(43) /* Orientation */
#define BHY2_SENSOR_ID_ORI_WU UINT8_C(44) /* Orientation wake up */
#define BHY2_SENSOR_ID_TILT_DETECTOR UINT8_C(48) /* Tilt detector */
#define BHY2_SENSOR_ID_STD UINT8_C(50) /* Step detector */
#define BHY2_SENSOR_ID_STC UINT8_C(52) /* Step counter */
#define BHY2_SENSOR_ID_STC_WU UINT8_C(53) /* Step counter wake up */
#define BHY2_SENSOR_ID_SIG UINT8_C(55) /* Significant motion */
#define BHY2_SENSOR_ID_WAKE_GESTURE UINT8_C(57) /* Wake gesture */
#define BHY2_SENSOR_ID_GLANCE_GESTURE UINT8_C(59) /* Glance gesture */
#define BHY2_SENSOR_ID_PICKUP_GESTURE UINT8_C(61) /* Pickup gesture */
#define BHY2_SENSOR_ID_AR UINT8_C(63) /* Activity recognition */
#define BHY2_SENSOR_ID_WRIST_TILT_GESTURE UINT8_C(67) /* Wrist tilt gesture */
#define BHY2_SENSOR_ID_DEVICE_ORI UINT8_C(69) /* Device orientation */
#define BHY2_SENSOR_ID_DEVICE_ORI_WU UINT8_C(70) /* Device orientation wake up */
#define BHY2_SENSOR_ID_STATIONARY_DET UINT8_C(75) /* Stationary detect */
#define BHY2_SENSOR_ID_MOTION_DET UINT8_C(77) /* Motion detect */
#define BHY2_SENSOR_ID_ACC_BIAS_WU UINT8_C(91) /* Accelerometer offset wake up */
#define BHY2_SENSOR_ID_GYRO_BIAS_WU UINT8_C(92) /* Gyroscope offset wake up */
#define BHY2_SENSOR_ID_MAG_BIAS_WU UINT8_C(93) /* Magnetometer offset wake up */
#define BHY2_SENSOR_ID_STD_WU UINT8_C(94) /* Step detector wake up */
#define BHY2_SENSOR_ID_TEMP UINT8_C(128) /* Temperature */
#define BHY2_SENSOR_ID_BARO UINT8_C(129) /* Barometer */
#define BHY2_SENSOR_ID_HUM UINT8_C(130) /* Humidity */
#define BHY2_SENSOR_ID_GAS UINT8_C(131) /* Gas */
#define BHY2_SENSOR_ID_TEMP_WU UINT8_C(132) /* Temperature wake up */
#define BHY2_SENSOR_ID_BARO_WU UINT8_C(133) /* Barometer wake up */
#define BHY2_SENSOR_ID_HUM_WU UINT8_C(134) /* Humidity wake up */
#define BHY2_SENSOR_ID_GAS_WU UINT8_C(135) /* Gas wake up */
#define BHY2_SENSOR_ID_STC_LP UINT8_C(136) /* Step counter Low Power */
#define BHY2_SENSOR_ID_STD_LP UINT8_C(137) /* Step detector Low Power */
#define BHY2_SENSOR_ID_SIG_LP UINT8_C(138) /* Significant motion Low Power */
#define BHY2_SENSOR_ID_STC_LP_WU UINT8_C(139) /* Step counter Low Power wake up */
#define BHY2_SENSOR_ID_STD_LP_WU UINT8_C(140) /* Step detector Low Power wake up */
#define BHY2_SENSOR_ID_SIG_LP_WU UINT8_C(141) /* Significant motion Low Power wake up */
#define BHY2_SENSOR_ID_ANY_MOTION_LP UINT8_C(142) /* Any motion Low Power */
#define BHY2_SENSOR_ID_ANY_MOTION_LP_WU UINT8_C(143) /* Any motion Low Power wake up */
#define BHY2_SENSOR_ID_EXCAMERA UINT8_C(144) /* External camera trigger */
#define BHY2_SENSOR_ID_GPS UINT8_C(145) /* GPS */
#define BHY2_SENSOR_ID_LIGHT UINT8_C(146) /* Light */
#define BHY2_SENSOR_ID_PROX UINT8_C(147) /* Proximity */
#define BHY2_SENSOR_ID_LIGHT_WU UINT8_C(148) /* Light wake up */
#define BHY2_SENSOR_ID_PROX_WU UINT8_C(149) /* Proximity wake up */
#define BHY2_SENSOR_ID_GPIO_EXP UINT8_C(151) /* Custom GPIO ID, only valid for custom firmware*/
/*! Physical sensor IDs*/
#define BHY2_PHYS_SENSOR_ID_ACCELEROMETER UINT8_C(1)
#define BHY2_PHYS_SENSOR_ID_GYROSCOPE UINT8_C(3)
#define BHY2_PHYS_SENSOR_ID_MAGNETOMETER UINT8_C(5)
#define BHY2_PHYS_SENSOR_ID_TEMP_GYRO UINT8_C(7)
#define BHY2_PHYS_SENSOR_ID_ANY_MOTION UINT8_C(9)
#define BHY2_PHYS_SENSOR_ID_PRESSURE UINT8_C(11)
#define BHY2_PHYS_SENSOR_ID_POSITION UINT8_C(13)
#define BHY2_PHYS_SENSOR_ID_HUMIDITY UINT8_C(15)
#define BHY2_PHYS_SENSOR_ID_TEMPERATURE UINT8_C(17)
#define BHY2_PHYS_SENSOR_ID_GAS_RESISTOR UINT8_C(19)
#define BHY2_PHYS_SENSOR_ID_PHYS_STEP_COUNTER UINT8_C(32)
#define BHY2_PHYS_SENSOR_ID_PHYS_STEP_DETECTOR UINT8_C(33)
#define BHY2_PHYS_SENSOR_ID_PHYS_SIGN_MOTION UINT8_C(34)
#define BHY2_PHYS_SENSOR_ID_PHYS_ANY_MOTION UINT8_C(35)
#define BHY2_PHYS_SENSOR_ID_EX_CAMERA_INPUT UINT8_C(36)
#define BHY2_PHYS_SENSOR_ID_GPS UINT8_C(48)
#define BHY2_PHYS_SENSOR_ID_LIGHT UINT8_C(49)
#define BHY2_PHYS_SENSOR_ID_PROXIMITY UINT8_C(50)
#define BHY2_PHYS_SENSOR_ID_PHYS_NO_MOTION UINT8_C(55)
#define BHY2_PHYS_SENSOR_ID_WRIST_GESTURE_DETECT UINT8_C(56)
#define BHY2_PHYS_SENSOR_ID_WRIST_WEAR_WAKEUP UINT8_C(57)
/*! System data IDs */
#define BHY2_IS_SYS_ID(sid) ((sid) >= 224)
#define BHY2_SYS_ID_PADDING UINT8_C(0)
#define BHY2_SYS_ID_TS_SMALL_DELTA UINT8_C(251)
#define BHY2_SYS_ID_TS_LARGE_DELTA UINT8_C(252)
#define BHY2_SYS_ID_TS_FULL UINT8_C(253)
#define BHY2_SYS_ID_META_EVENT UINT8_C(254)
#define BHY2_SYS_ID_TS_SMALL_DELTA_WU UINT8_C(245)
#define BHY2_SYS_ID_TS_LARGE_DELTA_WU UINT8_C(246)
#define BHY2_SYS_ID_TS_FULL_WU UINT8_C(247)
#define BHY2_SYS_ID_META_EVENT_WU UINT8_C(248)
#define BHY2_SYS_ID_FILLER UINT8_C(255)
#define BHY2_SYS_ID_DEBUG_MSG UINT8_C(250)
#define BHY2_SYS_ID_BHY2_LOG_UPDATE_SUB UINT8_C(243)
#define BHY2_SYS_ID_BHY2_LOG_DOSTEP UINT8_C(244)
/*! Status code definitions */
#define BHY2_STATUS_INITIALIZED UINT8_C(0x1)
#define BHY2_STATUS_DEBUG_OUTPUT UINT8_C(0x2)
#define BHY2_STATUS_CRASH_DUMP UINT8_C(0x3)
#define BHY2_STATUS_INJECT_SENSOR_CONF_REQ UINT8_C(0x4)
#define BHY2_STATUS_SW_PASS_THRU_RES UINT8_C(0x5)
#define BHY2_STATUS_SELF_TEST_RES UINT8_C(0x6)
#define BHY2_STATUS_FOC_RES UINT8_C(0x7)
#define BHY2_STATUS_SYSTEM_ERROR UINT8_C(0x8)
#define BHY2_STATUS_SENSOR_ERROR UINT8_C(0x9)
#define BHY2_STATUS_FLASH_ERASE_COMPLETE UINT8_C(0xA)
#define BHY2_STATUS_FLASH_WRITE_COMPLETE UINT8_C(0xB)
#define BHY2_STATUS_FLASH_CONTINUE_UPLOAD UINT8_C(0xC)
#define BHY2_STATUS_HOST_EV_TIMESTAMP UINT8_C(0xD)
#define BHY2_STATUS_DUT_TEST_RES UINT8_C(0xE)
#define BHY2_STATUS_CMD_ERR UINT8_C(0xF)
#define BHY2_IS_STATUS_GET_PARAM_OUTPUT(status) ((status) >= 0x100 && (status) <= 0xFFF)
/*! Activity bits */
#define BHY2_STILL_ACTIVITY_ENDED (0x0001)
#define BHY2_WALKING_ACTIVITY_ENDED (0x0002)
#define BHY2_RUNNING_ACTIVITY_ENDED (0x0004)
#define BHY2_ON_BICYCLE_ACTIVITY_ENDED (0x0008)
#define BHY2_IN_VEHICLE_ACTIVITY_ENDED (0x0010)
#define BHY2_TILTING_ACTIVITY_ENDED (0x0020)
#define BHY2_STILL_ACTIVITY_STARTED (0x0100)
#define BHY2_WALKING_ACTIVITY_STARTED (0x0200)
#define BHY2_RUNNING_ACTIVITY_STARTED (0x0400)
#define BHY2_ON_BICYCLE_ACTIVITY_STARTED (0x0800)
#define BHY2_IN_VEHICLE_ACTIVITY_STARTED (0x1000)
#define BHY2_TILTING_ACTIVITY_STARTED (0x2000)
/*! Custom firmware gpio control command*/
#define BHY2_INPUT (0x0)
#define BHY2_OUTPUT (0x1)
#define BHY2_INPUT_PULLUP (0x2)
#define BHY2_OPEN_DRAIN (0x3)
#define BHY2_GPIO_SET (0x80)
/*! Feature status */
#define BHY2_FEAT_STATUS_FLASH_DESC_MSK UINT8_C(0x01)
#define BHY2_FEAT_STATUS_OPEN_RTOS_MSK UINT8_C(0x02)
#define BHY2_FEAT_STATUS_OPEN_RTOS_POS (1)
#define BHY2_FEAT_STATUS_HOST_ID_MSK UINT8_C(0x1C)
#define BHY2_FEAT_STATUS_HOST_ID_POS (2)
#define BHY2_FEAT_STATUS_ALGO_ID_MSK UINT8_C(0xE0)
#define BHY2_FEAT_STATUS_ALGO_ID_POS (5)
/*! Fast offset compensation status codes */
#define BHY2_FOC_PASS UINT8_C(0x00)
#define BHY2_FOC_FAILED UINT8_C(0x65)
#define BHY2_FOC_UNKNOWN_FAILURE UINT8_C(0x23)
/*! Self test status codes */
#define BHY2_ST_PASSED UINT8_C(0x00)
#define BHY2_ST_X_AXIS_FAILED UINT8_C(0x01)
#define BHY2_ST_Y_AXIS_FAILED UINT8_C(0x02)
#define BHY2_ST_Z_AXIS_FAILED UINT8_C(0x04)
#define BHY2_ST_MULTI_AXIS_FAILURE UINT8_C(0x07)
#define BHY2_ST_NOT_SUPPORTED UINT8_C(0x08)
#define BHY2_ST_INVALID_PHYS_ID UINT8_C(0x09)
#define BHY2_LE2U16(x) ((uint16_t)((x)[0] | (x)[1] << 8))
#define BHY2_LE2S16(x) ((int16_t)BHY2_LE2U16(x))
#define BHY2_LE2U24(x) ((uint32_t)((x)[0] | (uint32_t)(x)[1] << 8 | (uint32_t)(x)[2] << 16))
#define BHY2_LE2S24(x) ((int32_t)(BHY2_LE2U24(x) << 8) >> 8)
#define BHY2_LE2U32(x) ((uint32_t)((x)[0] | (uint32_t)(x)[1] << 8 | (uint32_t)(x)[2] << 16 | \
(uint32_t)(x)[3] << 24))
#define BHY2_LE2S32(x) ((int32_t)BHY2_LE2U32(x))
#define BHY2_LE2U40(x) (BHY2_LE2U32(x) | (uint64_t)(x)[4] << 32)
#define BHY2_LE2U64(x) (BHY2_LE2U32(x) | (uint64_t)BHY2_LE2U32(&(x)[4]) << 32)
#define BHY2_LE24MUL(x) (((x) % 4) ? (uint16_t)((((x) / 4) + 1) * 4) : (uint16_t)((x) + 4))
/*! Maximum no of available virtual sensor */
#define BHY2_N_VIRTUAL_SENSOR_MAX UINT8_C(256)
#ifndef BHY2_MAX_SIMUL_SENSORS
#define BHY2_MAX_SIMUL_SENSORS 48
#endif
/* Special & debug virtual sensor id starts at 245 */
#define BHY2_SPECIAL_SENSOR_ID_OFFSET UINT8_C(245)
#ifndef BHY2_INTF_RET_TYPE
#define BHY2_INTF_RET_TYPE int8_t
#endif
#ifndef BHY2_INTF_RET_SUCCESS
#define BHY2_INTF_RET_SUCCESS 0
#endif
/* Type definitions for the function pointers */
typedef BHY2_INTF_RET_TYPE (*bhy2_read_fptr_t)(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, void *intf_ptr);
typedef BHY2_INTF_RET_TYPE (*bhy2_write_fptr_t)(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length,
void *intf_ptr);
typedef void (*bhy2_delay_us_fptr_t)(uint32_t period_us, void *intf_ptr);
typedef void (*bhy2_progress_callback)(void *user_data, uint32_t total, uint32_t transferred);
enum bhy2_intf {
BHY2_SPI_INTERFACE = 1,
BHY2_I2C_INTERFACE
};
/* HIF device structure */
struct bhy2_hif_dev {
bhy2_read_fptr_t read;
bhy2_write_fptr_t write;
bhy2_delay_us_fptr_t delay_us;
enum bhy2_intf intf;
void *intf_ptr;
BHY2_INTF_RET_TYPE intf_rslt;
uint32_t read_write_len;
};
enum bhy2_fifo_type {
BHY2_FIFO_TYPE_WAKEUP,
BHY2_FIFO_TYPE_NON_WAKEUP,
BHY2_FIFO_TYPE_STATUS,
BHY2_FIFO_TYPE_MAX
};
struct BHY2_PACKED bhy2_fifo_parse_data_info {
uint8_t sensor_id;
enum bhy2_fifo_type fifo_type;
uint8_t data_size;
uint8_t *data_ptr;
uint64_t *time_stamp;
};
typedef void (*bhy2_fifo_parse_callback_t)(const struct bhy2_fifo_parse_data_info *callback_info, void *private_data);
struct BHY2_PACKED bhy2_fifo_parse_callback_table {
uint8_t sensor_id;
bhy2_fifo_parse_callback_t callback;
void *callback_ref;
};
/* Device structure */
struct bhy2_dev {
struct bhy2_hif_dev hif;
struct bhy2_fifo_parse_callback_table table[BHY2_MAX_SIMUL_SENSORS];
uint8_t event_size[BHY2_N_VIRTUAL_SENSOR_MAX];
uint64_t last_time_stamp[BHY2_FIFO_TYPE_MAX];
uint8_t present_buff[32];
};
struct bhy2_fifo_buffer {
uint32_t read_pos;
uint32_t read_length;
uint32_t remain_length;
uint32_t buffer_size;
uint8_t *buffer;
};
typedef int16_t (*bhy2_frame_parse_func_t)(struct bhy2_fifo_buffer *p_fifo_buffer, struct bhy2_dev *bhy2_p);
struct bhy2_virt_sensor_conf {
uint16_t sensitivity;
uint16_t range;
uint32_t latency;
bhy2_float sample_rate;
};
struct bhy2_data_xyz {
int16_t x;
int16_t y;
int16_t z;
};
struct bhy2_data_quaternion {
int16_t x;
int16_t y;
int16_t z;
int16_t w;
uint16_t accuracy;
};
struct bhy2_data_orientation {
int16_t heading;
int16_t pitch;
int16_t roll;
};
union BHY2_PACKED bhy2_spt_dev_id {
uint8_t slave_address;
uint8_t cs_pin;
};
struct BHY2_PACKED bhy2_spt_bits {
/*! byte 1 */
uint8_t direction : 1; /**< 0: read; 1: write. */
uint8_t trans_type : 1; /**< 0: single burst; 1:multi single transfers. */
uint8_t delay_ctrl : 1; /**< 0: none; 1: delay between bytes. */
uint8_t master_bus : 2; /**< 1: SIF1; 2: SIF2; 3:SIF3. */
uint8_t spi_mode : 1; /**< 0: 4 wire; 1: 3 wire. */
uint8_t cpol : 1; /**< spi clock polarity. */
uint8_t cpha : 1; /**< spi clock phase. */
/*! byte 2 */
uint8_t delay_val : 6; /**< multiples of 50us. min is 200us (4LSB) */
uint8_t cs_level : 1; /**< chip select level. */
uint8_t lsb_first : 1; /**< least significant byte first. */
/*! byte 3~4 */
uint16_t trans_rate; /**< spi clock rate. */
/*! byte 5 */
uint8_t address_shift : 4; /**< number of bits to shift register address. */
uint8_t read_bit_pol : 1; /**< 0: active low; 1: active high. */
uint8_t read_bit_pos : 3; /**< bit number of read bit in command byte. */
/*! byte 6 */
union bhy2_spt_dev_id func_set;
/*! byte 7 */
uint8_t trans_count;
/*! byte 8 */
uint8_t reg;
};
union bhy2_soft_passthrough_conf {
struct bhy2_spt_bits conf;
uint8_t data[8];
};
union bhy2_u16_conv {
uint16_t u16_val;
uint8_t bytes[2];
};
union bhy2_u32_conv {
uint32_t u32_val;
uint8_t bytes[4];
};
union bhy2_float_conv {
bhy2_float f_val;
uint32_t u32_val;
uint8_t bytes[4];
};
struct bhy2_sensor_info {
uint8_t sensor_type;
uint8_t driver_id;
uint8_t driver_version;
uint8_t power;
union bhy2_u16_conv max_range;
union bhy2_u16_conv resolution;
union bhy2_float_conv max_rate;
union bhy2_u32_conv fifo_reserved;
union bhy2_u32_conv fifo_max;
uint8_t event_size;
union bhy2_float_conv min_rate;
};
struct bhy2_phys_sensor_info {
uint8_t sensor_type;
uint8_t driver_id;
uint8_t driver_version;
uint8_t power_current;
union bhy2_u16_conv curr_range;
uint8_t flags;
uint8_t slave_address;
uint8_t gpio_assignment;
union bhy2_float_conv curr_rate;
uint8_t num_axis;
uint8_t orientation_matrix[5];
uint8_t reserved;
};
struct bhy2_self_test_resp {
uint8_t test_status;
int16_t x_offset, y_offset, z_offset;
};
struct bhy2_foc_resp {
uint8_t foc_status;
int16_t x_offset, y_offset, z_offset;
};
struct bhy2_orient_matrix {
int8_t c[9];
};
enum bhy2_data_inj_mode {
BHY2_NORMAL_MODE = 0,
BHY2_REAL_TIME_INJECTION = 1,
BHY2_STEP_BY_STEP_INJECTION = 2
};
#define BHY2_BYTE_TO_NIBBLE(X) (((uint8_t)(X)[0] & 0x0F) | (((uint8_t)(X)[1] << 4) & 0xF0))
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* __BHY2_DEFS_H__ */
components/ExternLib/SensorLib/src/bosch/bhy2_head_tracker.c
+353
View File
@@ -0,0 +1,353 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_head_tracker.c
* @date 2023-03-24
* @version v1.6.0
*
*/
/*********************************************************************/
/* system header files */
/*********************************************************************/
#include <string.h>
#include <stdlib.h>
/*********************************************************************/
/* BHY2 SensorAPI header files */
/*********************************************************************/
#include "bhy2.h"
/*********************************************************************/
/* own header files */
/*********************************************************************/
#include "bhy2_head_tracker.h"
/*Parsing callback for Head Orientation Quaternion*/
void bhy2_head_tracker_quat_parsing(const uint8_t *payload, struct bhy2_head_tracker_quat_data *data)
{
uint8_t i = 0;
if ((payload != NULL) && (data != NULL))
{
data->x = BHY2_LE2S16(&payload[i]);
i += 2;
data->y = BHY2_LE2S16(&payload[i]);
i += 2;
data->z = BHY2_LE2S16(&payload[i]);
i += 2;
data->w = BHY2_LE2S16(&payload[i]);
i += 2;
data->accuracy = payload[i];
}
}
/*Parsing callback for Head Orientation Euler*/
void bhy2_head_tracker_eul_parsing(const uint8_t *payload, struct bhy2_head_tracker_eul_data *data)
{
uint8_t i = 0;
if ((payload != NULL) && (data != NULL))
{
data->heading = BHY2_LE2S16(&payload[i]);
i += 2;
data->pitch = BHY2_LE2S16(&payload[i]);
i += 2;
data->roll = BHY2_LE2S16(&payload[i]);
i += 2;
data->accuracy = payload[i];
}
}
/*Callback for triggering Head Misalignment Calibration*/
int8_t bhy2_head_tracker_trigger_hmc_calibration(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Trigger Head Misalignment Calibration */
rslt = bhy2_set_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_HMC_TRIGGER_CALIB),
(uint8_t*)buffer,
BHY2_HEAD_ORI_HMC_TRIGGER_CALIB_LENGTH,
dev);
}
return rslt;
}
/*Callback for setting Head Misalignment Calibration Configuration*/
int8_t bhy2_head_tracker_set_hmc_configuration(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set Head Misalignment Configuration */
rslt = bhy2_set_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_HMC_CONFIG),
(uint8_t*)buffer,
BHY2_HEAD_ORI_HMC_CONFIG_LENGTH,
dev);
}
return rslt;
}
/*Callback for getting Head Misalignment Calibration Configuration*/
int8_t bhy2_head_tracker_get_hmc_configuration(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t act_len;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get Head Misalignment Configuration */
rslt = bhy2_get_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_HMC_CONFIG),
(uint8_t*)buffer,
BHY2_HEAD_ORI_HMC_CONFIG_LENGTH,
&act_len,
dev);
}
return rslt;
}
/*Callback for setting default Head Misalignment Calibration Configuration*/
int8_t bhy2_head_tracker_set_default_hmc_configuration(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set default Head Misalignment Configuration */
rslt = bhy2_set_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_HMC_SET_DEF_CONFIG),
(uint8_t*)buffer,
BHY2_HEAD_ORI_HMC_SET_DEF_CONFIG_LENGTH,
dev);
}
return rslt;
}
/*Callback for getting Head Misalignment Calibrator Version*/
int8_t bhy2_head_tracker_get_hmc_version(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t act_len;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get Head Misalignment Calibrator Version */
rslt = bhy2_get_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_HMC_VERSION),
(uint8_t*)buffer,
BHY2_HEAD_ORI_HMC_VERSION_LENGTH,
&act_len,
dev);
}
return rslt;
}
/*Callback for setting Head Misalignment Calibration Correction Quaternion Configuration*/
int8_t bhy2_head_tracker_set_hmc_quat_calib_corr_config(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set Head Misalignment Calibration Correction Quaternion Configuration */
rslt = bhy2_set_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR),
(uint8_t*)buffer,
BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR_WLENGTH,
dev);
}
return rslt;
}
/*Callback for getting Head Misalignment Calibration Correction Quaternion Configuration*/
int8_t bhy2_head_tracker_get_hmc_quat_calib_corr_config(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t act_len;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get Head Misalignment Calibration Correction Quaternion Configuration */
rslt = bhy2_get_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR),
(uint8_t*)buffer,
BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR_RLENGTH,
&act_len,
dev);
}
return rslt;
}
/*Callback for setting Head Orientation Initial Head Correction for Quaternion*/
int8_t bhy2_head_tracker_set_quat_initial_head_correction(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set Head Orientation Initial Head Correction for Quaternion */
rslt = bhy2_set_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR),
(uint8_t*)buffer,
BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR_LENGTH,
dev);
}
return rslt;
}
/*Callback for getting Head Orientation Initial Head Correction for Quaternion*/
int8_t bhy2_head_tracker_get_quat_initial_head_correction(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t act_len;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get Head Orientation Initial Head Correction for Quaternion */
rslt = bhy2_get_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR),
(uint8_t*)buffer,
BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR_LENGTH,
&act_len,
dev);
}
return rslt;
}
/*Callback for getting Head Orientation Version*/
int8_t bhy2_head_tracker_get_ho_version(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t act_len;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get IMU/NDOF Head Orientation Version */
rslt = bhy2_get_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_VERSION),
(uint8_t*)buffer,
BHY2_HEAD_ORI_VERSION_LENGTH,
&act_len,
dev);
}
return rslt;
}
/*Callback for setting Head Orientation Initial Head Correction for Euler*/
int8_t bhy2_head_tracker_set_eul_initial_head_correction(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set Head Orientation Initial Head Correction for Euler */
rslt = bhy2_set_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR),
(uint8_t*)buffer,
BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR_LENGTH,
dev);
}
return rslt;
}
/*Callback for getting Head Orientation Initial Head Correction for Euler*/
int8_t bhy2_head_tracker_get_eul_initial_head_correction(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint32_t act_len;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get Head Orientation Initial Head Correction for Euler */
rslt = bhy2_get_parameter(BHY2_HEAD_ORI_PARAM(BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR),
(uint8_t*)buffer,
BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR_LENGTH,
&act_len,
dev);
}
return rslt;
}
components/ExternLib/SensorLib/src/bosch/bhy2_head_tracker.h
+213
View File
@@ -0,0 +1,213 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_head_tracker.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef _BHY2_HEAD_TRACKER_H_
#define _BHY2_HEAD_TRACKER_H_
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#include <stdlib.h>
#include <stdlib.h>
#include "bhy2.h"
#include "bhy2_head_tracker_defs.h"
/*!
* @brief Parsing callback for Head Orientation Quaternion
*
* @param[in] payload
* @param[out] bhy2_head_tracker_quat_data to store Head Orientation [Quaternion] data
*
* @return API error codes
*
*/
void bhy2_head_tracker_quat_parsing(const uint8_t *payload, struct bhy2_head_tracker_quat_data *data);
/*!
* @brief Parsing callback for Head Orientation Euler
*
* @param[in] payload
* @param[out] bhy2_head_tracker_eul_data to store Head Orientation [Euler] data
*
* @return API error codes
*
*/
void bhy2_head_tracker_eul_parsing(const uint8_t *payload, struct bhy2_head_tracker_eul_data *data);
/*!
* @brief To trigger the Head Misalignment Calibration
*
* @param[in] buffer
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_trigger_hmc_calibration(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To set the Head Misalignment Calibration Configuration
*
* @param[in] buffer to hold the Head Misalignment Calibration Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_set_hmc_configuration(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the Head Misalignment Calibration Configuration
*
* @param[out] buffer to hold the Head Misalignment Calibration Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_get_hmc_configuration(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To set the default Head Misalignment Calibration Configuration
*
* @param[in] command buffer
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_set_default_hmc_configuration(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the Head Misalignment Calibrator Version
*
* @param[out] buffer to hold the Head Misalignment Calibrator Version
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_get_hmc_version(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To set the Head Misalignment Quaternion Calibration Correction Configuration
*
* @param[in] buffer to hold the Head Misalignment Quaternion Calibration Correction Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_set_hmc_quat_calib_corr_config(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the Head Misalignment Quaternion Calibration Correction Configuration
*
* @param[out] buffer to hold the Head Misalignment Quaternion Calibration Correction Configuration
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_get_hmc_quat_calib_corr_config(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To set the Head Misalignment Quaternion Initial Head Correction
*
* @param[in] buffer to hold the Head Misalignment Quaternion Initial Head Correction
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_set_quat_initial_head_correction(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the Head Misalignment Quaternion Initial Head Correction
*
* @param[out] buffer to hold the Head Misalignment Quaternion Initial Head Correction
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_get_quat_initial_head_correction(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the IMU/NDOF Head Orientation Version
*
* @param[out] buffer to hold the IMU/NDOF Head Orientation Version
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_get_ho_version(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To set the Head Misalignment Euler Initial Head Correction
*
* @param[in] buffer to hold the Head Misalignment Euler Initial Head Correction
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_set_eul_initial_head_correction(const void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the Head Misalignment Euler Initial Head Correction
*
* @param[out] buffer to hold the Head Misalignment Euler Initial Head Correction
* @param[in] dev hub handle
*
* @return API error codes
*
*/
int8_t bhy2_head_tracker_get_eul_initial_head_correction(const void *buffer, struct bhy2_dev *dev);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* _BHY2_HEAD_TRACKER_H_ */
components/ExternLib/SensorLib/src/bosch/bhy2_head_tracker_defs.h
+138
View File
@@ -0,0 +1,138 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_head_tracker_defs.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef _BHY2_HEAD_TRACKER_DEFS_H_
#define _BHY2_HEAD_TRACKER_DEFS_H_
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#include <stdlib.h>
#include <stdlib.h>
#include "bhy2.h"
/*! Virtual Sensor Macros */
#define BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG UINT8_C(120) /*Head Orientation Misalignment*/
#define BHY2_SENSOR_ID_IMU_HEAD_ORI_Q UINT8_C(121) /*IMU Head Orientation Quaternion*/
#define BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q UINT8_C(122) /*NDOF Head Orientation Quaternion*/
#define BHY2_SENSOR_ID_IMU_HEAD_ORI_E UINT8_C(123) /*IMU Head Orientation Euler*/
#define BHY2_SENSOR_ID_NDOF_HEAD_ORI_E UINT8_C(124) /*NDOF Head Orientation Euler*/
#define BHY2_HEAD_ORI_PAGE UINT16_C(12)
#define BHY2_HEAD_ORI_PARAM(id) (((BHY2_HEAD_ORI_PAGE) << 8) | (id))
#define BHY2_HEAD_ORI_HMC_TRIGGER_CALIB UINT8_C(1)
#define BHY2_HEAD_ORI_HMC_TRIGGER_CALIB_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_HMC_TRIGGER_CALIB_SET UINT8_C(1)
#define BHY2_HEAD_ORI_HMC_CONFIG UINT8_C(2)
#define BHY2_HEAD_ORI_HMC_CONFIG_LENGTH UINT8_C(8)
#define BHY2_HEAD_ORI_HMC_SET_DEF_CONFIG UINT8_C(3)
#define BHY2_HEAD_ORI_HMC_SET_DEF_CONFIG_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_HMC_SET_DEF_CONFIG_SET UINT8_C(1)
#define BHY2_HEAD_ORI_HMC_VERSION UINT8_C(4)
#define BHY2_HEAD_ORI_HMC_VERSION_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR UINT8_C(5)
#define BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR_WLENGTH UINT8_C(16)
#define BHY2_HEAD_ORI_HMC_QUAT_CALIB_CORR_RLENGTH UINT8_C(20)
#define BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR UINT8_C(10)
#define BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR_DISABLE UINT8_C(0)
#define BHY2_HEAD_ORI_QUAT_INITIAL_HEAD_CORR_ENABLE UINT8_C(1)
#define BHY2_HEAD_ORI_VERSION UINT8_C(11)
#define BHY2_HEAD_ORI_VERSION_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR UINT8_C(12)
#define BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR_LENGTH UINT8_C(4)
#define BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR_DISABLE UINT8_C(0)
#define BHY2_HEAD_ORI_EUL_INITIAL_HEAD_CORR_ENABLE UINT8_C(1)
/*! Sensor Structure for Head Orientation Quaternion */
struct bhy2_head_tracker_quat_data
{
int16_t x, y, z, w;
uint8_t accuracy;
};
/*! Sensor Structure for Head Orientation Euler */
struct bhy2_head_tracker_eul_data
{
int16_t heading, pitch, roll;
uint8_t accuracy;
};
/*! Structure for Head Misalignment Configuration */
struct bhy2_head_tracker_misalignment_config
{
uint8_t still_phase_max_dur;
uint8_t still_phase_min_dur;
uint8_t still_phase_max_samples;
int32_t acc_diff_threshold;
};
/*! Structure for Head Orientation /Head Misalignment version */
struct bhy2_head_tracker_ver
{
uint8_t major, minor, patch, reserved;
};
/*! Structure for Head Misalignment Quaternion Correction */
struct bhy2_head_tracker_misalignment_quat_corr
{
int32_t quaternion_x;
int32_t quaternion_y;
int32_t quaternion_z;
int32_t quaternion_w;
int32_t accuracy;
};
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* _BHY2_HEAD_TRACKER_DEFS_H_ */
components/ExternLib/SensorLib/src/bosch/bhy2_hif.c
+1763
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/bhy2_hif.h
+578
View File
@@ -0,0 +1,578 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_hif.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef __BHY2_HIF_H__
#define __BHY2_HIF_H__
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include "bhy2_defs.h"
/**
* @brief Function to link the callback interfaces
* @param[in] intf : Physical communication interface
* @param[in] read : Read function pointer
* @param[in] write : Write function pointer
* @param[in] delay_us : Microsecond delay function pointer
* @param[in] read_write_len : Maximum read/write lengths supported
* @param[in] intf_ptr : Reference to the interface. Can be NULL
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_init(enum bhy2_intf intf,
bhy2_read_fptr_t read,
bhy2_write_fptr_t write,
bhy2_delay_us_fptr_t delay_us,
uint32_t read_write_len,
void *intf_ptr,
struct bhy2_hif_dev *hif);
/**
* @brief Function to get data from registers
* @param[in] reg_addr : Register address to be read from
* @param[out] reg_data : Reference to the data buffer
* @param[in] length : Length of the data buffer
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_regs(uint8_t reg_addr, uint8_t *reg_data, uint32_t length, struct bhy2_hif_dev *hif);
/**
* @brief Function to set data to registers
* @param[in] reg_addr : Register address to write to
* @param[in] reg_data : Reference to the data buffer
* @param[in] length : Length of the data buffer
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_set_regs(uint8_t reg_addr, const uint8_t *reg_data, uint32_t length, struct bhy2_hif_dev *hif);
/**
* @brief Function to delay in microseconds
* @param[in] period_us : Period to delay in microseconds
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_delay_us(uint32_t period_us, const struct bhy2_hif_dev *hif);
/**
* Function to execute a command
* @param[in] cmd : Command code
* @param[in] payload : Reference to the data buffer containing the command's payload
* @param[in] length : Length of the data buffer
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_exec_cmd(uint16_t cmd, const uint8_t *payload, uint32_t length, struct bhy2_hif_dev *hif);
/**
* @brief Function to get a parameter
* @param[in] param : Parameter ID
* @param[out] payload : Reference to the data buffer to store the parameter's payload
* @param[in] payload_len : Length of the data buffer
* @param[out] actual_len : Actual length of the payload
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_parameter(uint16_t param,
uint8_t *payload,
uint32_t payload_len,
uint32_t *actual_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to set a parameter
* @param[in] param : Parameter ID
* @param[in] payload : Reference to the data buffer storing the parameter's payload
* @param[in] length : Length of the data buffer
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_set_parameter(uint16_t param, const uint8_t *payload, uint32_t length, struct bhy2_hif_dev *hif);
/**
* @brief Function to erase the flash
* @param[in] start_addr : Start address
* @param[in] end_addr : End address
* @param[in] hif : HIF device address
* @return API error codes
*/
int8_t bhy2_hif_erase_flash(uint32_t start_addr, uint32_t end_addr, struct bhy2_hif_dev *hif);
/**
* @brief Function to upload data to flash
* @param[in] firmware : Reference to the data buffer storing the firmware
* @param[in] length : Length of the data buffer
* @param[in/out] work_buffer : Reference to the work buffer
* @param[in] work_buf_len : Length of the work buffer
* @param[out] exp_size : Expected size of the work buffer if insufficient size
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_upload_to_flash(const uint8_t *firmware,
uint32_t length,
uint8_t *work_buffer,
uint32_t work_buf_len,
uint32_t *exp_size,
struct bhy2_hif_dev *hif,
bhy2_progress_callback progress_cb,
void *user_data);
/**
* @brief Function to upload data to flash partly
* @param[in] firmware : Reference cur_pos of the data buffer storing the firmware
* @param[in] cur_pos : Current position of the firmware
* @param[in] packet_len : Length of the firmware packet to be transferred
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_upload_to_flash_partly(const uint8_t *firmware,
uint32_t cur_pos,
uint32_t packet_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to boot from flash
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_boot_from_flash(struct bhy2_hif_dev *hif);
/**
* @brief Function to get the product ID
* @param[out] product_id : Reference to the data buffer to store the product ID
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_product_id(uint8_t *product_id, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the chip ID
* @param[out] chip_id : Reference to the data buffer to store the chip ID
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_chip_id(uint8_t *chip_id, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the ROM version
* @param[out] rom_version : Reference to the data buffer to store the ROM version
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_rom_version(uint16_t *rom_version, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the kernel version
* @param[out] kernel_version : Reference to the data buffer to store the kernel version
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_kernel_version(uint16_t *kernel_version, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the user version
* @param[out] user_version : Reference to the data buffer to store the user version
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_user_version(uint16_t *user_version, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the boot status
* @param[out] boot_status : Reference to the data buffer to store the boot status
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_boot_status(uint8_t *boot_status, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the host status
* @param[out] host_status : Reference to the data buffer to store the host status
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_host_status(uint8_t *host_status, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the feature status
* @param[out] feat_status : Reference to the data buffer to store the feature status
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_feature_status(uint8_t *feat_status, struct bhy2_hif_dev *hif);
/**
* @brief Function get the interrupt status
* @param[out] int_status : Reference to the data buffer to store the interrupt status
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_interrupt_status(uint8_t *int_status, struct bhy2_hif_dev *hif);
/**
* @brief Function get the firmware error code
* @param[out] fw_error : Reference to the data buffer to store the firmware error code
* @param[in] hif : HIF device reference
* @return API error code
*/
int8_t bhy2_hif_get_fw_error(uint8_t *fw_error, struct bhy2_hif_dev *hif);
/**
* @brief Function to trigger a soft reset
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_reset(struct bhy2_hif_dev *hif);
/**
* @brief Function to upload a firmware to RAM
* @param[in] firmware : Reference to the data buffer storing the firmware
* @param[in] length : Length of the firmware
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_upload_firmware_to_ram(const uint8_t *firmware, uint32_t length, struct bhy2_hif_dev *hif);
/**
* @brief Function to upload a part of the firmware to RAM
* @param[in] firmware : Reference to the data buffer storing the current part of firmware
* @param[in] total_size : Total size of the firmware
* @param[in] cur_pos : Current position of the firmware
* @param[in] packet_len : Size of firmware part to be uploaded
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_upload_firmware_to_ram_partly(const uint8_t *firmware,
uint32_t total_size,
uint32_t cur_pos,
uint32_t packet_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to boot from RAM
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_boot_program_ram(struct bhy2_hif_dev *hif);
/**
* @brief Function to get data from the Wake-up FIFO
* @param[out] fifo : Reference to the data buffer to store data from the FIFO
* @param[in] fifo_len : Length of the data buffer
* @param[out] bytes_read : Number of bytes read into the data buffer
* @param[out] bytes_remain : Bytes remaining in the sensor FIFO
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_wakeup_fifo(uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_read,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif);
/**
* @brief Function to get data from the Non-wake-up FIFO
* @param[out] fifo : Reference to the data buffer to store data from the FIFO
* @param[in] fifo_len : Length of the data buffer
* @param[out] bytes_read : Number of bytes read into the data buffer
* @param[out] bytes_remain : Bytes remaining in the sensor FIFO
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_nonwakeup_fifo(uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_read,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif);
/**
* @brief Function to get synchronous data from the Status FIFO
* @param[out] status_code : Status code received
* @param[out] fifo : Reference to the data buffer to store the payload of the status code
* @param[in] fifo_len : Length of the data buffer
* @param[out] bytes_remain : Number of bytes in the payload
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_status_fifo(uint16_t *status_code,
uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif);
/**
* @brief Function to get asynchronous data from the Status FIFO
* @param[out] fifo : Reference to the data buffer to store data from the FIFO
* @param[in] fifo_len : Length of the data buffer
* @param[out] bytes_read : Number of bytes read into the data buffer
* @param[out] bytes_remain : Bytes remaining in the sensor FIFO
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_status_fifo_async(uint8_t *fifo,
uint32_t fifo_len,
uint32_t *bytes_read,
uint32_t *bytes_remain,
struct bhy2_hif_dev *hif);
/**
* @brief Function to configure a virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] sample_rate : Sample rate in Hz
* @param[in] latency : Report latency in milliseconds
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_exec_sensor_conf_cmd(uint8_t sensor_id,
bhy2_float sample_rate,
uint32_t latency,
struct bhy2_hif_dev *hif);
/**
* @brief Function to flush data of a virtual sensor from the FIFOs
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_set_fifo_flush(uint8_t sensor_id, struct bhy2_hif_dev *hif);
/**
* @brief Function to perform a self-test for a particular virtual sensor
* @param[in] phys_sensor_id : Physical sensor ID of the virtual sensor
* @param[out] self_test_resp : Reference to the data buffer to store the self-test response
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_do_self_test(uint8_t phys_sensor_id,
struct bhy2_self_test_resp *self_test_resp,
struct bhy2_hif_dev *hif);
/**
* @brief Function to perform a fast offset compensation for a particular virtual sensor
* @param[in] phys_sensor_id : Physical Sensor ID of the virtual sensor
* @param[out] foc_resp : Reference to the data buffer to store the FOC response
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_do_foc(uint8_t phys_sensor_id, struct bhy2_foc_resp *foc_resp, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the sensor control configuration of a virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] ctrl_code : Sensor control code
* @param[out] payload : Reference to the data buffer to store the sensor control
* @param[in] payload_len : Length of the data buffer
* @param[out] actual_len : Actual length of the sensor control configuration
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_sensor_ctrl(uint8_t sensor_id,
uint8_t ctrl_code,
uint8_t *payload,
uint32_t payload_len,
uint32_t *actual_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to set the sensor control configuration of a virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[in] ctrl_code : Sensor control code
* @param[in] payload : Reference to the data buffer storing the sensor control
* @param[in] payload_len : Length of the sensor control configuration
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_set_sensor_ctrl(uint8_t sensor_id,
uint8_t ctrl_code,
const uint8_t *payload,
uint32_t payload_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to get the BSX state of a BSX parameter
* @param[in] param_id : Parameter ID of the BSX parameter
* @param[out] bsx_state : Reference to teh data buffer to store the BSX state
* @param[in] state_len : Length of the buffer
* @param[out] actual_len : Actual length of the BSX state
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_bsx_state(uint16_t param_id,
uint8_t *bsx_state,
uint32_t state_len,
uint32_t *actual_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to the BSX state of a BSX parameter
* @param[in] param_id : Parameter ID of the BSX parameter
* @param[in] bsx_state : Reference to the data buffer storing the BSX state
* @param[in] state_len : Length of the BSX state
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_set_bsx_state(uint16_t param_id, const uint8_t *bsx_state, uint32_t state_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to request a timestamp event
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_request_hw_timestamp(struct bhy2_hif_dev *hif);
/**
* @brief Function to get the hardware timestamp
* @param[out] ts_ticks : Reference to the data buffer to store the timestamp in ticks
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_hw_timestamp(uint64_t *ts_ticks, struct bhy2_hif_dev *hif);
/**
* @brief Function to request and get the hardware timestamp
* @param[out] ts_ticks : Reference to the data buffer to store the timestamp in ticks
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_req_and_get_hw_timestamp(uint64_t *ts_ticks, struct bhy2_hif_dev *hif);
/**
* @brief Function to communicate with connected sensors
* @param[in] payload : Command payload
* @param[in] payload_len : Payload length
* @param[in/out] reg_data : Reference to the data buffer storing the register data
* @param[in] length : Length of the data buffer
* @param[out] actual_len : Registers actually read
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_exec_soft_passthrough(const uint8_t *payload,
uint32_t payload_len,
uint8_t *reg_data,
uint32_t length,
uint32_t *actual_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to get the post-mortem data dump
* @param[out] code : Post-mortem status code
* @param[out] actual_len : Actual length of the post-mortem data dump
* @param[out] post_mortem : Reference to the data buffer to store the data dump
* @param[in] buffer_len : Length of the data buffer
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_post_mortem(uint16_t *code,
uint32_t *actual_len,
uint8_t *post_mortem,
uint32_t buffer_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function get information of a virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[out] info : Reference to the data buffer to store the sensor info
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_sensor_info(uint8_t sensor_id, struct bhy2_sensor_info *info, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the physical sensor information of a virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[out] info : Reference to the data buffer to store the physical sensor info
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_get_phys_sensor_info(uint8_t sensor_id, struct bhy2_phys_sensor_info *info, struct bhy2_hif_dev *hif);
/**
* @brief Function to get the orientation matrix of a virtual sensor
* @param[in] sensor_id : Sensor ID of the virtual sensor
* @param[out] orient_matrix : Reference to the data buffer to store the orientation matrix
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_set_orientation_matrix(uint8_t sensor_id,
struct bhy2_orient_matrix orient_matrix,
struct bhy2_hif_dev *hif);
/**
* @brief Function to set the data injection mode
* @param[in] payload : Reference to the data buffer containing the host injection mode
* @param[in] payload_len : Length of the data buffer
* @param[in/out] work_buf : Reference to the work buffer
* @param[in] work_buf_len : Length of the work buffer
* @param[out] actual_len : Expected length of the work buffer
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_set_inject_data_mode(const uint8_t *payload,
uint8_t payload_len,
const uint8_t *work_buf,
uint32_t work_buf_len,
const uint32_t *actual_len,
struct bhy2_hif_dev *hif);
/**
* @brief Function to inject data
* @param[in] payload : Reference to the data buffer
* @param[in] payload_len : Length of the data buffer
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_inject_data(const uint8_t *payload, uint32_t payload_len, struct bhy2_hif_dev *hif);
/**
* @brief Function to wait till status is ready
* @param[in] hif : HIF device reference
* @return API error codes
*/
int8_t bhy2_hif_wait_status_ready(struct bhy2_hif_dev *hif);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* __BHY2_HIF_H__ */
components/ExternLib/SensorLib/src/bosch/bhy2_klio.c
+373
View File
@@ -0,0 +1,373 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_klio.c
* @date 2023-03-24
* @version v1.6.0
*
*/
/*********************************************************************/
/* system header files */
#include <string.h>
#include <stdio.h>
/*********************************************************************/
/* BHY2 SensorAPI header files */
#include "bhy2.h"
/*********************************************************************/
/* own header files */
#include "bhy2_klio.h"
int8_t bhy2_klio_read_pattern(const uint8_t id, uint8_t *buffer, uint16_t *length, struct bhy2_dev *dev)
{
int8_t rslt;
uint32_t ret_len;
bhy2_klio_pattern_transfer_t pattern = { 0 };
if (!buffer || !length || !dev)
{
return BHY2_E_NULL_PTR;
}
if (id != 0 || *length < sizeof(pattern.pattern_data))
{
return BHY2_E_INVALID_PARAM;
}
rslt = bhy2_get_parameter(KLIO_PARAM(KLIO_HIF_PARAM_PATTERN), (uint8_t*)&pattern, sizeof(pattern), &ret_len, dev);
if (rslt != BHY2_OK)
{
return rslt;
}
if (ret_len != sizeof(pattern))
{
return BHY2_E_INVALID_PARAM;
}
memcpy(buffer, pattern.pattern_data, pattern.full_size);
*length = pattern.full_size;
return rslt;
}
int8_t bhy2_klio_read_reset_driver_status(uint32_t *klio_driver_status, struct bhy2_dev *dev)
{
uint32_t ret_len = 0;
int8_t rslt;
if (!klio_driver_status || !dev)
{
return BHY2_E_NULL_PTR;
}
do
{
rslt =
bhy2_get_parameter(KLIO_PARAM(KLIO_HIF_PARAM_DRIVER_STATUS),
(uint8_t*)klio_driver_status,
sizeof(*klio_driver_status),
&ret_len,
dev);
if (rslt != BHY2_OK)
{
return rslt;
}
} while (*klio_driver_status == KLIO_DRIVER_ERROR_OPERATION_PENDING);
return rslt;
}
int8_t bhy2_klio_write_pattern(const uint8_t idx, const uint8_t *pattern_data, const uint16_t size,
struct bhy2_dev *dev)
{
bhy2_klio_pattern_transfer_t pattern = {
.block_id = 0, .block_size = (uint8_t)size, .full_size = size, .pattern_id = idx, .pattern_data = { 0 }
};
if (!dev || size > sizeof(pattern.pattern_data))
{
return BHY2_E_INVALID_PARAM;
}
memcpy(pattern.pattern_data, pattern_data, size);
return bhy2_set_parameter(KLIO_PARAM(KLIO_HIF_PARAM_PATTERN), (const uint8_t*)&pattern, sizeof(pattern), dev);
}
int8_t bhy2_klio_set_pattern_states(const bhy2_klio_pattern_state_t operation,
const uint8_t *pattern_ids,
const uint16_t count,
struct bhy2_dev *dev)
{
uint32_t buffer_size = sizeof(bhy2_klio_pattern_state_op_t) + count;
uint8_t buffer[buffer_size];
if (!dev || count == 0)
{
return BHY2_E_INVALID_PARAM;
}
buffer[1] = (uint8_t)count;
buffer[0] = operation;
for (uint8_t i = 0; i < count; i++)
{
buffer[i + 2] = pattern_ids[i];
}
return bhy2_set_parameter(KLIO_PARAM(KLIO_HIF_PARAM_PATTERN_STATE), buffer, buffer_size, dev);
}
int8_t bhy2_klio_set_state(const bhy2_klio_sensor_state_t *state, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
uint8_t buffer[4];
if (!dev || !state)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
buffer[0] = state->learning_enabled;
buffer[1] = state->learning_reset;
buffer[2] = state->recognition_enabled;
buffer[3] = state->recognition_reset;
rslt = bhy2_set_parameter(KLIO_PARAM(KLIO_HIF_PARAM_ALGORITHM_STATE), buffer, sizeof(buffer), dev);
}
return rslt;
}
int8_t bhy2_klio_get_state(bhy2_klio_sensor_state_t *state, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
if (!dev || !state)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
uint8_t buffer[4];
uint32_t ret_len;
rslt = bhy2_get_parameter(KLIO_PARAM(KLIO_HIF_PARAM_ALGORITHM_STATE), buffer, sizeof(buffer), &ret_len, dev);
if (rslt == BHY2_OK && ret_len == sizeof(buffer))
{
state->learning_enabled = buffer[0];
state->learning_reset = buffer[1];
state->recognition_enabled = buffer[2];
state->recognition_reset = buffer[3];
}
}
return rslt;
}
int8_t bhy2_klio_similarity_score(const uint8_t *first_pattern,
const uint8_t *second_pattern,
const uint16_t size,
float *similarity,
struct bhy2_dev *dev)
{
uint32_t klio_driver_status = 0;
int8_t rslt;
uint32_t ret_len;
bhy2_klio_pattern_transfer_t pattern1 = { 0 }, pattern2 = { 0 };
uint8_t buffer[4];
if (!dev || size > sizeof(pattern1.pattern_data))
{
return BHY2_E_INVALID_PARAM;
}
pattern1.block_size = pattern2.block_size = (uint8_t)size;
pattern1.full_size = pattern2.full_size = size;
memcpy(pattern1.pattern_data, first_pattern, size);
memcpy(pattern2.pattern_data, second_pattern, size);
rslt =
bhy2_set_parameter(KLIO_PARAM(KLIO_HIF_PARAM_PATTERN_SIMILARITY), (uint8_t*)&pattern1, sizeof(pattern1), dev);
if (rslt != BHY2_OK)
{
return rslt;
}
rslt =
bhy2_set_parameter(KLIO_PARAM(KLIO_HIF_PARAM_PATTERN_SIMILARITY), (uint8_t*)&pattern2, sizeof(pattern2), dev);
if (rslt != BHY2_OK)
{
return rslt;
}
/* Wait for similarity calculation to complete. */
rslt = bhy2_klio_read_reset_driver_status(&klio_driver_status, dev);
if (rslt != BHY2_OK || klio_driver_status != KLIO_DRIVER_ERROR_NONE)
{
return BHY2_E_INVALID_PARAM;
}
rslt = bhy2_get_parameter(KLIO_PARAM(KLIO_HIF_PARAM_PATTERN_SIMILARITY), buffer, sizeof(buffer), &ret_len, dev);
if (rslt != BHY2_OK)
{
return rslt;
}
if (ret_len != sizeof(buffer))
{
return BHY2_E_INVALID_PARAM;
}
memcpy(similarity, buffer, sizeof(*similarity));
return BHY2_OK;
}
int8_t bhy2_klio_similarity_score_multiple(const uint8_t idx,
const uint8_t *indexes,
const uint8_t count,
float *similarity,
struct bhy2_dev *dev)
{
uint32_t klio_driver_status;
int8_t rslt;
uint32_t ret_len;
uint32_t buffer_size = sizeof(bhy2_klio_similarity_calculation_t) + count;
buffer_size = BHY2_ROUND_WORD_HIGHER(buffer_size);
uint8_t buffer[256] = { 0 };
if (!indexes || !similarity || !dev)
{
return BHY2_E_NULL_PTR;
}
/* buffer[0-3] values are initialized to zero's to distinguish from regular pattern comparison*/
buffer[4] = idx;
buffer[5] = count;
for (uint8_t i = 0; i < count; i++)
{
buffer[i + 6] = indexes[i];
}
/* Start similarity calculations. */
rslt = bhy2_set_parameter(KLIO_PARAM(KLIO_HIF_PARAM_PATTERN_SIMILARITY), (uint8_t*)buffer, buffer_size, dev);
if (rslt != BHY2_OK)
{
return rslt;
}
/* Wait for similarity calculation to complete. */
rslt = bhy2_klio_read_reset_driver_status(&klio_driver_status, dev);
if (rslt != BHY2_OK || klio_driver_status != KLIO_DRIVER_ERROR_NONE)
{
return BHY2_E_INVALID_PARAM;
}
/* Read similarity results. */
rslt = bhy2_get_parameter(KLIO_PARAM(KLIO_HIF_PARAM_PATTERN_SIMILARITY),
(uint8_t *)similarity,
sizeof(float) * count,
&ret_len,
dev);
if (rslt != BHY2_OK)
{
return rslt;
}
return BHY2_OK;
}
int8_t bhy2_klio_set_parameter(const bhy2_klio_parameter_t id,
const void *parameter_data,
const uint16_t size,
struct bhy2_dev *dev)
{
bhy2_klio_parameter_wrapper_t buffer;
buffer.id = id;
buffer.flags = 0;
buffer.size = (uint8_t)size;
memcpy(buffer.payload.data, parameter_data, size);
/* Size is 3 bytes header and buffer.size then rounded up to a four byte multiple. */
return bhy2_set_parameter(KLIO_PARAM(KLIO_HIF_PARAM_ALGO_DRIVER_PARAMETER),
(uint8_t*)&buffer,
(3 + buffer.size + 3) & ~3,
dev);
}
int8_t bhy2_klio_get_parameter(const bhy2_klio_parameter_t id,
uint8_t *parameter_data,
uint16_t *size,
struct bhy2_dev *dev)
{
uint32_t ret_len;
uint8_t buffer[260] = { 0 };
buffer[0] = id;
int8_t rslt;
/* Size is 3 bytes header and buffer.size then rounded up to a four byte multiple. */
rslt = bhy2_set_parameter(KLIO_PARAM(KLIO_HIF_PARAM_ALGO_DRIVER_PARAMETER), buffer, (3 + buffer[2] + 3) & ~3, dev);
if (rslt != BHY2_OK)
{
return rslt;
}
rslt = bhy2_get_parameter(KLIO_PARAM(KLIO_HIF_PARAM_ALGO_DRIVER_PARAMETER), buffer, sizeof(buffer), &ret_len, dev);
if (rslt != BHY2_OK)
{
return rslt;
}
if (ret_len < 3 || buffer[2] > *size)
{
return BHY2_E_INVALID_PARAM;
}
for (uint16_t i = 3, j = 0; i < buffer[2] + 3; i++, j++)
{
parameter_data[j] = buffer[i];
}
*size = buffer[2];
return BHY2_OK;
}
components/ExternLib/SensorLib/src/bosch/bhy2_klio.h
+227
View File
@@ -0,0 +1,227 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_klio.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef __BHY2_KLIO_H__
#define __BHY2_KLIO_H__
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#include <stdlib.h>
#include "bhy2.h"
#include "bhy2_klio_defs.h"
/*!
* @brief Reads and resets current driver status.
*
* The driver_status will be set to one of the values in
* @ref bhy2_klio_driver_error_state_t. This function will not return a driver
* status of
* @ref bhy2_klio_driver_error_state_t::KLIO_DRIVER_ERROR_OPERATION_PENDING.
* but will retry until the pending operation is finished.
*
* @param[out] driver_status Pointer to uint32_t
* @param[in] dev Device reference.
*
* @return BHY2 API error codes.
*/
int8_t bhy2_klio_read_reset_driver_status(uint32_t *driver_status, struct bhy2_dev *dev);
/*!
* @brief Read learnt pattern.
*
* @param[in] id pattern id (only 0 supported now)
* @param[out] buffer buffer big enough to fit complete pattern fingerprint data
* @param[in,out] length size of buffer, return size of actual pattern data
* @param[in] dev Device reference
*
* @return BHY2 API error codes.
*
* After learning of a new pattern has been signaled by a sensor data event,
* call this function to retrieve the learnt pattern.
*/
int8_t bhy2_klio_read_pattern(const uint8_t id, uint8_t *buffer, uint16_t *length, struct bhy2_dev *dev);
/*!
* @brief Set KLIO algorithm learning and recognition state.
*
* @param[in] state new state for algorithm
* @param[in] dev Device reference
*
* @return BHY2 API error codes.
*
* Writing 1 to the reset fields resets all internal algorithm state and
* removes any patterns loaded for recognition.
*/
int8_t bhy2_klio_set_state(const bhy2_klio_sensor_state_t *state, struct bhy2_dev *dev);
/*!
* @brief Get KLIO algorithm learning and recognition state.
*
* @param[out] state current state for algorithm
* @param[in] dev Device reference
*
* @return BHY2 API error codes.
*
* The resets are always read as 0.
*/
int8_t bhy2_klio_get_state(bhy2_klio_sensor_state_t *state, struct bhy2_dev *dev);
/*!
* @brief Write pattern to recognition algorithm.
*
* @param[in] idx pattern index
* @param[in] pattern_data containing pattern
* @param[in] size pattern size
* @param[in] dev Device reference
*
* @return BHY2 API error codes.
*
* Write a pattern to the specified recognition index. The allowed number of
* recognition patterns may be retrieved using the
* @ref bhy2_klio_parameter::KLIO_PARAM_RECOGNITION_MAX_PATTERNS parameter.
*
* After a pattern is written, it is in disabled state and not used. It must
* be enabled using @ref bhy2_klio_set_pattern_states() before it will be used
* by the recognition algorithm.
*/
int8_t bhy2_klio_write_pattern(const uint8_t idx, const uint8_t *pattern_data, const uint16_t size,
struct bhy2_dev *dev);
/*!
* @brief Sets the specified state for the specified pattern ids.
*
* @param[in] operation operation to perform
* @param[in] pattern_ids ids of pattern(s) to perform operation on
* @param[in] size size of pattern_ids array
* @param[in] dev Device reference
*
* @return BHY2 API error codes.
*/
int8_t bhy2_klio_set_pattern_states(const bhy2_klio_pattern_state_t operation,
const uint8_t *pattern_ids,
const uint16_t size,
struct bhy2_dev *dev);
/*!
* @brief Calculates similarity score between two patterns.
*
* The similariy between patterns is a meassure of the similarity between the
* performed activities or exercises. If the two patterns represent the same
* excercise the similarity will be close to 1.0, and if they are for very
* different excercises, the similarity will be negative.
*
* @param[in] first_pattern Buffer containing first pattern.
* @param[in] second_pattern Buffer containing second pattern.
* @param[in] size Pattern size.
* @param[out] similarity Similarity score.
* @param[in] dev Device reference.
*
* @return BHY2 API error codes.
*/
int8_t bhy2_klio_similarity_score(const uint8_t *first_pattern,
const uint8_t *second_pattern,
const uint16_t size,
float *similarity,
struct bhy2_dev *dev);
/*!
* @brief Calculates similarity score between multiple patterns.
*
* This is more efficient than bhy2_klio_similarity_score() since if the patterns
* are already available on the bhy2, they need not be uploaded again to
* perform the comparison. And several comparisons may be performed with one
* API call.
*
* @param[in] idx Reference pattern.
* @param[in] indexes Buffer containing indexes of patterns to compare reference pattern with.
* @param[in] count Number of patterns in indexes buffer.
* @param[out] similarity Similarity scores (one score for each pattern in indexes buffer).
* @param[in] dev Device reference.
*
* @return BHY2 API error codes.
*/
int8_t bhy2_klio_similarity_score_multiple(const uint8_t idx,
const uint8_t *indexes,
const uint8_t count,
float *similarity,
struct bhy2_dev *dev);
/*!
* @brief Set KLIO algorithm parameter
*
* @param[in] id Parameter to set.
* @param[in] parameter_data Buffer containing new parameter value.
* @param[in] size Parameter size.
* @param[in] dev Device reference.
*
* @return BHY2 API error codes.
*/
int8_t bhy2_klio_set_parameter(const bhy2_klio_parameter_t id,
const void *parameter_data,
const uint16_t size,
struct bhy2_dev *dev);
/*!
* @brief Get KLIO algorithm parameter
*
* @param[in] id Parameter id.
* @param[out] parameter_data Buffer to store parameter data.
* @param[in,out] size Parameter data size.
* @param[in] dev Device reference.
*
* @return BHY2 API error codes.
*
* The expected type or buffer size of parameter_data for respective parameter
* id is specified in the @ref bhy2_klio_parameter_t enum.
*/
int8_t bhy2_klio_get_parameter(const bhy2_klio_parameter_t id,
uint8_t *parameter_data,
uint16_t *size,
struct bhy2_dev *dev);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif
components/ExternLib/SensorLib/src/bosch/bhy2_klio_defs.h
+349
View File
@@ -0,0 +1,349 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_klio_defs.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef __BHY2_KLIO_DEFS_H__
#define __BHY2_KLIO_DEFS_H__
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#define BHY2_SENSOR_ID_KLIO UINT8_C(112)
#define BHY2_SENSOR_ID_KLIO_LOG UINT8_C(127)
#ifndef BHY2_KLIO_PAGE
#define BHY2_KLIO_PAGE UINT16_C(9)
#endif
#define KLIO_PARAM(id) (((BHY2_KLIO_PAGE) << 8) | (id))
/*!
* @enum bhy2_klio_parameter
*
* KLIO algorithm parameters
*
* @var bhy2_klio_parameter::KLIO_PARAM_ALGORITHM_VERSION
* Algorithm version. (read)
* @code{.c} char version[244]; @endcode
*
* @var bhy2_klio_parameter::KLIO_PARAM_RECOGNITION_RESPONSIVNESS
* The approximate number of cycles / repetitions for recognition to recognize
* an activity. (read / write)
* @code{.c} float cycle_fraction; @endcode
*
* @var bhy2_klio_parameter::KLIO_PARAM_PATTERN_BLOB_SIZE
* Pattern blob size in bytes. (read)
* @code{.c} uint16_t pattern_blob_size; @endcode
*
* @var bhy2_klio_parameter::KLIO_PARAM_RECOGNITION_MAX_PATTERNS
* Read Maximum number of patterns. (read)
* @code{.c} uint16_t recognition_max_patterns; @endcode
*
* @var bhy2_klio_parameter::KLIO_PARAM_LEARNING_IGNORE_INSIG_MOVEMENT
* Flag if insignificant movements should be ignored in learning. Value 0 or 1. (read / write)
* @code{.c} uint8_t ignore_insig_movement; @endcode
*/
typedef enum
{
KLIO_PARAM_ALGORITHM_VERSION = 0,
KLIO_PARAM_RECOGNITION_SENSITIVITY = 1,
KLIO_PARAM_RECOGNITION_RESPONSIVNESS = 2,
KLIO_PARAM_LEARNING_SPEED = 3,
KLIO_PARAM_LEARNING_SIMILARITY_THRESHOLD = 4,
KLIO_PARAM_LEARNING_FREQUENCIES = 5,
KLIO_PARAM_LEARNING_PROGRESS = 6,
KLIO_PARAM_PATTERN_BLOB_SIZE = 7,
KLIO_PARAM_RECOGNITION_MAX_PATTERNS = 8,
KLIO_PARAM_INPUT_SENSORS = 9,
KLIO_PARAM_LEARNING_IGNORE_INSIG_MOVEMENT = 10
} bhy2_klio_parameter_t;
/*!
*
* @brief Convenience wrapper used in bhy2_klio.c algo parameter wrapper.
*
*/
typedef struct
{
uint8_t id;
uint8_t flags;
uint8_t size;
union
{
uint8_t data[244];
char version[244];
float cycle_fraction;
uint16_t pattern_blob_size;
uint16_t recognition_max_patterns;
uint8_t ignore_insig_movement;
} BHY2_PACKED payload;
} BHY2_PACKED bhy2_klio_parameter_wrapper_t;
/*!
*
* @brief bhy2 klio state structure
*
*/
typedef struct
{
uint8_t learning_enabled; /*!< 0 - disable learning, 1 - enable learning. */
uint8_t learning_reset; /*!< 0 - nop, 1 - reset learning. Always read as 0. */
uint8_t recognition_enabled; /*!< 0 - disable recognition, 1 - enable recognition. */
uint8_t recognition_reset; /*!< 0 - nop, 1 - reset learning. Always read as 0. */
} BHY2_PACKED bhy2_klio_sensor_state_t;
typedef struct
{
uint8_t instance;
/*!
* A value of -1 means no new learning has occurred. If the value is >= 0,
* then a new pattern has been learnt, and reading of this pattern may be
* performed.
*/
int8_t index;
/*!
* While learning a new pattern, this field counts from 0 to 100. When 100 is
* reached a new pattern will be learnt. If learning is interrupted, this
* progress will return to 0, and change reason will be set to indicate
* why learning was interrupted.
*/
uint8_t progress;
/*!
* | Value | Description |
* |:-----:|:-----------------------------------------------------------------------|
* | 0 | Learning is progressing. |
* | 1 | Learning was interrupted by a non-repetitive activity. |
* | 2 | Learning was interrupted because no significant movement was detected. |
*/
uint8_t change_reason;
} BHY2_PACKED bhy2_klio_sensor_frame_learning_t;
typedef struct
{
uint8_t instance;
/*! The index of the recognized activity. 255 means no activity was
* recognized. */
uint8_t index;
/*! The current repetition count of the recognized activity. */
float count;
} BHY2_PACKED bhy2_klio_sensor_frame_recognition_t;
/*!
*
* @brief bhy2 klio combined data structure
*
* When the algorithm generates a new data frame, it is sent in this structure.
*
*/
typedef struct
{
bhy2_klio_sensor_frame_learning_t learn;
bhy2_klio_sensor_frame_recognition_t recognize;
} BHY2_PACKED bhy2_klio_sensor_frame_t;
/*!
*
* @brief bhy2 klio sensor log frame
*
* When the algorithm consumes a new set of samples, it is sent in this structure.
*
*/
typedef struct
{
float timestamp;
float accel[3];
float gyro[3];
} BHY2_PACKED bhy2_klio_log_frame_t;
/*!
*
* @brief bhy2 klio pattern transfer format
*
*/
typedef struct
{
uint8_t block_id; /*!< Write as 0. */
uint8_t block_size; /*!< Write as 0. */
/*! Size of pattern_data in bytes. The size of patterns may be obtained
using the @ref bhy2_klio_parameter::KLIO_PARAM_PATTERN_BLOB_SIZE
parameter. */
uint16_t full_size;
/*! Id of pattern to write. */
uint8_t pattern_id;
/*! Actual pattern data describing the exercise. */
uint8_t pattern_data[244];
} BHY2_PACKED bhy2_klio_pattern_transfer_t;
/*!
*
* @brief Convenience wrapper used by @ref bhy2_klio_similarity_score_multiple().
*
*/
typedef struct
{
uint32_t zero;
uint8_t index;
uint8_t count;
uint8_t *indexes;
} BHY2_PACKED bhy2_klio_similarity_calculation_t;
/*!
*
* @brief Convenience wrapper used by @ref bhy2_klio_set_pattern_states().
*
*/
typedef struct
{
uint8_t operation;
uint8_t count;
uint8_t *indexes;
} BHY2_PACKED bhy2_klio_pattern_state_op_t;
/*!
* KLIO pattern state
*/
typedef enum
{
/*!< disable pattern */
KLIO_PATTERN_STATE_DISABLE = 0,
/*!< enable pattern */
KLIO_PATTERN_STATE_ENABLE = 1,
/*!< switch hand */
KLIO_PATTERN_STATE_SWITCH_HAND = 2,
/*!< disable adaptive pattern */
KLIO_PATTERN_STATE_AP_DISABLE = 3
} bhy2_klio_pattern_state_t;
/*!
* @brief KLIO host interface parameter identifiers.
*
* The parameter id used when calling the BHY2 functions directly. E.g. to read the driver status this may be used.
*
* ~~~{.c}
* uint32_t klio_driver_status = 0;
* uint32_t ret_len = 0;
* int8_t rslt = bhy2_get_parameter(KLIO_PARAM(KLIO_HIF_PARAM_DRIVER_STATUS),
* (uint8_t*)&klio_driver_status,
* sizeof(klio_driver_status),
* &ret_len,
* dev);
* if (rslt != BHY2_OK)
* {
* return rslt;
* }
* ~~~
*/
typedef enum
{
/*!< Read and write algorighm state. */
KLIO_HIF_PARAM_ALGORITHM_STATE = 0,
/*!< Read and write patterns. */
KLIO_HIF_PARAM_PATTERN = 1,
/*!< Read and write algorithm parameters. */
KLIO_HIF_PARAM_ALGO_DRIVER_PARAMETER = 2,
KLIO_HIF_PARAM_STATISTIC = 3,
KLIO_HIF_PARAM_PATTERN_STATE = 4,
/*!< Perform pattern similarity. */
KLIO_HIF_PARAM_PATTERN_SIMILARITY = 5,
KLIO_HIF_PARAM_PATTERN_COMBINING = 6,
/*!< Read driver status. */
KLIO_HIF_PARAM_DRIVER_STATUS = 7
} bhy2_klio_hif_parameter_t;
/*!
* KLIO driver error codes
*/
typedef enum
{
/*!< No error. */
KLIO_DRIVER_ERROR_NONE = 0,
/*!< Invalid parameter. */
KLIO_DRIVER_ERROR_INVALID_PARAMETER = 1,
/*!< Parameter out of range. */
KLIO_DRIVER_ERROR_PARAMETER_OUT_OF_RANGE = 2,
/*!
* Invalid pattern operation. E.g. trying to read a learnt pattern when no
* pattern has been learnt, or trying to write an invalid pattern.
*/
KLIO_DRIVER_ERROR_INVALID_PATTERN_OPERATION = 3,
/*!< Not implemented. */
KLIO_DRIVER_ERROR_NOT_IMPLEMENTED = 4,
/*!< Insufficient buffer size */
KLIO_DRIVER_ERROR_BUFSIZE = 5,
/*!< Internal error. */
KLIO_DRIVER_ERROR_INTERNAL = 6,
/*!< Undefined error */
KLIO_DRIVER_ERROR_UNDEFINED = 7,
/*!
* Previous operation is still progressing. Read driver status again until
* operation is finished.
*/
KLIO_DRIVER_ERROR_OPERATION_PENDING = 8
} bhy2_klio_driver_error_state_t;
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* __BHY2_KLIO_DEFS_H__ */
components/ExternLib/SensorLib/src/bosch/bhy2_parse.c
+115
View File
@@ -0,0 +1,115 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_parse.c
* @date 2023-03-24
* @version v1.6.0
*
*/
#include "bhy2.h"
#include "bhy2_parse.h"
#include <math.h>
void bhy2_parse_temperature_celsius(const uint8_t *data, bhy2_float *temperature)
{
/* 1 LSB = 1/100 degC */
float scale_factor = (float)1 / 100;
*temperature = BHY2_LE2S16(data) * scale_factor;
}
void bhy2_parse_humidity(const uint8_t *data, bhy2_float *humidity)
{
float scale_factor = (float)1;
*humidity = data[0] * scale_factor;
}
void bhy2_parse_pressure(const uint8_t *data, bhy2_float *pressure)
{
/* 1 LSB = 1/128 Pa */
float scale_factor = (float)1 / 128;
*pressure = (float)BHY2_LE2U24(data) * scale_factor;
}
void bhy2_parse_altitude(const uint8_t *data, bhy2_float *altitude)
{
*altitude = (float)(data[0] | ((uint32_t)data[1] << 8) | ((uint32_t)data[2] << 16) | ((uint32_t)data[3] << 24));
}
void bhy2_parse_quaternion(const uint8_t *data, struct bhy2_data_quaternion *quaternion)
{
quaternion->x = BHY2_LE2S16(data);
quaternion->y = BHY2_LE2S16(data + 2);
quaternion->z = BHY2_LE2S16(data + 4);
quaternion->w = BHY2_LE2S16(data + 6);
quaternion->accuracy = BHY2_LE2U16(data + 8);
}
void bhy2_parse_xyz(const uint8_t *data, struct bhy2_data_xyz *vector)
{
vector->x = BHY2_LE2S16(data);
vector->y = BHY2_LE2S16(data + 2);
vector->z = BHY2_LE2S16(data + 4);
}
void bhy2_parse_orientation(const uint8_t *data, struct bhy2_data_orientation *orientation)
{
orientation->heading = BHY2_LE2S16(data);
orientation->pitch = BHY2_LE2S16(data + 2);
orientation->roll = BHY2_LE2S16(data + 4);
}
uint32_t bhy2_parse_step_counter(const uint8_t *data)
{
return (uint32_t)(data[0] | ((uint32_t)data[1] << 8) | ((uint32_t)data[2] << 16) | ((uint32_t)data[3] << 24));
}
void bhy2_quaternion_to_euler(const uint8_t *data, float *roll, float *pitch, float *yaw)
{
float w, x, y, z;
struct bhy2_data_quaternion quaternion;
bhy2_parse_quaternion(data, &quaternion);
w = quaternion.w / 16384.0f;
x = quaternion.x / 16384.0f;
y = quaternion.y / 16384.0f;
z = quaternion.z / 16384.0f;
*roll = atan2(2 * (w * x + y * z), 1 - 2 * (x * x + y * y));
*pitch = asin(2 * (w * y - z * x));
*yaw = atan2(2 * (w * z + x * y), 1 - 2 * (y * y + z * z));
// Convert radians to degrees
*roll = *roll * (180.0 / M_PI);
*pitch = *pitch * (180.0 / M_PI);
*yaw = *yaw * (180.0 / M_PI);
}
components/ExternLib/SensorLib/src/bosch/bhy2_parse.h
+124
View File
@@ -0,0 +1,124 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_parse.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef __BHY2_PARSE_H__
#define __BHY2_PARSE_H__
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include "bhy2.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
/**
* @brief Function to parse FIFO frame data into temperature
* @param[in] data : Reference to the data buffer storing data from the FIFO
* @param[out] temperature : Reference to the data buffer to store temperature in degree C
*/
void bhy2_parse_temperature_celsius(const uint8_t *data, bhy2_float *temperature);
/**
* @brief Function to parse FIFO frame data into humidity
* @param[in] data : Reference to the data buffer storing data from the FIFO
* @param[out] humidity : Reference to the data buffer to store humidity in %
*/
void bhy2_parse_humidity(const uint8_t *data, bhy2_float *humidity);
/**
* @brief Function to parse FIFO frame data into barometric pressure
* @param[in] data : Reference to the data buffer storing data from the FIFO
* @param[out] pressure : Reference to the data buffer to store pressure in Pascals
*/
void bhy2_parse_pressure(const uint8_t *data, bhy2_float *pressure);
/**
* @brief Function to parse FIFO frame data into altitude
* @param[in] data : Reference to the data buffer storing data from the FIFO
* @param[out] altitude : Reference to the data buffer to store altitude
*/
void bhy2_parse_altitude(const uint8_t *data, bhy2_float *altitude);
/**
* @brief Function to parse FIFO frame data into quaternion
* @param[in] data : Reference to the data buffer storing data from the FIFO
* @param[out] quaternion : Reference to the data buffer to store quaternion
*/
void bhy2_parse_quaternion(const uint8_t *data, struct bhy2_data_quaternion *quaternion);
/**
* @brief Function to parse FIFO frame data into orientation
* @param[in] data : Reference to the data buffer storing data from the FIFO
* @param[out] orientation : Reference to the data buffer to store orientation
*/
void bhy2_parse_orientation(const uint8_t *data, struct bhy2_data_orientation *orientation);
/**
* @brief Function to parse FIFO frame data into 3 axes vector
* @param[in] data : Reference to the data buffer storing data from the FIFO
* @param[out] vector : Reference to the data buffer to store vector
*/
void bhy2_parse_xyz(const uint8_t *data, struct bhy2_data_xyz *vector);
/**
* @brief Function to parse FIFO frame data into step counter
* @param[in] data : Reference to the data buffer storing data from the FIFO
* @return[out] : Reference to the data buffer to step counter
*/
uint32_t bhy2_parse_step_counter(const uint8_t *data);
/**
* @brief Function converts quaternion to Euler angle
* @param *data: Quaternions data
* @param *roll: Data pointer
* @param *pitch: Data pointer
* @param *yaw: Data pointer
* @retval None
*/
void bhy2_quaternion_to_euler(const uint8_t *data, float *roll, float *pitch, float *yaw);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* __BHY2_PARSE_H__ */
components/ExternLib/SensorLib/src/bosch/bhy2_swim.c
+203
View File
@@ -0,0 +1,203 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_swim.c
* @date 2023-03-24
* @version v1.6.0
*
*/
/*********************************************************************/
/* system header files */
/*********************************************************************/
#include <string.h>
#include <stdio.h>
/*********************************************************************/
/* BHY2 SensorAPI header files */
/*********************************************************************/
#include "bhy2.h"
/*********************************************************************/
/* own header files */
/*********************************************************************/
#include "bhy2_swim.h"
/*!
* @brief This API writes to the configuration parameter
* Config parameters are pool length and handedness
*
* @param[in] buffer to store swim configuration
* @param[out] dev hub handle.
*
* @return rslt execution result.
*/
int8_t bhy2_swim_set_config(const void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
/*! Length of the configuration is 4 bytes */
uint32_t length = BHY2_SWIM_DATA_LENGTH;
/*! Swim Parameter page with offset 0 used for swim configuration*/
uint16_t param = BHY2_SWIM_CONFIG_PARAM;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Set the swim configuration parameter */
rslt = bhy2_set_parameter(param, (uint8_t *)buffer, length, dev);
}
return rslt;
}
/*!
* @brief To get the SWIM configuration parameters like swim length and handedness
*
* @param[out] buffer to store swim configuration
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhy2_swim_get_config(void *buffer, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
/*! Length of the configuration is 4 bytes */
uint32_t length = BHY2_SWIM_DATA_LENGTH;
uint32_t ret_length;
/*! Swim Parameter page with offset 0 used to store swim configuration*/
uint16_t param = BHY2_SWIM_CONFIG_PARAM;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the swim configuration from the parameter page*/
rslt = bhy2_get_parameter(param, buffer, length, &ret_length, dev);
if ((rslt == BHY2_OK) && (ret_length != BHY2_SWIM_DATA_LENGTH))
{
/*! Invalid number of parameters readout */
rslt = BHY2_E_INVALID_EVENT_SIZE;
}
}
return rslt;
}
/*!
* @brief To get the SWIM Algorithm version
*
* @param[out] buffer to store version data
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhy2_swim_get_version(bhy2_swim_version_t *version, struct bhy2_dev *dev)
{
int8_t rslt = BHY2_OK;
/*! Buffer to store the swim version */
uint8_t buffer[4];
/*! Length of the configuration is 4 */
uint32_t length = BHY2_SWIM_DATA_LENGTH;
uint32_t ret_length;
/*! Swim Parameter page with offset 1 used to store swim algorithm version*/
uint16_t param = BHY2_SWIM_VERSION;
if (dev == NULL)
{
rslt = BHY2_E_NULL_PTR;
}
else
{
/*! Get the swim version from the parameter page */
rslt = bhy2_get_parameter(param, buffer, length, &ret_length, dev);
if ((rslt == BHY2_OK) && (ret_length != BHY2_SWIM_DATA_LENGTH))
{
/*! Invalid number of parameters readout */
rslt = BHY2_E_INVALID_EVENT_SIZE;
}
else
{
version->improvement = buffer[0];
version->platform = buffer[1];
version->bugfix = buffer[2];
}
}
return rslt;
}
/*!
* @brief Parsing the fifo data to SWIM output structure format
*
* @param[in] Swim data
* @param[out] bhy2_swim_aglo_output to store parameter data
*
* @return API error codes
*
*/
int8_t bhy2_swim_parse_data(const uint8_t *data, struct bhy2_swim_algo_output* output)
{
int8_t rslt = BHY2_OK;
if ((data == NULL) || (output == NULL))
{
rslt = BHY2_E_NULL_PTR;
}
else
{
output->total_distance = BHY2_LE2U16(data);
output->length_count = BHY2_LE2U16(data + 2);
output->lengths_freestyle = BHY2_LE2U16(data + 4);
output->lengths_breaststroke = BHY2_LE2U16(data + 6);
output->lengths_butterfly = BHY2_LE2U16(data + 8);
output->lengths_backstroke = BHY2_LE2U16(data + 10);
output->stroke_count = BHY2_LE2U16(data + 12);
}
return rslt;
}
components/ExternLib/SensorLib/src/bosch/bhy2_swim.h
+101
View File
@@ -0,0 +1,101 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_swim.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef _BHY2_SWIM_H_
#define _BHY2_SWIM_H_
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
#include <stdlib.h>
#include "bhy2.h"
#include "bhy2_swim_defs.h"
/*!
* @brief Parsing the fifo data to SWIM output structure format
*
* @param[in] data parameter
* @param[out] bhy2_swim_aglo_output to store parameter data
*
* @return API error codes
*
*/
int8_t bhy2_swim_parse_data(const uint8_t *data, struct bhy2_swim_algo_output *output);
/*!
* @brief To get the SWIM configuration parameters like swim length and handedness
*
* @param[out] buffer to store parameter data
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhy2_swim_get_config(void *buffer, struct bhy2_dev *dev);
/*!
* @brief To get the SWIM Algorithm version
*
* @param[out] buffer to store version data
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhy2_swim_get_version(bhy2_swim_version_t *buffer, struct bhy2_dev *dev);
/*!
* @brief To set the SWIM configuration parameters like swim length and handedness
* @param[out] buffer to store parameter data
* @param[in] dev hub handle
*
* @return status code, BHY_HIF_E_SUCCESS in case of success
*
*/
int8_t bhy2_swim_set_config(const void *buffer, struct bhy2_dev *dev);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* _BHY2_SWIM_H_ */
components/ExternLib/SensorLib/src/bosch/bhy2_swim_defs.h
+126
View File
@@ -0,0 +1,126 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file bhy2_swim_defs.h
* @date 2023-03-24
* @version v1.6.0
*
*/
#ifndef _BHY2_SWIM_DEFS_H_
#define _BHY2_SWIM_DEFS_H_
/* Start of CPP Guard */
#ifdef __cplusplus
extern "C" {
#endif /*__cplusplus */
#include <stdint.h>
/*! Sensor ID for Swim */
#define BHY2_SENSOR_ID_SWIM UINT8_C(114)
/*! Swim Parameter Page Base Address*/
#define BHY2_SWIM_PAGE UINT16_C(0x0B)
/*! Swim Configuration pages */
#define BHY2_SWIM_CONFIG_PARAM (BHY2_SWIM_PAGE << 8)
#define BHY2_SWIM_VERSION ((BHY2_SWIM_PAGE << 8) | 1)
/*! Swim configurations enable/ disable from parameter page */
#define BHY2_SWIM_ENABLE_CONFIG UINT8_C(1)
#define BHY2_SWIM_DISABLE_CONFIG UINT8_C(0)
/*! Device in left/right hand */
#define BHY2_SWIM_DEVICE_ON_LEFT_HAND UINT8_C(1)
#define BHY2_SWIM_DEVICE_ON_RIGHT_HAND UINT8_C(0)
/*! Pool length */
#define BHY2_SWIM_POOL_LENGTH_25M UINT8_C(25)
#define BHY2_SWIM_POOL_LENGTH_50M UINT8_C(50)
#define BHY2_SWIM_DATA_LENGTH UINT8_C(4)
/*!
* bhy2 swim algo parameter.
*/
typedef struct bhy2_swim_config_param
{
uint8_t update_swim_config;
uint8_t dev_on_left_hand;
uint8_t pool_length_integral;
uint8_t pool_length_floating;
} __attribute__ ((packed)) bhy2_swim_config_param_t;
/*!
* swim output structure
*/
typedef struct bhy2_swim_algo_output
{
uint16_t total_distance;
uint16_t length_count;
uint16_t lengths_freestyle;
uint16_t lengths_breaststroke;
uint16_t lengths_butterfly;
uint16_t lengths_backstroke;
uint16_t stroke_count;
} __attribute__ ((packed)) bhy2_swim_algo_output_t;
/*!
* callback data capturing structure
*/
typedef struct bhy2_swim_data_parse
{
uint8_t sensor_id;
uint8_t data_size;
uint8_t *data_ptr;
uint64_t *time_stamp;
} bhy2_swim_data_parse_t;
/*! @brief structure definition to hold the version information of the software */
typedef struct bhy2_swim_version
{
uint8_t improvement;
uint8_t platform;
uint8_t bugfix;
uint8_t optional;
} bhy2_swim_version_t;
typedef void (*bhy2_swim_algo_callback)(uint32_t seconds, uint32_t nanoseconds,
const struct bhy2_swim_data_parse *callback_info);
/* End of CPP Guard */
#ifdef __cplusplus
}
#endif /*__cplusplus */
#endif /* _BHY2_SWIM_DEFS_H_ */
components/ExternLib/SensorLib/src/bosch/common/common.cpp
+975
View File
@@ -0,0 +1,975 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file common.c
* @brief Common source file for the BHy260 examples
* @note Adapting Arduino based on BHY2-Sensor-API by lewis
*/
#include "common.h"
#include "bosch/bhy2_parse.h"
#include "bosch/bhy2.h"
void time_to_s_ns(uint64_t time_ticks, uint32_t *s, uint32_t *ns, uint64_t *tns)
{
*tns = time_ticks * 15625; /* timestamp is now in nanoseconds */
*s = (uint32_t)(*tns / UINT64_C(1000000000));
*ns = (uint32_t)(*tns - ((*s) * UINT64_C(1000000000)));
}
const char *get_api_error(int8_t error_code)
{
const char *ret;
switch (error_code) {
case BHY2_OK:
ret = "[API Success]";
break;
case BHY2_E_NULL_PTR:
ret = "[API Error] Null pointer";
break;
case BHY2_E_INVALID_PARAM:
ret = "[API Error] Invalid parameter";
break;
case BHY2_E_IO:
ret = "[API Error] IO error";
break;
case BHY2_E_MAGIC:
ret = "[API Error] Invalid firmware";
break;
case BHY2_E_TIMEOUT:
ret = "[API Error] Timed out";
break;
case BHY2_E_BUFFER:
ret = "[API Error] Invalid buffer";
break;
case BHY2_E_INVALID_FIFO_TYPE:
ret = "[API Error] Invalid FIFO type";
break;
case BHY2_E_INVALID_EVENT_SIZE:
ret = "[API Error] Invalid Event size";
break;
case BHY2_E_PARAM_NOT_SET:
ret = "[API Error] Parameter not set";
break;
default:
ret = "[API Error] Unknown API error code";
}
return ret;
}
const char *get_sensor_error_text(uint8_t sensor_error)
{
const char *ret;
switch (sensor_error) {
case 0x00:
break;
case 0x10:
ret = "[Sensor error] Bootloader reports: Firmware Expected Version Mismatch";
break;
case 0x11:
ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Header CRC";
break;
case 0x12:
ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: SHA Hash Mismatch";
break;
case 0x13:
ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Image CRC";
break;
case 0x14:
ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: ECDSA Signature Verification Failed";
break;
case 0x15:
ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Bad Public Key CRC";
break;
case 0x16:
ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: Signed Firmware Required";
break;
case 0x17:
ret = "[Sensor error] Bootloader reports: Firmware Upload Failed: FW Header Missing";
break;
case 0x19:
ret = "[Sensor error] Bootloader reports: Unexpected Watchdog Reset";
break;
case 0x1A:
ret = "[Sensor error] ROM Version Mismatch";
break;
case 0x1B:
ret = "[Sensor error] Bootloader reports: Fatal Firmware Error";
break;
case 0x1C:
ret = "[Sensor error] Chained Firmware Error: Next Payload Not Found";
break;
case 0x1D:
ret = "[Sensor error] Chained Firmware Error: Payload Not Valid";
break;
case 0x1E:
ret = "[Sensor error] Chained Firmware Error: Payload Entries Invalid";
break;
case 0x1F:
ret = "[Sensor error] Bootloader reports: Bootloader Error: OTP CRC Invalid";
break;
case 0x20:
ret = "[Sensor error] Firmware Init Failed";
break;
case 0x21:
ret = "[Sensor error] Sensor Init Failed: Unexpected Device ID";
break;
case 0x22:
ret = "[Sensor error] Sensor Init Failed: No Response from Device";
break;
case 0x23:
ret = "[Sensor error] Sensor Init Failed: Unknown";
break;
case 0x24:
ret = "[Sensor error] Sensor Error: No Valid Data";
break;
case 0x25:
ret = "[Sensor error] Slow Sample Rate";
break;
case 0x26:
ret = "[Sensor error] Data Overflow (saturated sensor data)";
break;
case 0x27:
ret = "[Sensor error] Stack Overflow";
break;
case 0x28:
ret = "[Sensor error] Insufficient Free RAM";
break;
case 0x29:
ret = "[Sensor error] Sensor Init Failed: Driver Parsing Error";
break;
case 0x2A:
ret = "[Sensor error] Too Many RAM Banks Required";
break;
case 0x2B:
ret = "[Sensor error] Invalid Event Specified";
break;
case 0x2C:
ret = "[Sensor error] More than 32 On Change";
break;
case 0x2D:
ret = "[Sensor error] Firmware Too Large";
break;
case 0x2F:
ret = "[Sensor error] Invalid RAM Banks";
break;
case 0x30:
ret = "[Sensor error] Math Error";
break;
case 0x40:
ret = "[Sensor error] Memory Error";
break;
case 0x41:
ret = "[Sensor error] SWI3 Error";
break;
case 0x42:
ret = "[Sensor error] SWI4 Error";
break;
case 0x43:
ret = "[Sensor error] Illegal Instruction Error";
break;
case 0x44:
ret = "[Sensor error] Bootloader reports: Unhandled Interrupt Error / Exception / Postmortem Available";
break;
case 0x45:
ret = "[Sensor error] Invalid Memory Access";
break;
case 0x50:
ret = "[Sensor error] Algorithm Error: BSX Init";
break;
case 0x51:
ret = "[Sensor error] Algorithm Error: BSX Do Step";
break;
case 0x52:
ret = "[Sensor error] Algorithm Error: Update Sub";
break;
case 0x53:
ret = "[Sensor error] Algorithm Error: Get Sub";
break;
case 0x54:
ret = "[Sensor error] Algorithm Error: Get Phys";
break;
case 0x55:
ret = "[Sensor error] Algorithm Error: Unsupported Phys Rate";
break;
case 0x56:
ret = "[Sensor error] Algorithm Error: Cannot find BSX Driver";
break;
case 0x60:
ret = "[Sensor error] Sensor Self-Test Failure";
break;
case 0x61:
ret = "[Sensor error] Sensor Self-Test X Axis Failure";
break;
case 0x62:
ret = "[Sensor error] Sensor Self-Test Y Axis Failure";
break;
case 0x64:
ret = "[Sensor error] Sensor Self-Test Z Axis Failure";
break;
case 0x65:
ret = "[Sensor error] FOC Failure";
break;
case 0x66:
ret = "[Sensor error] Sensor Busy";
break;
case 0x6F:
ret = "[Sensor error] Self-Test or FOC Test Unsupported";
break;
case 0x72:
ret = "[Sensor error] No Host Interrupt Set";
break;
case 0x73:
ret = "[Sensor error] Event ID Passed to Host Interface Has No Known Size";
break;
case 0x75:
ret = "[Sensor error] Host Download Channel Underflow (Host Read Too Fast)";
break;
case 0x76:
ret = "[Sensor error] Host Upload Channel Overflow (Host Wrote Too Fast)";
break;
case 0x77:
ret = "[Sensor error] Host Download Channel Empty";
break;
case 0x78:
ret = "[Sensor error] DMA Error";
break;
case 0x79:
ret = "[Sensor error] Corrupted Input Block Chain";
break;
case 0x7A:
ret = "[Sensor error] Corrupted Output Block Chain";
break;
case 0x7B:
ret = "[Sensor error] Buffer Block Manager Error";
break;
case 0x7C:
ret = "[Sensor error] Input Channel Not Word Aligned";
break;
case 0x7D:
ret = "[Sensor error] Too Many Flush Events";
break;
case 0x7E:
ret = "[Sensor error] Unknown Host Channel Error";
break;
case 0x81:
ret = "[Sensor error] Decimation Too Large";
break;
case 0x90:
ret = "[Sensor error] Master SPI/I2C Queue Overflow";
break;
case 0x91:
ret = "[Sensor error] SPI/I2C Callback Error";
break;
case 0xA0:
ret = "[Sensor error] Timer Scheduling Error";
break;
case 0xB0:
ret = "[Sensor error] Invalid GPIO for Host IRQ";
break;
case 0xB1:
ret = "[Sensor error] Error Sending Initialized Meta Events";
break;
case 0xC0:
ret = "[Sensor error] Bootloader reports: Command Error";
break;
case 0xC1:
ret = "[Sensor error] Bootloader reports: Command Too Long";
break;
case 0xC2:
ret = "[Sensor error] Bootloader reports: Command Buffer Overflow";
break;
case 0xD0:
ret = "[Sensor error] User Mode Error: Sys Call Invalid";
break;
case 0xD1:
ret = "[Sensor error] User Mode Error: Trap Invalid";
break;
case 0xE1:
ret = "[Sensor error] Firmware Upload Failed: Firmware header corrupt";
break;
case 0xE2:
ret = "[Sensor error] Sensor Data Injection: Invalid input stream";
break;
default:
ret = "[Sensor error] Unknown error code";
}
return ret;
}
const char *get_sensor_name(uint8_t sensor_id)
{
const char *ret;
switch (sensor_id) {
case BHY2_SENSOR_ID_ACC_PASS:
ret = "Accelerometer passthrough";
break;
case BHY2_SENSOR_ID_ACC_RAW:
ret = "Accelerometer uncalibrated";
break;
case BHY2_SENSOR_ID_ACC:
ret = "Accelerometer corrected";
break;
case BHY2_SENSOR_ID_ACC_BIAS:
ret = "Accelerometer offset";
break;
case BHY2_SENSOR_ID_ACC_WU:
ret = "Accelerometer corrected wake up";
break;
case BHY2_SENSOR_ID_ACC_RAW_WU:
ret = "Accelerometer uncalibrated wake up";
break;
case BHY2_SENSOR_ID_GYRO_PASS:
ret = "Gyroscope passthrough";
break;
case BHY2_SENSOR_ID_GYRO_RAW:
ret = "Gyroscope uncalibrated";
break;
case BHY2_SENSOR_ID_GYRO:
ret = "Gyroscope corrected";
break;
case BHY2_SENSOR_ID_GYRO_BIAS:
ret = "Gyroscope offset";
break;
case BHY2_SENSOR_ID_GYRO_WU:
ret = "Gyroscope wake up";
break;
case BHY2_SENSOR_ID_GYRO_RAW_WU:
ret = "Gyroscope uncalibrated wake up";
break;
case BHY2_SENSOR_ID_MAG_PASS:
ret = "Magnetometer passthrough";
break;
case BHY2_SENSOR_ID_MAG_RAW:
ret = "Magnetometer uncalibrated";
break;
case BHY2_SENSOR_ID_MAG:
ret = "Magnetometer corrected";
break;
case BHY2_SENSOR_ID_MAG_BIAS:
ret = "Magnetometer offset";
break;
case BHY2_SENSOR_ID_MAG_WU:
ret = "Magnetometer wake up";
break;
case BHY2_SENSOR_ID_MAG_RAW_WU:
ret = "Magnetometer uncalibrated wake up";
break;
case BHY2_SENSOR_ID_GRA:
ret = "Gravity vector";
break;
case BHY2_SENSOR_ID_GRA_WU:
ret = "Gravity vector wake up";
break;
case BHY2_SENSOR_ID_LACC:
ret = "Linear acceleration";
break;
case BHY2_SENSOR_ID_LACC_WU:
ret = "Linear acceleration wake up";
break;
case BHY2_SENSOR_ID_RV:
ret = "Rotation vector";
break;
case BHY2_SENSOR_ID_RV_WU:
ret = "Rotation vector wake up";
break;
case BHY2_SENSOR_ID_GAMERV:
ret = "Game rotation vector";
break;
case BHY2_SENSOR_ID_GAMERV_WU:
ret = "Game rotation vector wake up";
break;
case BHY2_SENSOR_ID_GEORV:
ret = "Geo-magnetic rotation vector";
break;
case BHY2_SENSOR_ID_GEORV_WU:
ret = "Geo-magnetic rotation vector wake up";
break;
case BHY2_SENSOR_ID_ORI:
ret = "Orientation";
break;
case BHY2_SENSOR_ID_ORI_WU:
ret = "Orientation wake up";
break;
case BHY2_SENSOR_ID_ACC_BIAS_WU:
ret = "Accelerometer offset wake up";
break;
case BHY2_SENSOR_ID_GYRO_BIAS_WU:
ret = "Gyroscope offset wake up";
break;
case BHY2_SENSOR_ID_MAG_BIAS_WU:
ret = "Magnetometer offset wake up";
break;
case BHY2_SENSOR_ID_TEMP:
ret = "Temperature";
break;
case BHY2_SENSOR_ID_BARO:
ret = "Barometer";
break;
case BHY2_SENSOR_ID_HUM:
ret = "Humidity";
break;
case BHY2_SENSOR_ID_GAS:
ret = "Gas";
break;
case BHY2_SENSOR_ID_TEMP_WU:
ret = "Temperature wake up";
break;
case BHY2_SENSOR_ID_BARO_WU:
ret = "Barometer wake up";
break;
case BHY2_SENSOR_ID_HUM_WU:
ret = "Humidity wake up";
break;
case BHY2_SENSOR_ID_GAS_WU:
ret = "Gas wake up";
break;
case BHY2_SENSOR_ID_KLIO:
ret = "Klio";
break;
case BHY2_SENSOR_ID_KLIO_LOG:
ret = "Klio log";
break;
case BHY2_SENSOR_ID_SWIM:
ret = "Swim recognition";
break;
case BHY2_SENSOR_ID_SI_ACCEL:
ret = "SI Accel";
break;
case BHY2_SENSOR_ID_SI_GYROS:
ret = "SI Gyro";
break;
case BHY2_SENSOR_ID_LIGHT:
ret = "Light";
break;
case BHY2_SENSOR_ID_LIGHT_WU:
ret = "Light wake up";
break;
case BHY2_SENSOR_ID_PROX:
ret = "Proximity";
break;
case BHY2_SENSOR_ID_PROX_WU:
ret = "Proximity wake up";
break;
case BHY2_SENSOR_ID_STC:
ret = "Step counter";
break;
case BHY2_SENSOR_ID_STC_WU:
ret = "Step counter wake up";
break;
case BHY2_SENSOR_ID_STC_LP:
ret = "Low Power Step counter";
break;
case BHY2_SENSOR_ID_STC_LP_WU:
ret = "Low Power Step counter wake up";
break;
case BHY2_SENSOR_ID_SIG:
ret = "Significant motion";
break;
case BHY2_SENSOR_ID_STD:
ret = "Step detector";
break;
case BHY2_SENSOR_ID_STD_WU:
ret = "Step detector wake up";
break;
case BHY2_SENSOR_ID_TILT_DETECTOR:
ret = "Tilt detector";
break;
case BHY2_SENSOR_ID_WAKE_GESTURE:
ret = "Wake gesture";
break;
case BHY2_SENSOR_ID_GLANCE_GESTURE:
ret = "Glance gesture";
break;
case BHY2_SENSOR_ID_PICKUP_GESTURE:
ret = "Pickup gesture";
break;
case BHY2_SENSOR_ID_SIG_LP:
ret = "Low Power Significant motion";
break;
case BHY2_SENSOR_ID_SIG_LP_WU:
ret = "Low Power Significant motion wake up";
break;
case BHY2_SENSOR_ID_STD_LP:
ret = "Low Power Step detector";
break;
case BHY2_SENSOR_ID_STD_LP_WU:
ret = "Low Power Step detector wake up";
break;
case BHY2_SENSOR_ID_AR:
ret = "Activity recognition";
break;
case BHY2_SENSOR_ID_EXCAMERA:
ret = "External camera trigger";
break;
case BHY2_SENSOR_ID_GPS:
ret = "GPS";
break;
case BHY2_SENSOR_ID_WRIST_TILT_GESTURE:
ret = "Wrist tilt gesture";
break;
case BHY2_SENSOR_ID_DEVICE_ORI:
ret = "Device orientation";
break;
case BHY2_SENSOR_ID_DEVICE_ORI_WU:
ret = "Device orientation wake up";
break;
case BHY2_SENSOR_ID_STATIONARY_DET:
ret = "Stationary detect";
break;
case BHY2_SENSOR_ID_ANY_MOTION_LP:
ret = "Low Power Any motion";
break;
case BHY2_SENSOR_ID_ANY_MOTION_LP_WU:
ret = "Low Power Any motion wake up";
break;
case BHI3_SENSOR_ID_NO_MOTION_LP_WU:
ret = "Low Power No Motion wake up";
break;
case BHY2_SENSOR_ID_MOTION_DET:
ret = "Motion detect";
break;
case BHI3_SENSOR_ID_AR_WEAR_WU:
ret = "Activity recognition for Wearables";
break;
case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU:
ret = "Low Power Wrist Wear wake up";
break;
case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU:
ret = "Low Power Wrist Gesture wake up";
break;
case BHI3_SENSOR_ID_MULTI_TAP:
ret = "Multi Tap Detector";
break;
case BHY2_SENSOR_ID_AIR_QUALITY:
ret = "Air Quality";
break;
case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG:
ret = "Head Misalignment Calibrator";
break;
case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q:
ret = "IMU Head Orientation Quaternion";
break;
case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q:
ret = "NDOF Head Orientation Quaternion";
break;
case BHY2_SENSOR_ID_IMU_HEAD_ORI_E:
ret = "IMU Head Orientation Euler";
break;
case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E:
ret = "NDOF Head Orientation Euler";
break;
case BHY2_SENSOR_ID_GPIO_EXP:
ret = "Expansion GPIO";
break;
default:
if ((sensor_id >= BHY2_SENSOR_ID_CUSTOM_START) && (sensor_id <= BHY2_SENSOR_ID_CUSTOM_END)) {
ret = "Custom sensor ID ";
} else {
ret = "Undefined sensor ID ";
}
}
return ret;
}
float get_sensor_default_scaling(uint8_t sensor_id)
{
float scaling = -1.0f;
switch (sensor_id) {
case BHY2_SENSOR_ID_ACC_PASS:
case BHY2_SENSOR_ID_ACC_RAW:
case BHY2_SENSOR_ID_ACC:
case BHY2_SENSOR_ID_ACC_BIAS:
case BHY2_SENSOR_ID_ACC_WU:
case BHY2_SENSOR_ID_ACC_RAW_WU:
case BHY2_SENSOR_ID_GRA:
case BHY2_SENSOR_ID_GRA_WU:
case BHY2_SENSOR_ID_LACC:
case BHY2_SENSOR_ID_LACC_WU:
case BHY2_SENSOR_ID_ACC_BIAS_WU:
scaling = 1.0f / 4096.0f;
break;
case BHY2_SENSOR_ID_GYRO_PASS:
case BHY2_SENSOR_ID_GYRO_RAW:
case BHY2_SENSOR_ID_GYRO:
case BHY2_SENSOR_ID_GYRO_BIAS:
case BHY2_SENSOR_ID_GYRO_WU:
case BHY2_SENSOR_ID_GYRO_RAW_WU:
case BHY2_SENSOR_ID_GYRO_BIAS_WU:
scaling = 2000.0f / 32768.0f;
break;
case BHY2_SENSOR_ID_MAG_PASS:
case BHY2_SENSOR_ID_MAG_RAW:
case BHY2_SENSOR_ID_MAG:
case BHY2_SENSOR_ID_MAG_BIAS:
case BHY2_SENSOR_ID_MAG_WU:
case BHY2_SENSOR_ID_MAG_RAW_WU:
case BHY2_SENSOR_ID_MAG_BIAS_WU:
scaling = 2500.0f / 32768.0f;
break;
case BHY2_SENSOR_ID_RV:
case BHY2_SENSOR_ID_RV_WU:
case BHY2_SENSOR_ID_GAMERV:
case BHY2_SENSOR_ID_GAMERV_WU:
case BHY2_SENSOR_ID_GEORV:
case BHY2_SENSOR_ID_GEORV_WU:
scaling = 1.0f / 16384.0f;
break;
case BHY2_SENSOR_ID_ORI:
case BHY2_SENSOR_ID_ORI_WU:
scaling = 360.0f / 32768.0f;
break;
case BHY2_SENSOR_ID_TEMP:
case BHY2_SENSOR_ID_TEMP_WU:
scaling = 1.0f / 100.0f;
break;
case BHY2_SENSOR_ID_BARO:
case BHY2_SENSOR_ID_BARO_WU:
scaling = 100.0f / 128.0f;
break;
case BHY2_SENSOR_ID_HUM:
case BHY2_SENSOR_ID_HUM_WU:
scaling = 1.0f;
break;
case BHY2_SENSOR_ID_GAS:
case BHY2_SENSOR_ID_GAS_WU:
scaling = 1.0f;
break;
case BHY2_SENSOR_ID_LIGHT:
case BHY2_SENSOR_ID_LIGHT_WU:
scaling = 10000.0f / 216.0f;
break;
case BHY2_SENSOR_ID_PROX:
case BHY2_SENSOR_ID_PROX_WU:
scaling = 1.0f;
break;
case BHY2_SENSOR_ID_SI_ACCEL:
case BHY2_SENSOR_ID_SI_GYROS:
/* Scaling factor already applied in firmware*/
break;
case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG:
case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q:
case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q:
scaling = 1.0f / 16384.0f; /*2^14 -> 16384*/
break;
case BHY2_SENSOR_ID_IMU_HEAD_ORI_E:
case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E:
scaling = 360.0f / 32768.0f; /*2^15 -> 32768*/
break;
default:
scaling = -1.0f; /* Do not apply the scaling factor */
}
return scaling;
}
const char *get_sensor_parse_format(uint8_t sensor_id)
{
const char *ret;
switch (sensor_id) {
case BHY2_SENSOR_ID_ACC_PASS:
case BHY2_SENSOR_ID_ACC_RAW:
case BHY2_SENSOR_ID_ACC:
case BHY2_SENSOR_ID_ACC_BIAS:
case BHY2_SENSOR_ID_ACC_BIAS_WU:
case BHY2_SENSOR_ID_ACC_WU:
case BHY2_SENSOR_ID_ACC_RAW_WU:
case BHY2_SENSOR_ID_GYRO_PASS:
case BHY2_SENSOR_ID_GYRO_RAW:
case BHY2_SENSOR_ID_GYRO:
case BHY2_SENSOR_ID_GYRO_BIAS:
case BHY2_SENSOR_ID_GYRO_BIAS_WU:
case BHY2_SENSOR_ID_GYRO_WU:
case BHY2_SENSOR_ID_GYRO_RAW_WU:
case BHY2_SENSOR_ID_MAG_PASS:
case BHY2_SENSOR_ID_MAG_RAW:
case BHY2_SENSOR_ID_MAG:
case BHY2_SENSOR_ID_MAG_BIAS:
case BHY2_SENSOR_ID_MAG_BIAS_WU:
case BHY2_SENSOR_ID_MAG_WU:
case BHY2_SENSOR_ID_MAG_RAW_WU:
case BHY2_SENSOR_ID_GRA:
case BHY2_SENSOR_ID_GRA_WU:
case BHY2_SENSOR_ID_LACC:
case BHY2_SENSOR_ID_LACC_WU:
ret = "s16,s16,s16";
break;
case BHY2_SENSOR_ID_RV:
case BHY2_SENSOR_ID_RV_WU:
case BHY2_SENSOR_ID_GAMERV:
case BHY2_SENSOR_ID_GAMERV_WU:
case BHY2_SENSOR_ID_GEORV:
case BHY2_SENSOR_ID_GEORV_WU:
ret = "s16,s16,s16,s16,u16";
break;
case BHY2_SENSOR_ID_ORI:
case BHY2_SENSOR_ID_ORI_WU:
ret = "s16,s16,s16";
break;
case BHY2_SENSOR_ID_DEVICE_ORI:
case BHY2_SENSOR_ID_DEVICE_ORI_WU:
case BHY2_SENSOR_ID_HUM:
case BHY2_SENSOR_ID_HUM_WU:
case BHY2_SENSOR_ID_PROX:
case BHY2_SENSOR_ID_PROX_WU:
case BHY2_SENSOR_ID_EXCAMERA:
case BHI3_SENSOR_ID_MULTI_TAP:
ret = "u8";
break;
case BHY2_SENSOR_ID_TEMP:
case BHY2_SENSOR_ID_TEMP_WU:
ret = "s16";
break;
case BHY2_SENSOR_ID_BARO:
case BHY2_SENSOR_ID_BARO_WU:
ret = "u24";
break;
case BHY2_SENSOR_ID_GAS:
case BHY2_SENSOR_ID_GAS_WU:
case BHY2_SENSOR_ID_STC:
case BHY2_SENSOR_ID_STC_WU:
case BHY2_SENSOR_ID_STC_LP:
case BHY2_SENSOR_ID_STC_LP_WU:
ret = "u32";
break;
case BHY2_SENSOR_ID_KLIO:
ret = "u8,u8,u8,u8,u8,u8,f";
break;
case BHY2_SENSOR_ID_SWIM:
ret = "u16,u16,u16,u16,u16,u16,u16";
break;
case BHY2_SENSOR_ID_SI_ACCEL:
case BHY2_SENSOR_ID_SI_GYROS:
ret = "f,f,f";
break;
case BHY2_SENSOR_ID_LIGHT:
case BHY2_SENSOR_ID_LIGHT_WU:
ret = "s16";
break;
case BHY2_SENSOR_ID_SIG:
case BHY2_SENSOR_ID_STD:
case BHY2_SENSOR_ID_STD_WU:
case BHY2_SENSOR_ID_TILT_DETECTOR:
case BHY2_SENSOR_ID_WAKE_GESTURE:
case BHY2_SENSOR_ID_GLANCE_GESTURE:
case BHY2_SENSOR_ID_PICKUP_GESTURE:
case BHY2_SENSOR_ID_SIG_LP:
case BHY2_SENSOR_ID_SIG_LP_WU:
case BHY2_SENSOR_ID_STD_LP:
case BHY2_SENSOR_ID_STD_LP_WU:
case BHY2_SENSOR_ID_WRIST_TILT_GESTURE:
case BHY2_SENSOR_ID_STATIONARY_DET:
case BHY2_SENSOR_ID_ANY_MOTION_LP:
case BHY2_SENSOR_ID_ANY_MOTION_LP_WU:
case BHI3_SENSOR_ID_NO_MOTION_LP_WU:
case BHY2_SENSOR_ID_MOTION_DET:
case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU:
ret = "";
break;
case BHY2_SENSOR_ID_AR:
case BHI3_SENSOR_ID_AR_WEAR_WU:
ret = "u16";
break;
case BHY2_SENSOR_ID_GPS:
ret = "st";
break;
case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU:
ret = "u8";
break;
case BHY2_SENSOR_ID_AIR_QUALITY:
ret = "f32,f32,f32,f32,f32,f32,f32,u8";
break;
case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG:
case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q:
case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q:
ret = "s16,s16,s16,s16,u8";
break;
case BHY2_SENSOR_ID_IMU_HEAD_ORI_E:
case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E:
ret = "s16,s16,s16,u8";
break;
default:
ret = "";
}
return ret;
}
const char *get_sensor_axis_names(uint8_t sensor_id)
{
const char *ret;
switch (sensor_id) {
case BHY2_SENSOR_ID_ACC_PASS:
case BHY2_SENSOR_ID_ACC_RAW:
case BHY2_SENSOR_ID_ACC:
case BHY2_SENSOR_ID_ACC_BIAS:
case BHY2_SENSOR_ID_ACC_BIAS_WU:
case BHY2_SENSOR_ID_ACC_WU:
case BHY2_SENSOR_ID_ACC_RAW_WU:
case BHY2_SENSOR_ID_GYRO_PASS:
case BHY2_SENSOR_ID_GYRO_RAW:
case BHY2_SENSOR_ID_GYRO:
case BHY2_SENSOR_ID_GYRO_BIAS:
case BHY2_SENSOR_ID_GYRO_BIAS_WU:
case BHY2_SENSOR_ID_GYRO_WU:
case BHY2_SENSOR_ID_GYRO_RAW_WU:
case BHY2_SENSOR_ID_MAG_PASS:
case BHY2_SENSOR_ID_MAG_RAW:
case BHY2_SENSOR_ID_MAG:
case BHY2_SENSOR_ID_MAG_BIAS:
case BHY2_SENSOR_ID_MAG_BIAS_WU:
case BHY2_SENSOR_ID_MAG_WU:
case BHY2_SENSOR_ID_MAG_RAW_WU:
case BHY2_SENSOR_ID_GRA:
case BHY2_SENSOR_ID_GRA_WU:
case BHY2_SENSOR_ID_LACC:
case BHY2_SENSOR_ID_LACC_WU:
case BHY2_SENSOR_ID_SI_ACCEL:
case BHY2_SENSOR_ID_SI_GYROS:
ret = "x,y,z";
break;
case BHY2_SENSOR_ID_RV:
case BHY2_SENSOR_ID_RV_WU:
case BHY2_SENSOR_ID_GAMERV:
case BHY2_SENSOR_ID_GAMERV_WU:
case BHY2_SENSOR_ID_GEORV:
case BHY2_SENSOR_ID_GEORV_WU:
ret = "x,y,z,w,ar";
break;
case BHY2_SENSOR_ID_ORI:
case BHY2_SENSOR_ID_ORI_WU:
ret = "h,p,r";
break;
case BHY2_SENSOR_ID_DEVICE_ORI:
case BHY2_SENSOR_ID_DEVICE_ORI_WU:
ret = "o";
break;
case BHY2_SENSOR_ID_TEMP:
case BHY2_SENSOR_ID_TEMP_WU:
ret = "t";
break;
case BHY2_SENSOR_ID_BARO:
case BHY2_SENSOR_ID_BARO_WU:
ret = "p";
break;
case BHY2_SENSOR_ID_HUM:
case BHY2_SENSOR_ID_HUM_WU:
ret = "h";
break;
case BHY2_SENSOR_ID_GAS:
case BHY2_SENSOR_ID_GAS_WU:
ret = "g";
break;
case BHY2_SENSOR_ID_KLIO:
ret = "lin,lid,lpr,lcr,rin,rid,rc";
break;
case BHY2_SENSOR_ID_SWIM:
ret = "d,lc,f,br,bu,ba,sc";
break;
case BHY2_SENSOR_ID_LIGHT:
case BHY2_SENSOR_ID_LIGHT_WU:
ret = "l";
break;
case BHY2_SENSOR_ID_PROX:
case BHY2_SENSOR_ID_PROX_WU:
ret = "p";
break;
case BHY2_SENSOR_ID_STC:
case BHY2_SENSOR_ID_STC_WU:
case BHY2_SENSOR_ID_STC_LP:
case BHY2_SENSOR_ID_STC_LP_WU:
case BHY2_SENSOR_ID_EXCAMERA:
ret = "c";
break;
case BHY2_SENSOR_ID_SIG:
case BHY2_SENSOR_ID_STD:
case BHY2_SENSOR_ID_STD_WU:
case BHY2_SENSOR_ID_TILT_DETECTOR:
case BHY2_SENSOR_ID_WAKE_GESTURE:
case BHY2_SENSOR_ID_GLANCE_GESTURE:
case BHY2_SENSOR_ID_PICKUP_GESTURE:
case BHY2_SENSOR_ID_SIG_LP:
case BHY2_SENSOR_ID_SIG_LP_WU:
case BHY2_SENSOR_ID_STD_LP:
case BHY2_SENSOR_ID_STD_LP_WU:
case BHY2_SENSOR_ID_WRIST_TILT_GESTURE:
case BHY2_SENSOR_ID_STATIONARY_DET:
case BHY2_SENSOR_ID_ANY_MOTION_LP:
case BHY2_SENSOR_ID_ANY_MOTION_LP_WU:
case BHI3_SENSOR_ID_NO_MOTION_LP_WU:
case BHY2_SENSOR_ID_MOTION_DET:
case BHI3_SENSOR_ID_WRIST_WEAR_LP_WU:
ret = "e";
break;
case BHY2_SENSOR_ID_AR:
case BHI3_SENSOR_ID_AR_WEAR_WU:
ret = "a";
break;
case BHY2_SENSOR_ID_GPS:
ret = "g";
break;
case BHI3_SENSOR_ID_WRIST_GEST_DETECT_LP_WU:
ret = "wrist_gesture";
break;
case BHI3_SENSOR_ID_MULTI_TAP:
ret = "taps";
break;
case BHY2_SENSOR_ID_AIR_QUALITY:
ret = "t,h,g,i,si,c,v,a";
break;
case BHY2_SENSOR_ID_HEAD_ORI_MIS_ALG:
case BHY2_SENSOR_ID_IMU_HEAD_ORI_Q:
case BHY2_SENSOR_ID_NDOF_HEAD_ORI_Q:
ret = "x,y,z,w,a";
break;
case BHY2_SENSOR_ID_IMU_HEAD_ORI_E:
case BHY2_SENSOR_ID_NDOF_HEAD_ORI_E:
ret = "h,p,r,a";
break;
default:
ret = "";
}
return ret;
}
components/ExternLib/SensorLib/src/bosch/common/common.h
+59
View File
@@ -0,0 +1,59 @@
/**
* Copyright (c) 2023 Bosch Sensortec GmbH. All rights reserved.
*
* BSD-3-Clause
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* @file common.h
* @brief Common header file for the BHI260/BHA260 examples
* @note Adapting Arduino based on BHY2-Sensor-API by lewis
*/
#ifndef _COMMON_H_
#define _COMMON_H_
#include "bosch/bhy2.h"
#include "bosch/bhi3.h"
#include "bosch/bhi3_multi_tap.h"
#include "bosch/bhy2_klio.h"
#include "bosch/bhy2_swim.h"
#include "bosch/bhy2_bsec.h"
#include "bosch/bhy2_head_tracker.h"
void time_to_s_ns(uint64_t time_ticks, uint32_t *s, uint32_t *ns, uint64_t *tns);
const char *get_api_error(int8_t error_code);
const char *get_sensor_error_text(uint8_t sensor_error);
const char *get_sensor_name(uint8_t sensor_id);
float get_sensor_default_scaling(uint8_t sensor_id);
const char *get_sensor_parse_format(uint8_t sensor_id);
const char *get_sensor_axis_names(uint8_t sensor_id);
#endif /* _COMMON_H_ */
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BME68x-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BME68x.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BMP390-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_BMP390.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_aux_BMM150.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_turbo-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_APP30_SHUTTLE_BHI260_turbo.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_GPIO-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_GPIO.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BEM280-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BEM280.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280_GPIO-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_BEM280_GPIO.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_GPIO-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_BHI260_aux_BMM150_GPIO.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/Bosch_bhi260_klio_turbo-flash.fw
BIN
View File
Binary file not shown.
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260.h
+9110
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150.h
+9389
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_aux_bmm150_flash.h
+9997
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bme68x.h
+9965
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bme68x_flash.h
+10570
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bmp390.h
+9281
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_bmp390_flash.h
+9806
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_flash.h
+9609
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_turbo.h
+9109
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_app30_shuttle_bhi260_turbo_flash.h
+9609
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bem280.h
+9386
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bem280_flash.h
+9961
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280.h
+9669
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_flash.h
+10352
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio.h
+10537
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_bem280_gpio_flash.h
+11240
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_gpio.h
+10266
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_aux_bmm150_gpio_flash.h
+10888
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_gpio.h
+9982
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_gpio_flash.h
+10500
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_klio.h
+10313
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_klio_flash.h
+10864
View File
File diff suppressed because it is too large Load Diff
components/ExternLib/SensorLib/src/bosch/firmware/bosch_bhi260_klio_turbo_flash.h
+10864
View File
File diff suppressed because it is too large Load Diff