- Top Results
Introduction
Common Characteristics
Key features
Difference between products
Table 1: Difference on BHA250 and BHI160
Table 2: Accelerometer Parameter on BHA250 and BHI160
Table 3: BHI160 Gyroscope Parameter
Available evaluation tools and software
To best to evaluate the products from the BHy1 family is the following combination of evaluation tools:
- COINES Desktop software
- Application board 2.0
- Sensor Shuttle board
Reference design
See Figure 3 for BHA250 schematic of a typical use-case.
Figure3 BHA250/BHA250B typical schematic
Bill of materials:
Note: R3 and R4 are mandatory, even if no external sensor is attached.
Layout recommendations
Landing Pattern
Figure5: BHA250/BHA250B Landing Pattern
Figure6: BHI160/BHI160B Landing Pattern
Typical Layout
Figure7: BHA250/BHA250B Layout
Figure8: BHI160/BHI160B Layout
Manufacturing notes
BHy1 on COINES
COINES setup
Platform: Windows gcc: "C:\DiaSemi\SmartSnippetsStudio\Tools\mingw64_targeting32\bin\gcc.exe C:\TDM-GCC-64\bin\gcc.exe". [ MKDIR ] build [ CC ] bhy_activity_recognition.c [ CC ] ../../../../sensorAPI/bhy/src/BHy_support.c [ CC ] ../../../../sensorAPI/bhy/src/bhy_uc_driver.c [ CC ] ../../../../sensorAPI/bhy/src/bhy.c [ CC ] ../../../../sensorAPI/bhy/AppBoard_usb_driver/AppBoard_usb_driver.c [ MAKE ] coinesAPI [ MKDIR ] build [ CC ] coines.c [ CC ] comm_intf/comm_intf.c [ CC ] comm_intf/comm_ringbuffer.c [ CC ] comm_driver/usb.c [ CC ] comm_driver/legacy_usb/legacy_usb_support.c [ AR ] libcoines [ LD ] bhy_activity_recognition.exe Operation finished successfully
Running on BHy1 shuttle board
Connect with APP2.0 board (BHy1 Shuttle board) and compile the sample code (..\..\examples\c\bhy\rotation_vector),
Click to run and get the output on the console.
Running example 'bhy_rotation_vector.exe' ... uploading RAM patch... W: 1.000 X: 0.000 Y: 0.000 Z: 0.000 W: 1.000 X:-0.000 Y: 0.000 Z: 0.000 W: 1.000 X:-0.000 Y: 0.000 Z: 0.000 W: 0.999 X: 0.005 Y: 0.018 Z: 0.000 W: 0.999 X: 0.005 Y: 0.018 Z: 0.000 W: 0.999 X: 0.005 Y: 0.018 Z: 0.000 W: 0.999 X: 0.005 Y: 0.018 Z: 0.000
BHy1 example code on COINES
Activity recognition example
Data parsing for activity recognition is available in COINES. The user can open the “bhy_activity_recognition.c” in COINES, compile and run. The output will be shown in the COINES console.
The code is shown as below.
/* @brief This API is used for parsing the activity recognition data from BHY
*
* @param[in] sensor_data: bhy data
* @param[in] sensor_id: bhy id
*
* @return void
*
*/
void sensors_callback(bhy_data_generic_t * sensor_data, bhy_virtual_sensor_t sensor_id)
{
float temp;
u8 index;
/* Since a timestamp is always sent before every new data, and that the callbacks */
/* are called while the parsing is done, then the system timestamp is always equal */
/* to the sample timestamp. (in callback mode only) */
temp = g_system_timestamp / 3200000.;
for (index = 6; index <= 8; index++)
{
outBuffer[index] = floorf(temp) + '0';
temp = (temp - floorf(temp)) * 10;
}
for (index = 10; index <= 12; index++)
{
outBuffer[index] = floorf(temp) + '0';
temp = (temp - floorf(temp)) * 10;
}
/* if there are no changes then it will read X */
outBuffer[22] = 'X';
outBuffer[35] = 'X';
outBuffer[48] = 'X';
outBuffer[61] = 'X';
outBuffer[74] = 'X';
outBuffer[87] = 'X';
/* '0' means "end of activity and '1' means start of activity */
if (sensor_data->data_scalar_u16.data & 0b0000000000000001)
outBuffer[22] = '0';
if (sensor_data->data_scalar_u16.data & 0b0000000000000010)
outBuffer[35] = '0';
if (sensor_data->data_scalar_u16.data & 0b0000000000000100)
outBuffer[48] = '0';
if (sensor_data->data_scalar_u16.data & 0b0000000000001000)
outBuffer[61] = '0';
if (sensor_data->data_scalar_u16.data & 0b0000000000010000)
outBuffer[74] = '0';
if (sensor_data->data_scalar_u16.data & 0b0000000000100000)
outBuffer[87] = '0';
if (sensor_data->data_scalar_u16.data & 0b0000000100000000)
outBuffer[22] = '1';
if (sensor_data->data_scalar_u16.data & 0b0000001000000000)
outBuffer[35] = '1';
if (sensor_data->data_scalar_u16.data & 0b0000010000000000)
outBuffer[48] = '1';
if (sensor_data->data_scalar_u16.data & 0b0000100000000000)
outBuffer[61] = '1';
if (sensor_data->data_scalar_u16.data & 0b0001000000000000)
outBuffer[74] = '1';
if (sensor_data->data_scalar_u16.data & 0b0010000000000000)
outBuffer[87] = '1';
fprintf(stderr, "%s", outBuffer);
/* activity recognition is not time critical, so let's wait a little bit */
mdelay(200);
}
Gesture recognition example
Data parsing for gesture recognition is available in COINES. The user can open the “bhy_gesture_recognition.c” in COINES, compile and run. The output will be shown in COINES console.
In the example code, three gestures are enabled, which are “Glance, Pickup and Significant Motion”. The code is shown as below.
/* @brief This API is used for parsing the activity recognition data from BHY
*
* @param[in] sensor_data: bhy data
* @param[in] sensor_id: bhy id
*
* @return void
*
*/
void sensors_callback(bhy_data_generic_t * sensor_data, bhy_virtual_sensor_t sensor_id)
{
float temp;
u8 index;
/* Since a timestamp is always sent before every new data, and that the callbacks */
/* are called while the parsing is done, then the system timestamp is always equal */
/* to the sample timestamp. (in callback mode only) */
temp = g_system_timestamp / 3200000.;
for (index = 6; index <= 8; index++)
{
outBuffer[index] = floorf(temp) + '0';
temp = (temp - floorf(temp)) * 10;
}
for (index = 10; index <= 12; index++)
{
outBuffer[index] = floorf(temp) + '0';
temp = (temp - floorf(temp)) * 10;
}
sensor_id &= 0x1F;
/* gesture recognition sensors are always one-shot, so you need to */
/* re-enable them every time if you want to catch every event */
bhy_enable_virtual_sensor(sensor_id, VS_WAKEUP, 1, 0, VS_FLUSH_NONE, 0, 0);
switch (sensor_id)
{
case VS_TYPE_GLANCE:
strcpy(&outBuffer[24], "Glance \r\n");
break;
case VS_TYPE_PICKUP:
strcpy(&outBuffer[24], "Pickup \r\n");
break;
case VS_TYPE_SIGNIFICANT_MOTION:
strcpy(&outBuffer[24], "Sig motion\r\n");
break;
default:
strcpy(&outBuffer[24], "Unknown \r\n");
break;
}
fprintf(stderr, "%s", outBuffer);
fflush(stderr);
}
Gravity vector example
Data parsing for gravity vector is available in COINES. The user can open the “bhy_gravity_vector.c” in COINES, compile and run. The output will be shown in COINES console.
The code is shown as below.
/* @brief This API is used for parsing the activity recognition data from BHY
*
* @param[in] sensor_data: bhy data
* @param[in] sensor_id: bhy id
*
* @return void
*
*/
void sensors_callback(bhy_data_generic_t * sensor_data, bhy_virtual_sensor_t sensor_id)
{
float temp;
u8 index;
temp = sensor_data->data_vector.x / 8192.;
outBuffer[3] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
outBuffer[4] = floorf(temp) + '0';
for (index = 6; index <= 8; index++)
{
temp = (temp - floorf(temp)) * 10;
outBuffer[index] = floorf(temp) + '0';
}
temp = sensor_data->data_vector.y / 8192.;
outBuffer[13] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
outBuffer[14] = floorf(temp) + '0';
for (index = 16; index <= 18; index++)
{
temp = (temp - floorf(temp)) * 10;
outBuffer[index] = floorf(temp) + '0';
}
temp = sensor_data->data_vector.z / 8192.;
outBuffer[23] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
outBuffer[24] = floorf(temp) + '0';
for (index = 26; index <= 28; index++)
{
temp = (temp - floorf(temp)) * 10;
outBuffer[index] = floorf(temp) + '0';
}
fprintf(stderr, "%s", outBuffer);
fflush(stderr);
}
Rotation vector example
Data parsing for Rotation Vector is available in COINES. The user can open the “bhy_rotation_vector.c” in COINES, compile and run. The output will be shown in COINES console.
The code is shown as below.
/* @brief This API is used for parsing the activity recognition data from BHY
*
* @param[in] sensor_data: bhy data
* @param[in] sensor_id: bhy id
*
* @return void
*
*/
void sensors_callback(bhy_data_generic_t * sensor_data, bhy_virtual_sensor_t sensor_id)
{
float temp;
u8 index;
temp = sensor_data->data_quaternion.w / 16384.;
outBuffer[3] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
outBuffer[4] = floorf(temp) + '0';
for (index = 6; index <= 8; index++)
{
temp = (temp - floorf(temp)) * 10;
outBuffer[index] = floorf(temp) + '0';
}
temp = sensor_data->data_quaternion.x / 16384.;
outBuffer[13] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
outBuffer[14] = floorf(temp) + '0';
for (index = 16; index <= 18; index++)
{
temp = (temp - floorf(temp)) * 10;
outBuffer[index] = floorf(temp) + '0';
}
temp = sensor_data->data_quaternion.y / 16384.;
outBuffer[23] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
outBuffer[24] = floorf(temp) + '0';
for (index = 26; index <= 28; index++)
{
temp = (temp - floorf(temp)) * 10;
outBuffer[index] = floorf(temp) + '0';
}
temp = sensor_data->data_quaternion.z / 16384.;
outBuffer[33] = temp < 0 ? '-' : ' ';
temp = temp < 0 ? -temp : temp;
outBuffer[34] = floorf(temp) + '0';
for (index = 36; index <= 38; index++)
{
temp = (temp - floorf(temp)) * 10;
outBuffer[index] = floorf(temp) + '0';
}
fprintf(stderr, "%s", outBuffer);
fflush(stderr);
}
Create customer example
Customer can create their own case based on the sensor they used in the folder “examples”, for example, BHI160 Shuttle board, we can create a new folder “acc_gyro data output”
Create the file and copy “Makefile” from other bhy example(like gravity_vector)
Modify the Makefile
#CCE_Board_Definitions:BHI160;BHI160B;BHA250;BHA250B COINES_INSTALL_PATH ?= ../../../.. EXAMPLE_FILE ?= acc_gyro data output.c SHUTTLE_BOARD ?= BHI160 CFLAGS += -DBST_APPBOARD_VIA_USB -D$(SHUTTLE_BOARD) include $(COINES_INSTALL_PATH)/examples/c/examples.mk
Now, you can make, compile and run your own code via COINES.
Further reads
- BHA250/BHA250B Datasheet
- BHI160/BHI160B Datasheet
- BHy1 Handling, Soldering & Mounting Instructions
- BHy1 MCU Driver Porting Guide
- BHy1 Interfacing reference code from generic driver
