driver on MCU for bhy More...

#include <mbot/imu/bhy_uc_driver.h>

Include dependency graph for bhy_uc_driver.c:

Macros
#define	BHY_INIT_RETRY_COUNT 3

#define	BHY_DATA_SIZE_PADDING 1

#define	BHY_DATA_SIZE_QUATERNION 11

#define	BHY_DATA_SIZE_VECTOR 8

#define	BHY_DATA_SIZE_SCALAR_U8 2

#define	BHY_DATA_SIZE_SCALAR_U16 3

#define	BHY_DATA_SIZE_SCALAR_S16 3

#define	BHY_DATA_SIZE_SCALAR_U24 4

#define	BHY_DATA_SIZE_SENSOR_EVENT 1

#define	BHY_DATA_SIZE_UNCALIB_VECTOR 14

#define	BHY_DATA_SIZE_META_EVENT 4

#define	BHY_DATA_SIZE_BSX 17

#define	BHY_DATA_SIZE_DEBUG 14

#define	BHY_DATA_SIZE_CUS1 1

#define	BHY_DATA_SIZE_CUS2 1

#define	BHY_DATA_SIZE_CUS3 1

#define	BHY_DATA_SIZE_CUS4 1

#define	BHY_DATA_SIZE_CUS5 1

#define	MAX_PAGE_NUM 15

#define	MAX_SENSOR_ID 0x20

#define	MAX_SENSOR_ID_NONWAKEUP 0x3F

#define	MAX_WRITE_BYTES 8

#define	SENSOR_CALLBACK_LIST_NUM 64

#define	TIMESTAMP_CALLBACK_LIST_NUM 2

#define	METAEVENT_CALLBACK_LIST_NUM 32

#define	SENSOR_PARAMETER_WRITE 0xC0

#define	MAX_METAEVENT_ID 17

Functions
void	trace_log (const char *fmt,...)

BHY_RETURN_FUNCTION_TYPE	bhy_driver_init (const uint8_t *bhy_fw_data)
	This function initializes the driver, the API and loads the ram patch into the sensor. More...

BHY_RETURN_FUNCTION_TYPE	bhy_meta_event_set_config (bhy_meta_event_type_t meta_event_id, bhy_meta_event_fifo_type_t fifo_sel, uint8_t enable_state, uint8_t int_enable_state)
	this function configures meta event More...

BHY_RETURN_FUNCTION_TYPE	bhy_meta_event_get_config (bhy_meta_event_type_t meta_event_id, bhy_meta_event_fifo_type_t fifo_sel, uint8_t p_enable_state, uint8_t p_int_enable_state)
	this function gets configuration from specific meta event More...

BHY_RETURN_FUNCTION_TYPE	bhy_enable_virtual_sensor (bhy_virtual_sensor_t sensor_id, uint8_t wakeup_status, uint16_t sample_rate, uint16_t max_report_latency_ms, uint8_t flush_sensor, uint16_t change_sensitivity, uint16_t dynamic_range)
	this functions enables the selected virtual sensor More...

BHY_RETURN_FUNCTION_TYPE	bhy_disable_virtual_sensor (bhy_virtual_sensor_t sensor_id, uint8_t wakeup_status)
	this functions disables the selected virtual sensor More...

BHY_RETURN_FUNCTION_TYPE	bhy_read_fifo (uint8_t buffer, uint16_t buffer_size, uint16_t bytes_read, uint16_t *bytes_left)
	this functions retrieves the fifo data,it needs a buffer of at least (BHY_I2C_REG_BUFFER_LENGTH + 1) bytes to work. it outputs the data into the variable buffer. the number of bytes read. More...

BHY_RETURN_FUNCTION_TYPE	bhy_parse_next_fifo_packet (uint8_t *fifo_buffer, uint16_t fifo_buffer_length, bhy_data_generic_t fifo_data_output, bhy_data_type_t fifo_data_type)
	this functions parse the packet in fifo and get the actual fifo data of sensors More...

BHY_RETURN_FUNCTION_TYPE	bhy_update_system_timestamp (bhy_data_scalar_u16_t timestamp_packet, uint32_t system_timestamp)
	This function will detect the timestamp packet accordingly and update either the MSW or the LSW of the system timestamp. More...

BHY_RETURN_FUNCTION_TYPE	bhy_write_parameter_page (uint8_t page, uint8_t parameter, uint8_t *data, uint8_t length)
	This function writes arbitrary data to an arbitrary parameter page. More...

BHY_RETURN_FUNCTION_TYPE	bhy_read_parameter_page (uint8_t page, uint8_t parameter, uint8_t *data, uint8_t length)
	This function reads arbitrary data from an arbitrary parameter page. More...

BHY_RETURN_FUNCTION_TYPE	bhy_mapping_matrix_set (bhy_physical_sensor_index_type_t index, int8_t *mapping_matrix)
	This function set mapping matrix to a corresponding physical sensor. More...

BHY_RETURN_FUNCTION_TYPE	bhy_mapping_matrix_get (bhy_physical_sensor_index_type_t index, int8_t *mapping_matrix)
	This function get mapping matrix from a corresponding physical sensor. More...

BHY_RETURN_FUNCTION_TYPE	bhy_soft_passthru_write (uint8_t addr, uint8_t reg, uint8_t *data, uint8_t length, uint8_t increment_reg)
	Soft pass-through parameter write function. More...

BHY_RETURN_FUNCTION_TYPE	bhy_soft_passthru_read (uint8_t addr, uint8_t reg, uint8_t *data, uint8_t length, uint8_t increment_reg)
	Soft pass-through parameter read function. More...

BHY_RETURN_FUNCTION_TYPE	bhy_gp_register_write (bhy_gp_register_type_t gp_reg, uint8_t data)
	Write data to specific GP register. More...

BHY_RETURN_FUNCTION_TYPE	bhy_gp_register_read (bhy_gp_register_type_t gp_reg, uint8_t *data)
	Write data to specific GP register. More...

BHY_RETURN_FUNCTION_TYPE	bhy_get_sic_matrix (float *sic_matrix)
	This function reads out the current SIC matrix from BHy. More...

BHY_RETURN_FUNCTION_TYPE	bhy_sync_cus_evt_size (void)
	This function get all the custom sensor data length according reading information from hub. More...

int8_t	bhy_get_cus_evt_size (bhy_virtual_sensor_t sensor_id)
	This function get the specific custom sensor data length according reading information from hub. More...

BHY_RETURN_FUNCTION_TYPE	bhy_set_sic_matrix (float *sic_matrix)
	This function write a new SIC matrix to the BHy. More...

void	bhy_print_debug_packet (bhy_data_debug_t packet, void(debug_print_ptr)(const uint8_t *))
	This function outputs the debug data to function pointer You need to provide a function that takes as argument a zero-terminated string and prints it. More...

Variables
uint8_t	_fifoSizes []

Detailed Description

driver on MCU for bhy

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

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.

Neither the name of the copyright holder nor the names of the 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 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

The information provided is believed to be accurate and reliable. The copyright holder assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of the copyright holder.

Date: 12/19/2016

Function Documentation

◆ bhy_disable_virtual_sensor()

BHY_RETURN_FUNCTION_TYPE bhy_disable_virtual_sensor	(	bhy_virtual_sensor_t	sensor_id,
		uint8_t	wakeup_status
	)

this functions disables the selected virtual sensor

Parameters

[in]	sensor_id	sensor ID
[in]	wakeup_status	status of WAKEUP OR NONWAKEUP

Return values

result of execution

◆ bhy_driver_init()

BHY_RETURN_FUNCTION_TYPE bhy_driver_init ( const uint8_t * bhy_fw_data )

This function initializes the driver, the API and loads the ram patch into the sensor.

Parameters

[in] bhy_fw_data pointer to the firmware of bhy

Return values

result of execution

◆ bhy_enable_virtual_sensor()

BHY_RETURN_FUNCTION_TYPE bhy_enable_virtual_sensor	(	bhy_virtual_sensor_t	sensor_id,
		uint8_t	wakeup_status,
		uint16_t	sample_rate,
		uint16_t	max_report_latency_ms,
		uint8_t	flush_sensor,
		uint16_t	change_sensitivity,
		uint16_t	dynamic_range
	)

this functions enables the selected virtual sensor

Parameters

[in]	sensor_id	sensor ID
[in]	wakeup_status	status after wakeup
[in]	sample_rate	sample rate
[in]	max_report_latency_ms	max report latency,unit is millisecond
[in]	flush_sensor	how to flush the fifo of sensor
[in]	change_sensitivity	whether to change the sensitivity
[in]	dynamic_range	dynamic range

Return values

result of execution

◆ bhy_get_cus_evt_size()

int8_t bhy_get_cus_evt_size ( bhy_virtual_sensor_t sensor_id )

This function get the specific custom sensor data length according reading information from hub.

Parameters

[in] sensor_id pointer to sensor_id

Return values

result of data length

◆ bhy_get_sic_matrix()

BHY_RETURN_FUNCTION_TYPE bhy_get_sic_matrix ( float * sic_matrix )

This function reads out the current SIC matrix from BHy.

Parameters

[in] sic_matrix pointer to SIC matrix

Return values

result of execution

◆ bhy_gp_register_read()

BHY_RETURN_FUNCTION_TYPE bhy_gp_register_read	(	bhy_gp_register_type_t	gp_reg,
		uint8_t *	data
	)

Write data to specific GP register.

Parameters

[in]	gp_reg	GP register address
[in]	data	pointer to receive buffer

Return values

result of execution

◆ bhy_gp_register_write()

BHY_RETURN_FUNCTION_TYPE bhy_gp_register_write	(	bhy_gp_register_type_t	gp_reg,
		uint8_t	data
	)

Write data to specific GP register.

Parameters

[in]	gp_reg	GP register address
[in]	data	data to be written to GP register

Return values

result of execution

◆ bhy_mapping_matrix_get()

BHY_RETURN_FUNCTION_TYPE bhy_mapping_matrix_get	(	bhy_physical_sensor_index_type_t	index,
		int8_t *	mapping_matrix
	)

This function get mapping matrix from a corresponding physical sensor.

Parameters

[in]	index	physical sensor index
[in]	mapping_matrix	pointer to a int8_t mapping_matrix[9]

Return values

result of execution

◆ bhy_mapping_matrix_set()

BHY_RETURN_FUNCTION_TYPE bhy_mapping_matrix_set	(	bhy_physical_sensor_index_type_t	index,
		int8_t *	mapping_matrix
	)

This function set mapping matrix to a corresponding physical sensor.

Parameters

[in]	index	physical sensor index
[in]	mapping_matrix	pointer to a int8_t mapping_matrix[9]

Return values

result of execution

◆ bhy_meta_event_get_config()

BHY_RETURN_FUNCTION_TYPE bhy_meta_event_get_config	(	bhy_meta_event_type_t	meta_event_id,
		bhy_meta_event_fifo_type_t	fifo_sel,
		uint8_t *	p_enable_state,
		uint8_t *	p_int_enable_state
	)

this function gets configuration from specific meta event

Parameters

[in]	meta_event_id	ID of meta event
[in]	fifo_sel	to choose the FIFO
[in]	p_enable_state	pointer of enable state of bhy
[in]	p_int_enable_state	pointer of the enable state of interrupt

Return values

result of execution

◆ bhy_meta_event_set_config()

BHY_RETURN_FUNCTION_TYPE bhy_meta_event_set_config	(	bhy_meta_event_type_t	meta_event_id,
		bhy_meta_event_fifo_type_t	fifo_sel,
		uint8_t	enable_state,
		uint8_t	int_enable_state
	)

this function configures meta event

Parameters

[in]	meta_event_id	ID of meta event
[in]	fifo_sel	to choose the FIFO
[in]	enable_state	enable state of bhy
[in]	int_enable_state	enable state of interrupt

Return values

result of execution

◆ bhy_parse_next_fifo_packet()

BHY_RETURN_FUNCTION_TYPE bhy_parse_next_fifo_packet	(	uint8_t **	fifo_buffer,
		uint16_t *	fifo_buffer_length,
		bhy_data_generic_t *	fifo_data_output,
		bhy_data_type_t *	fifo_data_type
	)

this functions parse the packet in fifo and get the actual fifo data of sensors

Parameters

[in]	fifo_buffer	pointer of fifo
[in]	fifo_buffer_length	size of the fifo
[out]	fifo_data_output	the actual fifo data of sensors
[out]	fifo_data_type	data type of fifo data

Return values

result of execution

◆ bhy_print_debug_packet()

void bhy_print_debug_packet	(	bhy_data_debug_t *	packet,
		void()(const uint8_t )	debug_print_ptr
	)

This function outputs the debug data to function pointer You need to provide a function that takes as argument a zero-terminated string and prints it.

Parameters

[in]	packet	debug message
[in]	debug_print_ptr	print function

Return values

result of execution

◆ bhy_read_fifo()

BHY_RETURN_FUNCTION_TYPE bhy_read_fifo	(	uint8_t *	buffer,
		uint16_t	buffer_size,
		uint16_t *	bytes_read,
		uint16_t *	bytes_left
	)

this functions retrieves the fifo data,it needs a buffer of at least (BHY_I2C_REG_BUFFER_LENGTH + 1) bytes to work. it outputs the data into the variable buffer. the number of bytes read.

Parameters

[in]	buffer	pointer of buffer
[in]	buffer_size	size of the buffer in bytes
[out]	bytes_read	the bytes in fifo which have been read
[out]	bytes_left	the bytes left in fifo which have not been read

Return values

result of execution

◆ bhy_read_parameter_page()

BHY_RETURN_FUNCTION_TYPE bhy_read_parameter_page	(	uint8_t	page,
		uint8_t	parameter,
		uint8_t *	data,
		uint8_t	length
	)

This function reads arbitrary data from an arbitrary parameter page.

Parameters

[in]	page	select the page of parameter
[in]	parameter	select the parameter
[out]	data	data to be read from parameter
[in]	length	length of data

Return values

result of execution

◆ bhy_set_sic_matrix()

BHY_RETURN_FUNCTION_TYPE bhy_set_sic_matrix ( float * sic_matrix )

This function write a new SIC matrix to the BHy.

Parameters

[in] sic_matrix pointer to SIC matrix

Return values

result of execution

◆ bhy_soft_passthru_read()

BHY_RETURN_FUNCTION_TYPE bhy_soft_passthru_read	(	uint8_t	addr,
		uint8_t	reg,
		uint8_t *	data,
		uint8_t	length,
		uint8_t	increment_reg
	)

Soft pass-through parameter read function.

Parameters

[in]	addr	physical sensor index
[in]	reg	register address to be written
[out]	data	pointer to data to be written
[in]	length
[in]	increment_reg	if true, the function will automatically increment the register between successive 4-bytes transfers

Return values

result of execution

◆ bhy_soft_passthru_write()

BHY_RETURN_FUNCTION_TYPE bhy_soft_passthru_write	(	uint8_t	addr,
		uint8_t	reg,
		uint8_t *	data,
		uint8_t	length,
		uint8_t	increment_reg
	)

Soft pass-through parameter write function.

Parameters

[in]	addr	physical sensor index
[in]	reg	register address to be written
[in]	data	pointer to data to be written
[in]	length
[in]	increment_reg	if true, the function will automatically increment the register between successive 4-bytes transfers

Return values

result of execution

◆ bhy_sync_cus_evt_size()

BHY_RETURN_FUNCTION_TYPE bhy_sync_cus_evt_size ( void )

This function get all the custom sensor data length according reading information from hub.

Parameters

[in] none

Return values

result of execution

◆ bhy_update_system_timestamp()

BHY_RETURN_FUNCTION_TYPE bhy_update_system_timestamp	(	bhy_data_scalar_u16_t *	timestamp_packet,
		uint32_t *	system_timestamp
	)

This function will detect the timestamp packet accordingly and update either the MSW or the LSW of the system timestamp.

system_timestamp is only valid after LSW comes.

Parameters

[in]	timestamp_packet	timestamp of packets
	[in/out]	system_timestamp timestamp of system

Return values

result of execution

◆ bhy_write_parameter_page()

BHY_RETURN_FUNCTION_TYPE bhy_write_parameter_page	(	uint8_t	page,
		uint8_t	parameter,
		uint8_t *	data,
		uint8_t	length
	)

This function writes arbitrary data to an arbitrary parameter page.

Parameters

[in]	page	select the page of parameter
[in]	parameter	select the parameter
[in]	data	data to be written to parameter
[in]	length	length of data

Return values

result of execution

Variable Documentation

◆ _fifoSizes

uint8_t _fifoSizes[]

Initial value:

= {
    BHY_DATA_SIZE_PADDING,
    BHY_DATA_SIZE_QUATERNION,
    BHY_DATA_SIZE_VECTOR,
    BHY_DATA_SIZE_SCALAR_U8,
    BHY_DATA_SIZE_SCALAR_U16,
    BHY_DATA_SIZE_SCALAR_S16,
    BHY_DATA_SIZE_SCALAR_U24,
    BHY_DATA_SIZE_SENSOR_EVENT,
    BHY_DATA_SIZE_UNCALIB_VECTOR,
    BHY_DATA_SIZE_META_EVENT,
    BHY_DATA_SIZE_BSX,
    BHY_DATA_SIZE_DEBUG,
    BHY_DATA_SIZE_CUS1,
    BHY_DATA_SIZE_CUS2,
    BHY_DATA_SIZE_CUS3,
    BHY_DATA_SIZE_CUS4,
    BHY_DATA_SIZE_CUS5,
}

Macros

Functions

Variables

Detailed Description

Function Documentation

◆ bhy_disable_virtual_sensor()

◆ bhy_driver_init()

◆ bhy_enable_virtual_sensor()

◆ bhy_get_cus_evt_size()

◆ bhy_get_sic_matrix()

◆ bhy_gp_register_read()

◆ bhy_gp_register_write()

◆ bhy_mapping_matrix_get()

◆ bhy_mapping_matrix_set()

◆ bhy_meta_event_get_config()

◆ bhy_meta_event_set_config()

◆ bhy_parse_next_fifo_packet()

◆ bhy_print_debug_packet()

◆ bhy_read_fifo()

◆ bhy_read_parameter_page()

◆ bhy_set_sic_matrix()

◆ bhy_soft_passthru_read()

◆ bhy_soft_passthru_write()

◆ bhy_sync_cus_evt_size()

◆ bhy_update_system_timestamp()

◆ bhy_write_parameter_page()

Variable Documentation

◆ _fifoSizes