[SensorBHI260AP] Update examples

lewisxhe · Jan 28, 2025 · 6c881fe · 6c881fe
1 parent ca7c6b6
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Showing 20 changed files with 522 additions and 104,174 deletions.
diff --git a/examples/BHI260AP_6DoF/BHI260AP_6DoF.ino b/examples/BHI260AP_6DoF/BHI260AP_6DoF.ino
@@ -81,18 +81,47 @@
 #define BHI260_RST -1
 #endif
 
-
 SensorBHI260AP bhy;
 
+// The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run.
+#define BOSCH_APP30_SHUTTLE_BHI260_FW
+// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW
+// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X
+// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390
+// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO
+// #define BOSCH_BHI260_AUX_BEM280
+// #define BOSCH_BHI260_AUX_BMM150_BEM280
+// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO
+// #define BOSCH_BHI260_AUX_BMM150_GPIO
+// #define BOSCH_BHI260_GPIO
+
+// Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash
+// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH
+// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH
+// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH
+// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH
+// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH
+// #define BOSCH_BHI260_AUX_BEM280_FLASH
+// #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH
+// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH
+// #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH
+// #define BOSCH_BHI260_GPIO_FLASH
+
+#include <BoschFirmware.h>
+
+// Force update of current firmware, whether it exists or not.
+// Only works when external SPI Flash is connected to BHI260.
+// After uploading firmware once, you can change this to false to speed up boot time.
+bool force_update_spi_firmware = true;
+
 bool isReadyFlag = false;
 
 void dataReadyISR()
 {
     isReadyFlag = true;
 }
 
-
-void accel_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp)
+void data_ready_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp)
 {
     struct bhy2_data_xyz data;
     float scaling_factor = get_sensor_default_scaling(sensor_id);
@@ -106,21 +135,14 @@ void accel_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len,
                  );
 }
 
-
-void gyro_process_callback(uint8_t sensor_id, uint8_t *data_ptr, uint32_t len, uint64_t *timestamp)
+// Firmware update progress callback
+void progress_callback(void *user_data, uint32_t total, uint32_t transferred)
 {
-    struct bhy2_data_xyz data;
-    float scaling_factor = get_sensor_default_scaling(sensor_id);
-    bhy2_parse_xyz(data_ptr, &data);
-    Serial.print(bhy.getSensorName(sensor_id));
-    Serial.print(":");
-    Serial.printf("x: %f, y: %f, z: %f;\r\n",
-                  data.x * scaling_factor,
-                  data.y * scaling_factor,
-                  data.z * scaling_factor
-                 );
+    float progress = (float)transferred / total * 100;
+    Serial.printf("Upload progress: %.2f%%\n", progress);
 }
 
+
 void setup()
 {
     Serial.begin(115200);
@@ -131,9 +153,23 @@ void setup()
 
     Serial.println("Initializing Sensors...");
 
-    /*Set the default firmware, only 6 axes, no other functions*/
-    bhy.setFirmware(bhy2_firmware_image, sizeof(bhy2_firmware_image));
+    // Set the firmware array address and firmware size
+    bhy.setFirmware(bosch_firmware_image, bosch_firmware_size, bosch_firmware_type, force_update_spi_firmware);
+
+    // Set the firmware update processing progress callback function
+    // bhy.setUpdateProcessCallback(progress_callback, NULL);
 
+    // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes.
+    // bhy.setMaxiTransferSize(256);
+
+    // Set the processing fifo data buffer size,The default size is 512 bytes.
+    // bhy.setProcessBufferSize(1024);
+
+    // Set to load firmware from flash
+    bhy.setBootFromFlash(bosch_firmware_type);
+
+    Serial.println("Initializing Sensors...");
+
 #ifdef USE_I2C_INTERFACE
     // Using I2C interface
     // BHI260AP_SLAVE_ADDRESS_L = 0x28
@@ -164,7 +200,7 @@ void setup()
     BoschSensorInfo info = bhy.getSensorInfo();
     info.printInfo(Serial);
 
-    float sample_rate = 100.0;      /* Read out hintr_ctrl measured at 100Hz */
+    float sample_rate = 100.0;      /* Read out data measured at 100Hz */
     uint32_t report_latency_ms = 0; /* Report immediately */
 
     // Enable acceleration
@@ -173,10 +209,9 @@ void setup()
     bhy.configure(SENSOR_ID_GYRO_PASS, sample_rate, report_latency_ms);
 
     // Set the acceleration sensor result callback function
-    bhy.onResultEvent(SENSOR_ID_ACC_PASS, accel_process_callback);
-
+    bhy.onResultEvent(SENSOR_ID_ACC_PASS, data_ready_callback);
     // Set the gyroscope sensor result callback function
-    bhy.onResultEvent(SENSOR_ID_GYRO_PASS, gyro_process_callback);
+    bhy.onResultEvent(SENSOR_ID_GYRO_PASS, data_ready_callback);
 
     // Register interrupt function
     pinMode(BHI260_IRQ, INPUT);

diff --git a/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino b/examples/BHI260AP_Expand_GPIO/BHI260AP_Expand_GPIO.ino
@@ -36,38 +36,6 @@
 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
-* */
-
 // #define USE_I2C_INTERFACE        true
 // #define USE_SPI_INTERFACE        true
 
@@ -118,26 +86,78 @@ const size_t fw_size = sizeof(bhy2_gpio_firmware_image);
 
 SensorBHI260AP bhy;
 
+// The firmware runs in RAM and will be lost if the power is off. The firmware will be loaded from RAM each time it is run.
+// #define BOSCH_APP30_SHUTTLE_BHI260_FW
+#define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150FW
+// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X
+// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390
+// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO
+// #define BOSCH_BHI260_AUX_BEM280
+// #define BOSCH_BHI260_AUX_BMM150_BEM280
+// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO
+// #define BOSCH_BHI260_AUX_BMM150_GPIO
+// #define BOSCH_BHI260_GPIO
+
+// Firmware is stored in flash and booted from flash,Depends on BHI260 hardware connected to SPI Flash
+// #define BOSCH_APP30_SHUTTLE_BHI260_AUX_BMM150_FLASH
+// #define BOSCH_APP30_SHUTTLE_BHI260_BME68X_FLASH
+// #define BOSCH_APP30_SHUTTLE_BHI260_BMP390_FLASH
+// #define BOSCH_APP30_SHUTTLE_BHI260_FLASH
+// #define BOSCH_APP30_SHUTTLE_BHI260_TURBO_FLASH
+// #define BOSCH_BHI260_AUX_BEM280_FLASH
+// #define BOSCH_BHI260_AUX_BMM150_BEM280_FLASH
+// #define BOSCH_BHI260_AUX_BMM150_BEM280_GPIO_FLASH
+// #define BOSCH_BHI260_AUX_BMM150_GPIO_FLASH
+// #define BOSCH_BHI260_GPIO_FLASH
+
+#include <BoschFirmware.h>
+
+// Force update of current firmware, whether it exists or not.
+// Only works when external SPI Flash is connected to BHI260.
+// After uploading firmware once, you can change this to false to speed up boot time.
+bool force_update_spi_firmware = true;
+
 bool isReadyFlag = false;
 
 void dataReadyISR()
 {
     isReadyFlag = true;
 }
 
+// Firmware update progress callback
+void progress_callback(void *user_data, uint32_t total, uint32_t transferred)
+{
+    float progress = (float)transferred / total * 100;
+    Serial.printf("Upload progress: %.2f%%\n", progress);
+}
+
 void setup()
 {
     Serial.begin(115200);
     while (!Serial);
 
     // Set the reset pin
     bhy.setPins(BHI260_RST);
+
+    Serial.println("Initializing Sensors...");
+
     // Set the firmware array address and firmware size
-    bhy.setFirmware(firmware, fw_size, false);
-    // Set to load firmware from RAM
-    bhy.setBootFromFlash(false);
+    bhy.setFirmware(bosch_firmware_image, bosch_firmware_size, bosch_firmware_type, force_update_spi_firmware);
+
+    // Set the firmware update processing progress callback function
+    // bhy.setUpdateProcessCallback(progress_callback, NULL);
+
+    // Set the maximum transfer bytes of I2C/SPI,The default size is I2C 32 bytes, SPI 256 bytes.
+    // bhy.setMaxiTransferSize(256);
+
+    // Set the processing fifo data buffer size,The default size is 512 bytes.
+    // bhy.setProcessBufferSize(1024);
+
+    // Set to load firmware from flash
+    bhy.setBootFromFlash(bosch_firmware_type);
 
     Serial.println("Initializing Sensors...");
+
 #ifdef USE_I2C_INTERFACE
     // Using I2C interface
     // BHI260AP_SLAVE_ADDRESS_L = 0x28
@@ -221,6 +241,26 @@ bool helpHandler(Commander &Cmdr)
     return 0;
 }
 
+/*
+* 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
+* */
 bool setGpioLevel(Commander &Cmdr)
 {
     int values[2] = {0, 0};