diff --git a/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino b/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino new file mode 100644 index 0000000..84d276b --- /dev/null +++ b/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino @@ -0,0 +1,227 @@ +/** + * + * @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 BHI260AP_Expand_GPIO.ino + * @author Lewis He (lewishe@outlook.com) + * @date 2025-01-04 + * @note Changed from Boschsensortec API https://github.com/boschsensortec/BHY2_SensorAPI + */ +#include +#include +#include +#include "SensorBHI260AP.hpp" + +#include //Deplib https://github.com/CreativeRobotics/Commander +Commander cmd; +void initialiseCommander(); + +/* +Example firmware source: https://github.com/boschsensortec/BHY2_SensorAPI/tree/master/firmware +You can also compile custom firmware to write +How to build custom firmware see : https://www.bosch-sensortec.com/media/boschsensortec/downloads/application_notes_1/bst-bhi260ab-an000.pdf +*/ + +#include "BHI260AP_GPIO.fw.h" +// Custom firmware with GPIO input and output functions +const uint8_t *firmware = bhy2_gpio_firmware_image; +const size_t fw_size = sizeof(bhy2_gpio_firmware_image); + +/* +* GPIO Comparison Table +* M1SCX = N.A ! INVALID PIN +* M1SDX = N.A ! INVALID PIN +* M1SDI = N.A ! INVALID PIN +* M2SCX = 14 ! OK +* M2SDX = 15 ! OK +* M2SDI = 16 ! OK +* MCSB1 = 1 ! OK +* MCSB2 = 4 ! OK +* M3SCL = 17 ! OK +* M3SDA = 18 ! OK +* MCSB3 = 5 ! OK +* MCSB4 = 6 ! OK +* JTAG_CLK = 19 ! OK +* JTAG_DIO = 20 ! OK +* RESV1 = 2 ! INVALID PIN +* RESV2 = 3 ! INVALID PIN +* RESV3 = N.A ! INVALID PIN +* */ + +#ifdef BHY2_USE_I2C +#define BHI260AP_SDA 21 +#define BHI260AP_SCL 22 +#define BHI260AP_IRQ 39 +#define BHI260AP_RST -1 +#else +#define BHI260AP_MOSI 27 +#define BHI260AP_MISO 46 +#define BHI260AP_SCK 3 +#define BHI260AP_CS 28 +#define BHI260AP_IRQ 30 +#define BHI260AP_RST -1 +#endif + +SensorBHI260AP bhy; + +void setup() +{ + Serial.begin(115200); + while (!Serial); + + // Set the reset pin and interrupt pin, if any + bhy.setPins(BHI260AP_RST, BHI260AP_IRQ); + // Set the firmware array address and firmware size + bhy.setFirmware(firmware, fw_size, false); + // Set to load firmware from RAM + bhy.setBootFromFlash(false); + + Serial.println("Initializing Sensors..."); + +#ifdef BHY2_USE_I2C + // Using I2C interface + // BHI260AP_SLAVE_ADDRESS_L = 0x28 + // BHI260AP_SLAVE_ADDRESS_H = 0x29 + if (!bhy.init(Wire, BHI260AP_SDA, BHI260AP_SCL, BHI260AP_SLAVE_ADDRESS_L)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#else + // Using SPI interface + if (!bhy.init(SPI, BHI260AP_CS, BHI260AP_MOSI, BHI260AP_MISO, BHI260AP_SCK)) { + Serial.print("Failed to initialize sensor - error code:"); + Serial.println(bhy.getError()); + while (1) { + delay(1000); + } + } +#endif + + Serial.println("Initializing the sensor successfully!"); + + // Output all current sensor information + bhy.printInfo(Serial); + + // Output interrupt configuration information to Serial + bhy.printInterruptCtrl(Serial); + + initialiseCommander(); + + Serial.println("Hello: Type 'help' to get help"); + + cmd.printCommandPrompt(); +} + +uint32_t check_millis = 0; + +void loop() +{ + //Call the update functions using the activeCommander pointer + cmd.update(); + // Update sensor fifo + bhy.update(); +} + + +//All commands for 'master' +//COMMAND ARRAY ------------------------------------------------------------------------------ +const commandList_t masterCommands[] = { + {"help", helpHandler, "help"}, + {"set gpio", setGpioLevel, "set gpio level"}, + {"get gpio", getGpioLevel, "get gpio level"}, + {"dis gpio", disGpioMode, "disable gpio"}, +}; + +void initialiseCommander() +{ + cmd.begin(&Serial, masterCommands, sizeof(masterCommands)); + cmd.commandPrompt(ON); //enable the command prompt + cmd.echo(true); //Echo incoming characters to theoutput port + cmd.errorMessages(ON); //error messages are enabled - it will tell us if we issue any unrecognised commands + //Error messaged do NOT work for quick set and get commands +} + +bool helpHandler(Commander &Cmdr) +{ + Serial.println("Help:"); + Serial.println("\tCustom firmware valid gpio : 1, 4, 5, 6, 14, 15, 16, 17, 18, 19, 20"); + Serial.println("\tset gpio [gpio num] [level]"); + Serial.println("\tget gpio [gpio num] [pullup]"); + Serial.println("\tdis gpio [gpio num]"); + return 0; +} + +bool setGpioLevel(Commander &Cmdr) +{ + int values[2] = {0, 0}; + int items = Cmdr.countItems(); + if (items < 2) { + return false; + } + for (int n = 0; n < 2; n++) { + Cmdr.getInt(values[n]); + } + uint8_t pin = values[0]; + uint8_t level = values[1]; + // Serial.printf("Set GPIO : %u to %u\n", pin, level); + bhy.digitalWrite(pin, level); + return 0; +} + +bool getGpioLevel(Commander &Cmdr) +{ + int values[2] = {0, 0}; + int items = Cmdr.countItems(); + if (items < 1) { + return 0; + } + if (items > 2 )items = 2; + for (int n = 0; n < items; n++) { + Cmdr.getInt(values[n]); + } + bool pullup = false; + uint8_t pin = values[0]; + if (items == 2 ) { + pullup = values[1]; + } + uint8_t level = bhy.digitalRead(pin, pullup); + Serial.printf("Get GPIO : %u level is %u\n", pin, level); + return 0; +} + +bool disGpioMode(Commander &Cmdr) +{ + int values[1] = {0}; + int items = Cmdr.countItems(); + if (items < 1) { + return 0; + } + Cmdr.getInt(values[0]); + uint8_t pin = values[0]; + // Serial.printf("Disable GPIO : %u\n", pin); + bhy.disableGpio(pin); + return 0; +} diff --git a/examples/BHI260AP_Expand_GPIO/BHI260AP_GPIO.fw.h b/examples/BHI260AP_Expand_GPIO/BHI260AP_GPIO.fw.h new file mode 100644 index 0000000..72eb10f --- /dev/null +++ b/examples/BHI260AP_Expand_GPIO/BHI260AP_GPIO.fw.h @@ -0,0 +1,10007 @@ +const unsigned char bhy2_gpio_firmware_image[120060] = { + 0x2b, 0x66, 0x00, 0x00, 0x00, 0x00, 0x67, 0x17, 0xa3, 0x27, 0x19, 0x5d, + 0xd2, 0x1b, 0x19, 0xb2, 0x2e, 0xc8, 0x39, 0xde, 0x2c, 0x97, 0xd9, 0xfb, + 0x7e, 0xbb, 0x8b, 0xc9, 0x54, 0x33, 0x8c, 0x19, 0xe4, 0x2a, 0x5c, 0x6c, + 0x8d, 0x5f, 0x98, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x45, 0xc3, 0xda, 0x85, + 0xe8, 0xbc, 0x7c, 0x3e, 0xdf, 0xfa, 0xb5, 0x29, 0x39, 0x35, 0x86, 0xad, + 0xfa, 0x6e, 0x8f, 0xfc, 0x00, 0x00, 0x00, 0x00, 0xf6, 0x89, 0x57, 0xd4, + 0xea, 0x88, 0x8e, 0x88, 0x82, 0x1a, 0x71, 0x70, 0x3d, 0xf0, 0x96, 0x6b, + 0x73, 0x18, 0x4f, 0x1c, 0x90, 0x73, 0x01, 0x00, 0x78, 0x58, 0xac, 0x66, + 0x68, 0x5b, 0x01, 0x00, 0x2e, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xf0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xb5, 0x96, 0xa6, 0xeb, 0x44, 0x9c, 0x13, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xdc, 0x9a, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0x70, 0x67, 0x01, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd4, 0x5f, 0x12, 0x00, + 0x0c, 0xb1, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, + 0x68, 0xb3, 0x10, 0x00, 0x68, 0xb3, 0x10, 0x00, 0x84, 0x4d, 0x12, 0x00, + 0x0c, 0x6e, 0x12, 0x00, 0x0c, 0x6e, 0x12, 0x00, 0x64, 0xb6, 0x10, 0x00, + 0xec, 0xb6, 0x10, 0x00, 0x34, 0xb8, 0x10, 0x00, 0xd0, 0x6a, 0x12, 0x00, + 0xd0, 0x29, 0x10, 0x00, 0x2c, 0x1a, 0x10, 0x00, 0xc8, 0xb5, 0x10, 0x00, + 0x10, 0x15, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, 0xd0, 0x29, 0x10, 0x00, + 0xb8, 0x18, 0x10, 0x00, 0x6c, 0x19, 0x10, 0x00, 0xb4, 0x6e, 0x12, 0x00, + 0xb4, 0x6e, 0x12, 0x00, 0xb4, 0x6e, 0x12, 0x00, 0xf8, 0xd3, 0x12, 0x00, + 0xc1, 0x02, 0xcf, 0xf2, 0x5d, 0x07, 0x4f, 0xf6, 0x85, 0x05, 0x00, 0x01, + 0xe9, 0x06, 0x00, 0x01, 0x4d, 0x06, 0xcf, 0xf7, 0x69, 0x06, 0xcf, 0xf7, + 0x85, 0x06, 0xcf, 0xf7, 0xd9, 0x07, 0xcf, 0xf7, 0xe5, 0x05, 0xcf, 0xf9, + 0x35, 0x06, 0xcf, 0xf9, 0x11, 0x07, 0xcf, 0xf9, 0xa1, 0x01, 0x0f, 0xfa, + 0xa9, 0x01, 0x0f, 0xfa, 0x95, 0x02, 0x0f, 0xfa, 0x09, 0x06, 0x0f, 0xfa, + 0x1d, 0x07, 0x40, 0x08, 0x19, 0x01, 0x4f, 0xfa, 0xb5, 0x04, 0x4f, 0xfa, + 0xf5, 0x04, 0x4f, 0xfa, 0x5d, 0x05, 0x4f, 0xfa, 0x69, 0x04, 0xc0, 0x00, + 0x59, 0x06, 0x4f, 0xfa, 0x71, 0x06, 0x4f, 0xfa, 0x01, 0x07, 0x40, 0x08, + 0xb5, 0x01, 0x8f, 0xfa, 0xd9, 0x01, 0x8f, 0xfa, 0x6d, 0x00, 0x80, 0x08, + 0x41, 0x02, 0x8f, 0xfa, 0x65, 0x03, 0x8f, 0xfa, 0xbd, 0x03, 0x8f, 0xfa, + 0x15, 0x04, 0x8f, 0xfa, 0x61, 0x04, 0x8f, 0xfa, 0x79, 0x04, 0x8f, 0xfa, + 0x89, 0x00, 0x80, 0x08, 0xf9, 0x04, 0x8f, 0xfa, 0x69, 0x06, 0x40, 0x01, + 0x4d, 0x06, 0x8f, 0xfa, 0x81, 0x07, 0x8f, 0xfa, 0xa5, 0x01, 0xcf, 0xfa, + 0xa5, 0x02, 0xcf, 0xfa, 0x6d, 0x03, 0xcf, 0xfa, 0x79, 0x06, 0xcf, 0xfa, + 0x45, 0x03, 0x40, 0x01, 0x35, 0x00, 0x0f, 0xfb, 0x75, 0x00, 0x0f, 0xfb, + 0xa9, 0x00, 0x0f, 0xfb, 0xd9, 0x00, 0x0f, 0xfb, 0xe1, 0x00, 0x0f, 0xfb, + 0xed, 0x00, 0x0f, 0xfb, 0xf5, 0x00, 0x0f, 0xfb, 0x05, 0x01, 0x0f, 0xfb, + 0x49, 0x02, 0x0f, 0xfb, 0x4d, 0x02, 0x0f, 0xfb, 0x55, 0x02, 0x0f, 0xfb, + 0x65, 0x02, 0x0f, 0xfb, 0x75, 0x02, 0x0f, 0xfb, 0x81, 0x02, 0x0f, 0xfb, + 0x75, 0x03, 0x0f, 0xfb, 0xad, 0x04, 0x0f, 0xfb, 0xd5, 0x04, 0x0f, 0xfb, + 0xed, 0x04, 0x0f, 0xfb, 0xf5, 0x04, 0x0f, 0xfb, 0x19, 0x05, 0x0f, 0xfb, + 0x59, 0x04, 0x40, 0x01, 0x21, 0x06, 0x0f, 0xfb, 0x49, 0x03, 0x80, 0x08, + 0xd9, 0x06, 0x0f, 0xfb, 0x29, 0x01, 0x4f, 0xfb, 0x6d, 0x05, 0xc0, 0x00, + 0x15, 0x02, 0x4f, 0xfb, 0xf1, 0x02, 0x4f, 0xfb, 0x15, 0x01, 0x80, 0x00, + 0xcd, 0x00, 0x80, 0x00, 0x5d, 0x00, 0x80, 0x00, 0xa1, 0x00, 0x80, 0x00, + 0x79, 0x00, 0x80, 0x00, 0xe1, 0x00, 0x80, 0x00, 0x41, 0x01, 0x80, 0x00, + 0x1d, 0x01, 0x80, 0x00, 0xf5, 0x05, 0x4f, 0xfb, 0xb9, 0x06, 0x4f, 0xfb, + 0xfd, 0x06, 0x4f, 0xfb, 0xf9, 0x03, 0x40, 0x01, 0x51, 0x06, 0x8f, 0xfb, + 0x29, 0x02, 0xcf, 0xfb, 0xb5, 0x02, 0x0f, 0xfc, 0x35, 0x04, 0x0f, 0xfc, + 0x81, 0x04, 0x0f, 0xfc, 0x8d, 0x04, 0x0f, 0xfc, 0x61, 0x05, 0x0f, 0xfc, + 0x0d, 0x01, 0x8f, 0xfd, 0xa1, 0x01, 0x8f, 0xfd, 0xb1, 0x01, 0x8f, 0xfd, + 0xc1, 0x01, 0x8f, 0xfd, 0xb9, 0x02, 0x40, 0x01, 0x91, 0x03, 0x8f, 0xfd, + 0x09, 0x05, 0x8f, 0xfd, 0xad, 0x04, 0xc0, 0x00, 0x99, 0x00, 0xcf, 0xfd, + 0x41, 0x04, 0xc0, 0x00, 0x51, 0x02, 0x0f, 0xef, 0xbd, 0x04, 0xcf, 0xfd, + 0x25, 0x05, 0xcf, 0xfd, 0x6d, 0x06, 0xcf, 0xfd, 0xa5, 0x06, 0xcf, 0xfd, + 0x5d, 0x07, 0xcf, 0xfd, 0xf5, 0x07, 0xcf, 0xfd, 0x29, 0x00, 0x0f, 0xfe, + 0x49, 0x02, 0x40, 0x01, 0x11, 0x02, 0x0f, 0xfe, 0xa1, 0x02, 0x0f, 0xfe, + 0x39, 0x03, 0x0f, 0xfe, 0xc9, 0x03, 0x0f, 0xfe, 0xb1, 0x04, 0x0f, 0xfe, + 0x71, 0x07, 0x0f, 0xfe, 0x6d, 0x04, 0x40, 0x09, 0xfd, 0x07, 0x0f, 0xfe, + 0x0d, 0x00, 0x4f, 0xfe, 0x61, 0x00, 0x4f, 0xfe, 0xb5, 0x00, 0x4f, 0xfe, + 0xb9, 0x00, 0x4f, 0xfe, 0xcd, 0x00, 0x4f, 0xfe, 0xf5, 0x00, 0x4f, 0xfe, + 0x05, 0x02, 0x4f, 0xfe, 0xd9, 0x05, 0x8f, 0xfe, 0x65, 0x06, 0x8f, 0xfe, + 0x7d, 0x06, 0x8f, 0xfe, 0x05, 0x01, 0x40, 0x01, 0x35, 0x07, 0x8f, 0xfe, + 0x49, 0x07, 0x8f, 0xfe, 0x6d, 0x07, 0x8f, 0xfe, 0xe5, 0x07, 0x8f, 0xfe, + 0x15, 0x00, 0xcf, 0xfe, 0x9d, 0x00, 0xcf, 0xfe, 0xb5, 0x00, 0xcf, 0xfe, + 0xe5, 0x00, 0xcf, 0xfe, 0x59, 0x01, 0xcf, 0xfe, 0x05, 0x02, 0xcf, 0xfe, + 0x1d, 0x02, 0xcf, 0xfe, 0x29, 0x04, 0x40, 0x09, 0x35, 0x04, 0x40, 0x09, + 0x41, 0x04, 0x40, 0x09, 0x0d, 0x05, 0x40, 0x09, 0x4d, 0x02, 0xcf, 0xfe, + 0x9d, 0x02, 0xcf, 0xfe, 0xa5, 0x02, 0xcf, 0xfe, 0x55, 0x05, 0x40, 0x09, + 0x4d, 0x03, 0xcf, 0xfe, 0xb5, 0x03, 0xcf, 0xfe, 0x19, 0x04, 0xcf, 0xfe, + 0x81, 0x04, 0xcf, 0xfe, 0xa9, 0x04, 0xcf, 0xfe, 0xa1, 0x05, 0x40, 0x09, + 0xc9, 0x05, 0x40, 0x09, 0x41, 0x07, 0x00, 0x01, 0xd9, 0x06, 0xcf, 0xfe, + 0x99, 0x07, 0xcf, 0xfe, 0x6d, 0x06, 0x40, 0x09, 0xa1, 0x06, 0x40, 0x09, + 0xc9, 0x06, 0x40, 0x09, 0x7d, 0x00, 0x0f, 0xff, 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