/** * @file example_accl_gyro.c * @brief example_accl_gyro module is used to demonstrate the usage of accelerometer and gyroscope peripherals. * @version 0.1 * @copyright Copyright (c) 2021-2025 Tuya Inc. All Rights Reserved. */ #include "tuya_cloud_types.h" #include "tal_api.h" #include "tkl_output.h" #include "tkl_pinmux.h" #include "tkl_i2c.h" #include "bmi270.h" #include "bmi270_common.h" /*********************************************************** ************************macro define************************ ***********************************************************/ /*! Earth's gravity in m/s^2 */ #define GRAVITY_EARTH (9.80665f) /*! Macros to select the sensors */ #define ACCEL UINT8_C(0x00) #define GYRO UINT8_C(0x01) /* BMI270 I2C Configuration */ #define BMI270_I2C_PORT TUYA_I2C_NUM_0 #define BMI270_I2C_ADDR BMI2_I2C_PRIM_ADDR /* BMI270 I2C address (ADDR pin = 0) */ #define BMI270_I2C_ADDR_ALT BMI2_I2C_SEC_ADDR /* BMI270 I2C address (ADDR pin = 1) */ #ifndef EXAMPLE_I2C_SCL_PIN #define EXAMPLE_I2C_SCL_PIN TUYA_GPIO_NUM_20 #endif #ifndef EXAMPLE_I2C_SDA_PIN #define EXAMPLE_I2C_SDA_PIN TUYA_GPIO_NUM_21 #endif /*********************************************************** ***********************typedef define*********************** ***********************************************************/ /*********************************************************** ***********************variable define********************** ***********************************************************/ /* I2C configuration for BMI270 */ static TUYA_IIC_BASE_CFG_T g_bmi270_i2c_cfg = { .role = TUYA_IIC_MODE_MASTER, .speed = TUYA_IIC_BUS_SPEED_100K, .addr_width = TUYA_IIC_ADDRESS_7BIT }; /*********************************************************** ***********************function define********************** ***********************************************************/ static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev); static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width); static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width); /** * @brief user_main * * @return none */ void user_main(void) { /* Status of api are returned to this variable. */ OPERATE_RET ret = OPRT_OK; /* Assign accel and gyro sensor to variable. */ uint8_t sensor_list[2] = { BMI2_ACCEL, BMI2_GYRO }; /* Sensor initialization configuration. */ struct bmi2_dev bmi2_dev; /* Create an instance of sensor data structure. */ struct bmi2_sens_data sensor_data = { { 0 } }; /* Initialize the interrupt status of accel and gyro. */ uint16_t int_status = 0; float x = 0, y = 0, z = 0; /* basic init */ tal_log_init(TAL_LOG_LEVEL_DEBUG, 4096, (TAL_LOG_OUTPUT_CB)tkl_log_output); PR_NOTICE("Application information:"); PR_NOTICE("Project name: %s", PROJECT_NAME); PR_NOTICE("App version: %s", PROJECT_VERSION); PR_NOTICE("Compile time: %s", __DATE__); PR_NOTICE("TuyaOpen version: %s", OPEN_VERSION); PR_NOTICE("TuyaOpen commit-id: %s", OPEN_COMMIT); PR_NOTICE("Platform chip: %s", PLATFORM_CHIP); PR_NOTICE("Platform board: %s", PLATFORM_BOARD); PR_NOTICE("Platform commit-id: %s", PLATFORM_COMMIT); /* Configure I2C pins */ tkl_io_pinmux_config(EXAMPLE_I2C_SCL_PIN, TUYA_IIC0_SCL); tkl_io_pinmux_config(EXAMPLE_I2C_SDA_PIN, TUYA_IIC0_SDA); /* Initialize I2C */ ret = tkl_i2c_init(BMI270_I2C_PORT, &g_bmi270_i2c_cfg); if (ret != OPRT_OK) { PR_ERR("Failed to initialize I2C: %d", ret); return; } /* Interface reference is given as a parameter * For I2C : BMI2_I2C_INTF * For SPI : BMI2_SPI_INTF */ uint8_t i2c_port = BMI270_I2C_PORT; bmi2_dev.intf_ptr = &(i2c_port); ret = bmi2_interface_init(&bmi2_dev, BMI2_I2C_INTF); bmi2_error_codes_print_result(ret); /* Initialize bmi270. */ ret = bmi270_init(&bmi2_dev); bmi2_error_codes_print_result(ret); /* Accel and gyro configuration settings. */ ret = set_accel_gyro_config(&bmi2_dev); bmi2_error_codes_print_result(ret); /* NOTE: * Accel and Gyro enable must be done after setting configurations */ ret = bmi270_sensor_enable(sensor_list, 2, &bmi2_dev); bmi2_error_codes_print_result(ret); while(1) { /* To get the data ready interrupt status of accel and gyro. */ ret = bmi2_get_int_status(&int_status, &bmi2_dev); bmi2_error_codes_print_result(ret); /* To check the data ready interrupt status and print the status for 10 samples. */ if ((int_status & BMI2_ACC_DRDY_INT_MASK) && (int_status & BMI2_GYR_DRDY_INT_MASK)) { /* Get accel and gyro data for x, y and z axis. */ ret = bmi2_get_sensor_data(&sensor_data, &bmi2_dev); bmi2_error_codes_print_result(ret); PR_DEBUG("--------------------------- Sensor Data -------------------------------"); PR_DEBUG("| Accelerometer Data |"); PR_DEBUG("-----------------------------------------------------------------------"); PR_DEBUG("| Raw Data (LSB) | X: %6d | Y: %6d | Z: %6d |", sensor_data.acc.x, sensor_data.acc.y, sensor_data.acc.z); /* Converting lsb to meter per second squared for 16 bit accelerometer at 2G range. */ x = lsb_to_mps2(sensor_data.acc.x, 2, bmi2_dev.resolution); y = lsb_to_mps2(sensor_data.acc.y, 2, bmi2_dev.resolution); z = lsb_to_mps2(sensor_data.acc.z, 2, bmi2_dev.resolution); PR_DEBUG("| Value (m/s²) | X: %6.2f | Y: %6.2f | Z: %6.2f |", x, y, z); PR_DEBUG("-----------------------------------------------------------------------"); PR_DEBUG("| Gyroscope Data |"); PR_DEBUG("-----------------------------------------------------------------------"); PR_DEBUG("| Raw Data (LSB) | X: %6d | Y: %6d | Z: %6d |", sensor_data.gyr.x, sensor_data.gyr.y, sensor_data.gyr.z); /* Converting lsb to degree per second for 16 bit gyro at 2000dps range. */ x = lsb_to_dps(sensor_data.gyr.x, 2000, bmi2_dev.resolution); y = lsb_to_dps(sensor_data.gyr.y, 2000, bmi2_dev.resolution); z = lsb_to_dps(sensor_data.gyr.z, 2000, bmi2_dev.resolution); PR_DEBUG("| Value (dps) | X: %6.2f | Y: %6.2f | Z: %6.2f |", x, y, z); PR_DEBUG("-----------------------------------------------------------------------\n"); } tal_system_sleep(1000); } return; } /*! * @brief This internal API is used to set configurations for accel and gyro. */ static int8_t set_accel_gyro_config(struct bmi2_dev *bmi2_dev) { /* Status of api are returned to this variable. */ int8_t ret; /* Structure to define accelerometer and gyro configuration. */ struct bmi2_sens_config config[2]; /* Configure the type of feature. */ config[ACCEL].type = BMI2_ACCEL; config[GYRO].type = BMI2_GYRO; /* Get default configurations for the type of feature selected. */ ret = bmi270_get_sensor_config(config, 2, bmi2_dev); bmi2_error_codes_print_result(ret); /* Map data ready interrupt to interrupt pin. */ ret = bmi2_map_data_int(BMI2_DRDY_INT, BMI2_INT1, bmi2_dev); bmi2_error_codes_print_result(ret); if (ret == BMI2_OK) { /* NOTE: The user can change the following configuration parameters according to their requirement. */ /* Set Output Data Rate */ config[ACCEL].cfg.acc.odr = BMI2_ACC_ODR_200HZ; /* Gravity range of the sensor (-/- 2G, 4G, 8G, 16G). */ config[ACCEL].cfg.acc.range = BMI2_ACC_RANGE_2G; /* The bandwidth parameter is used to configure the number of sensor samples that are averaged * if it is set to 2, then 2^(bandwidth parameter) samples * are averaged, resulting in 4 averaged samples. * Note1 : For more information, refer the datasheet. * Note2 : A higher number of averaged samples will result in a lower noise level of the signal, but * this has an adverse effect on the power consumed. */ config[ACCEL].cfg.acc.bwp = BMI2_ACC_NORMAL_AVG4; /* Enable the filter performance mode where averaging of samples * will be done based on above set bandwidth and ODR. * There are two modes * 0 -> Ultra low power mode * 1 -> High performance mode(Default) * For more info refer datasheet. */ config[ACCEL].cfg.acc.filter_perf = BMI2_PERF_OPT_MODE; /* The user can change the following configuration parameters according to their requirement. */ /* Set Output Data Rate */ config[GYRO].cfg.gyr.odr = BMI2_GYR_ODR_200HZ; /* Gyroscope Angular Rate Measurement Range.By default the range is 2000dps. */ config[GYRO].cfg.gyr.range = BMI2_GYR_RANGE_2000; /* Gyroscope bandwidth parameters. By default the gyro bandwidth is in normal mode. */ config[GYRO].cfg.gyr.bwp = BMI2_GYR_NORMAL_MODE; /* Enable/Disable the noise performance mode for precision yaw rate sensing * There are two modes * 0 -> Ultra low power mode(Default) * 1 -> High performance mode */ config[GYRO].cfg.gyr.noise_perf = BMI2_POWER_OPT_MODE; /* Enable/Disable the filter performance mode where averaging of samples * will be done based on above set bandwidth and ODR. * There are two modes * 0 -> Ultra low power mode * 1 -> High performance mode(Default) */ config[GYRO].cfg.gyr.filter_perf = BMI2_PERF_OPT_MODE; /* Set the accel and gyro configurations. */ ret = bmi270_set_sensor_config(config, 2, bmi2_dev); bmi2_error_codes_print_result(ret); } return ret; } /*! * @brief This function converts lsb to meter per second squared for 16 bit accelerometer at * range 2G, 4G, 8G or 16G. */ static float lsb_to_mps2(int16_t val, float g_range, uint8_t bit_width) { float half_scale = ((float)(1 << bit_width) / 2.0f); return (GRAVITY_EARTH * val * g_range) / half_scale; } /*! * @brief This function converts lsb to degree per second for 16 bit gyro at * range 125, 250, 500, 1000 or 2000dps. */ static float lsb_to_dps(int16_t val, float dps, uint8_t bit_width) { float half_scale = ((float)(1 << bit_width) / 2.0f); return (dps / ((half_scale))) * (val); } /** * @brief main * * @param argc * @param argv * @return void */ #if OPERATING_SYSTEM == SYSTEM_LINUX void main(int argc, char *argv[]) { user_main(); while (1) { tal_system_sleep(500); } } #else /* Tuya thread handle */ static THREAD_HANDLE ty_app_thread = NULL; /** * @brief task thread * * @param[in] arg:Parameters when creating a task * @return none */ static void tuya_app_thread(void *arg) { user_main(); tal_thread_delete(ty_app_thread); ty_app_thread = NULL; } void tuya_app_main(void) { THREAD_CFG_T thrd_param = {0}; thrd_param.stackDepth = 1024 * 4; thrd_param.priority = THREAD_PRIO_1; thrd_param.thrdname = "tuya_app_main"; tal_thread_create_and_start(&ty_app_thread, NULL, NULL, tuya_app_thread, NULL, &thrd_param); } #endif