From 96d3843fdec20157ddb16abbc849a406d4f11076 Mon Sep 17 00:00:00 2001
From: koalo <koalo@koalo.de>
Date: Thu, 22 Aug 2019 02:23:49 +0200
Subject: [PATCH] feat(bhi160): Provide orientation data
---
epicardium/epicardium.h | 8 +++++---
epicardium/modules/bhi.c | 11 +++++++++++
epicardium/modules/stream.h | 1 +
pycardium/modules/interrupt.c | 2 ++
pycardium/modules/py/bhi160.py | 26 ++++++++++++++++++++++++++
pycardium/modules/qstrdefs.h | 1 +
6 files changed, 46 insertions(+), 3 deletions(-)
diff --git a/epicardium/epicardium.h b/epicardium/epicardium.h
index 0687f9d2..d2565cd7 100644
--- a/epicardium/epicardium.h
+++ b/epicardium/epicardium.h
@@ -157,11 +157,13 @@ API(API_INTERRUPT_DISABLE, int epic_interrupt_disable(api_int_id_t int_id));
/** BHI */
#define EPIC_INT_BHI160_ACCELEROMETER 4
API_ISR(EPIC_INT_BHI160_ACCELEROMETER, epic_isr_bhi160_accelerometer);
-#define EPIC_INT_BHI160_GYROSCOPE 5
+#define EPIC_INT_BHI160_ORIENTATION 5
+API_ISR(EPIC_INT_BHI160_ORIENTATION, epic_isr_bhi160_orientation);
+#define EPIC_INT_BHI160_GYROSCOPE 6
API_ISR(EPIC_INT_BHI160_GYROSCOPE, epic_isr_bhi160_gyroscope);
/* Number of defined interrupts. */
-#define EPIC_INT_NUM 6
+#define EPIC_INT_NUM 7
/* clang-format on */
/*
@@ -923,7 +925,7 @@ enum bhi160_sensor_type {
BHI160_ACCELEROMETER = 0,
/** Magnetometer (**Unimplemented**) */
BHI160_MAGNETOMETER = 1,
- /** Orientation (**Unimplemented**) */
+ /** Orientation */
BHI160_ORIENTATION = 2,
/** Gyroscope */
BHI160_GYROSCOPE = 3,
diff --git a/epicardium/modules/bhi.c b/epicardium/modules/bhi.c
index 461039e3..bacb88ae 100644
--- a/epicardium/modules/bhi.c
+++ b/epicardium/modules/bhi.c
@@ -88,6 +88,8 @@ static bhy_virtual_sensor_t bhi160_lookup_vs_id(enum bhi160_sensor_type type)
switch (type) {
case BHI160_ACCELEROMETER:
return VS_ID_ACCELEROMETER;
+ case BHI160_ORIENTATION:
+ return VS_ID_ORIENTATION;
case BHI160_GYROSCOPE:
return VS_ID_GYROSCOPE;
default:
@@ -103,6 +105,8 @@ static int bhi160_lookup_sd(enum bhi160_sensor_type type)
switch (type) {
case BHI160_ACCELEROMETER:
return SD_BHI160_ACCELEROMETER;
+ case BHI160_ORIENTATION:
+ return SD_BHI160_ORIENTATION;
case BHI160_GYROSCOPE:
return SD_BHI160_GYROSCOPE;
default:
@@ -237,10 +241,12 @@ bhi160_handle_packet(bhy_data_type_t data_type, bhy_data_generic_t *sensor_data)
sensor_data->data_scalar_u16.data;
break;
case VS_ID_ACCELEROMETER_WAKEUP:
+ case VS_ID_ORIENTATION_WAKEUP:
case VS_ID_GYROSCOPE_WAKEUP:
wakeup = true;
/* fall through */
case VS_ID_ACCELEROMETER:
+ case VS_ID_ORIENTATION:
case VS_ID_GYROSCOPE:
switch (sensor_id) {
case VS_ID_ACCELEROMETER_WAKEUP:
@@ -248,6 +254,11 @@ bhi160_handle_packet(bhy_data_type_t data_type, bhy_data_generic_t *sensor_data)
sensor_type = BHI160_ACCELEROMETER;
epic_int = EPIC_INT_BHI160_ACCELEROMETER;
break;
+ case VS_ID_ORIENTATION_WAKEUP:
+ case VS_ID_ORIENTATION:
+ sensor_type = BHI160_ORIENTATION;
+ epic_int = EPIC_INT_BHI160_ORIENTATION;
+ break;
case VS_ID_GYROSCOPE_WAKEUP:
case VS_ID_GYROSCOPE:
sensor_type = BHI160_GYROSCOPE;
diff --git a/epicardium/modules/stream.h b/epicardium/modules/stream.h
index 668f7862..41064bd5 100644
--- a/epicardium/modules/stream.h
+++ b/epicardium/modules/stream.h
@@ -27,6 +27,7 @@ typedef unsigned int size_t;
enum stream_descriptor {
/** BHI160 */
SD_BHI160_ACCELEROMETER,
+ SD_BHI160_ORIENTATION,
SD_BHI160_GYROSCOPE,
/** Highest descriptor must always be ``SD_MAX``. */
SD_MAX,
diff --git a/pycardium/modules/interrupt.c b/pycardium/modules/interrupt.c
index 087facf7..927b936b 100644
--- a/pycardium/modules/interrupt.c
+++ b/pycardium/modules/interrupt.c
@@ -87,6 +87,8 @@ static const mp_rom_map_elem_t interrupt_module_globals_table[] = {
MP_OBJ_NEW_SMALL_INT(EPIC_INT_RTC_ALARM) },
{ MP_ROM_QSTR(MP_QSTR_BHI160_ACCELEROMETER),
MP_OBJ_NEW_SMALL_INT(EPIC_INT_BHI160_ACCELEROMETER) },
+ { MP_ROM_QSTR(MP_QSTR_BHI160_ORIENTATION),
+ MP_OBJ_NEW_SMALL_INT(EPIC_INT_BHI160_ORIENTATION) },
{ MP_ROM_QSTR(MP_QSTR_BHI160_GYROSCOPE),
MP_OBJ_NEW_SMALL_INT(EPIC_INT_BHI160_GYROSCOPE) },
};
diff --git a/pycardium/modules/py/bhi160.py b/pycardium/modules/py/bhi160.py
index 7d318581..afd0fdba 100644
--- a/pycardium/modules/py/bhi160.py
+++ b/pycardium/modules/py/bhi160.py
@@ -96,3 +96,29 @@ class BHI160Gyroscope(BHI160):
"z": self.convert_single(sample[2]),
}
)
+
+
+class BHI160Orientation(BHI160):
+ def __init__(
+ self, sample_rate=4, dynamic_range=2, callback=None, sample_buffer_len=200
+ ):
+ self.sample_rate = sample_rate
+ self.dynamic_range = dynamic_range
+ self.callback = callback
+ self.sample_buffer_len = sample_buffer_len
+ self.sensor_id = 2
+ self.interrupt_id = interrupt.BHI160_ORIENTATION
+ self._callback = callback
+ self.enable_sensor()
+
+ def convert_single(self, value):
+ return 360 * value / 32768.0
+
+ def convert(self, sample):
+ return dict(
+ {
+ "x": self.convert_single(sample[0]),
+ "y": self.convert_single(sample[1]),
+ "z": self.convert_single(sample[2]),
+ }
+ )
diff --git a/pycardium/modules/qstrdefs.h b/pycardium/modules/qstrdefs.h
index 77978542..d6e4efa1 100644
--- a/pycardium/modules/qstrdefs.h
+++ b/pycardium/modules/qstrdefs.h
@@ -58,6 +58,7 @@ Q(set_callback)
Q(enable_callback)
Q(disable_callback)
Q(BHI160_ACCELEROMETER)
+Q(BHI160_ORIENTATION)
Q(BHI160_GYROSCOPE)
Q(RTC_ALARM)
--
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