BHy MACU driver Porting guide

[belaya]

Hello,

started a new Projekt which contains the Sensordata from the BHI160b. I am using the BHI160 Shuttle Board.  My Microcontroller is an STM32L053R8 which i will use to read out the sensordata. I started to follow the driver Porting guide to adapt the Functions to my Platform. At first i created a New Projekt with my STM32 init code and also included the BHy MCU driver. At the beginning i removed the lines in the file bhy_support.c

#include "FreeRTOS.h"
#include "task.h"
extern int8_t sensor_i2c_write(uint8_t addr, uint8_t reg, uint8_t *p_buf, uint16_t size);
extern int8_t sensor_i2c_read(uint8_t addr, uint8_t reg, uint8_t *p_buf, uint16_t size);
extern void trace_log(const char *fmt, ...);

After that i tried build the target Files in i have an error:

..\Drivers\BHI160b_driver\inc\BHy_support.h(59): error: #5: cannot open source input file "twi.h": No such file or directory

Because the twi.h is a platform specific library for Atmel i also removed this line from file bhy_support.h.

After this change i tried to rebuild again and now i have a lot of undefined identifiers :

..\Drivers\BHI160b_driver\inc\bhy_uc_driver_types.h(252): error: #20: identifier "uint8_t" is undefined           uint8_t sensor_id;

Even the Porting guide says that in this case, the bhy.h should be modified to define the following fixed-width types:

s8, s16, s32, u8, u16, u32

I looked in this file and i am not sure how to exactly implement these types. Does anyone have an example for that?

Also i should implement specific  sensor_i2c_write()  sensor_i2c_read() functions. This 2 functions have to be in bhy_support.c?

Because there are no existing i2c functions just the declaration like this:

extern int8_t sensor_i2c_write(uint8_t addr, uint8_t reg, uint8_t *p_buf, uint16_t size);
extern int8_t sensor_i2c_read(uint8_t addr, uint8_t reg, uint8_t *p_buf, uint16_t size);

Are there any example codes that has an HAL i2c connection to this sensor?

Thx for helping!

[BSTRobin]

Hello Belaya,

This is sensor initialization code on STM32, please refer it.

/*!
* @brief Initializes BHY smart sensor and its required connections
*
*/
int8_t bhy_initialize_support(void)
{
uint8_t tmp_retry = RETRY_NUM;

bhy.bus_write = &I2Cx_Write;
bhy.bus_read = &I2Cx_Read;
bhy.delay_msec = &bhy_delay_msec;
bhy.device_addr = BHY_I2C_SLAVE_ADDRESS<<1;

bhy_init(&bhy);

bhy_set_reset_request(BHY_RESET_ENABLE);;

while(tmp_retry--)
{
bhy_get_product_id(&bhy.product_id);

if(PRODUCT_ID_7183 == bhy.product_id)
{
return BHY_SUCCESS;
}

bhy_delay_msec(BHY_PARAMETER_ACK_DELAY);
}

return BHY_PRODUCT_ID_ERROR;
}
/*!
* @brief Initiates a delay of the length of the argument in milliseconds
*
* @param[in] msec Delay length in terms of milliseconds
*
*/
void bhy_delay_msec(uint32_t msec)
{
HAL_Delay(msec);
}

[belaya]

Thx, i have the same init code in the driver. Do you have any main.c code that shows how to use this driver? After i initialized all functions of the MCU is called the bhy_initialize_support(); function and it gets successfull the Sensor id. But whats next? the example code in the driver just shows 2 functions, the sensor callback and the demo_sensor. But don't know how to implement these into my main to geht continous readings

[BSTRobin]

Hello Bellaya,

There was a porting guide under package folder, you also could refer it.

Which example code you refer it? For reading data, you could refer FIFO reading example.

[belaya]

Actually i want to read out rotation data as quaternions. So i decided to take the rotation_vector_example.c. I reffered to the documentation for the porting guide. But i dont know how to implement it into my main function to get continous readings. I guess this two functions in the example are reading rotation but i dont know how to use them.....