✨ add BMI323 [#7]

Add support for BMI323.
Add examples for BMI323.
Move register addresses to enum classes. This improves auto-completion and structure of the sensor class.
Add unit tests.

examples/README.md

@@ -5,6 +5,9 @@ These are self-contained examples for using the `umrx-v3-py` with Application Bo
 * [`switch_app_dfu.py`](./switch_app_dfu.py)
 * [`switch_app_mtp.py`](./switch_app_mtp.py)
 
+
+## [`bmi088`](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi088/)
+
 The examples in the [`bmi088`](./bmi088) folder 
 show different communication features for the 
 [BMI088 shuttle](https://www.bosch-sensortec.com/media/boschsensortec/downloads/shuttle_board_flyer/application_board_3_1/bst-bmi088-sf000.pdf)
@@ -17,6 +20,20 @@ board:
 * [`bmi088/bmi088_spi_polling_streaming.py`](./bmi088/bmi088_spi_polling_streaming.py)
 * [`bmi088/bmi088_spi_interrupt_streaming.py`](./bmi088/bmi088_spi_interrupt_streaming.py)
 
+## [`bmi323`](https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi323/)
+
+The examples in the [`bmi323`](./bmi323) folder 
+show different communication features for the 
+[BMI323 shuttle](https://www.bosch-sensortec.com/media/boschsensortec/downloads/shuttle_board_flyer/bst-bmi323-sf000.pdf)
+board:
+
+* [`bmi088/bmi323_i2c_read_write.py`](./bmi323/bmi323_i2c_read_write.py) 
+* [`bmi088/bmi323_i2c_polling_streaming.py`](./bmi323/bmi323_i2c_polling_streaming.py)
+* [`bmi088/bmi323_i2c_interrupt_streaming.py`](./bmi323/bmi323_i2c_interrupt_streaming.py)
+* [`bmi088/bmi323_spi_read_write.py`](./bmi323/bmi323_spi_read_write.py)
+* [`bmi088/bmi323_spi_polling_streaming.py`](./bmi323/bmi323_spi_polling_streaming.py)
+* [`bmi088/bmi323_spi_interrupt_streaming.py`](./bmi323/bmi323_spi_interrupt_streaming.py)
+
 
 ## Need a specific example or do not know how to read data from your sensor?
 

examples/bmi323/bmi323_i2c_interrupt_streaming.py

@@ -0,0 +1,46 @@
+import logging
+import struct
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bmi323.bmi323_shuttle import BMI323Shuttle
+
+
+def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
+    logger = logging.getLogger()
+    logger.setLevel(level)
+    stdout_handler = logging.StreamHandler(sys.stdout)
+    log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d:  %(message)s"
+    log_formatter = logging.Formatter(log_format)
+    stdout_handler.setFormatter(log_formatter)
+    file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
+    file_handler.setFormatter(log_formatter)
+    logger.addHandler(stdout_handler)
+    logger.addHandler(file_handler)
+    return logger
+
+
+if __name__ == "__main__":
+    logger = setup_logging()
+    # This example is for Application Board 3.1 hardware
+    shuttle = BMI323Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_i2c()
+    logger.info(f"acc_chip_id=0x{shuttle.sensor.chip_id:02X}")
+    assert shuttle.sensor.chip_id == 0x0043
+    shuttle.configure_interrupt_streaming()
+    shuttle.start_streaming()
+    time.sleep(0.1)
+    for idx in range(1000):
+        for streaming in shuttle.board.receive_interrupt_streaming_multiple(includes_mcu_timestamp=False):
+            sensor_id, packet, time_stamp, payload = streaming
+            d_x, d_y, d_z = struct.unpack("<xxhhh", payload)
+            if sensor_id == 1:
+                logger.info(f"[{idx}][a] {packet=:06d} {' ' * 30} a_x={d_x:04d}, a_y={d_y:04d}, a_z={d_z:04d}")
+            elif sensor_id == 2:
+                logger.info(f"[{idx}][g] {packet=:06d} g_x={d_x:04d}, g_y={d_y:04d}, g_z={d_z:04d}")
+        time.sleep(0.05)
+    shuttle.board.stop_interrupt_streaming()

examples/bmi323/bmi323_i2c_polling_streaming.py

@@ -0,0 +1,48 @@
+import logging
+import struct
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bmi323.bmi323_shuttle import BMI323Shuttle
+
+
+def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
+    logger = logging.getLogger()
+    logger.setLevel(level)
+    stdout_handler = logging.StreamHandler(sys.stdout)
+    log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d:  %(message)s"
+    log_formatter = logging.Formatter(log_format)
+    stdout_handler.setFormatter(log_formatter)
+    file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
+    file_handler.setFormatter(log_formatter)
+    logger.addHandler(stdout_handler)
+    logger.addHandler(file_handler)
+    return logger
+
+
+if __name__ == "__main__":
+    logger = setup_logging()
+    # This example is for Application Board 3.1 hardware
+    shuttle = BMI323Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_i2c()
+    logger.info(f"chip_id=0x{shuttle.sensor.chip_id:04X}")
+    assert shuttle.sensor.chip_id == 0x0043
+    shuttle.configure_polling_streaming()
+    shuttle.start_streaming()
+    time.sleep(0.1)
+    for idx in range(1000):
+        for streaming in shuttle.board.receive_polling_streaming_multiple():
+            sensor_id, payload = streaming
+            a_x, a_y, a_z, g_x, g_y, g_z, temperature, time_stamp = struct.unpack("<xxhhhhhhHI", payload)
+            temperature_c = 23 + (temperature / 512)
+            time_stamp_second = time_stamp * 39.0625 / 1e6
+            logger.info(
+                f"[{idx=}], accel({a_x=:+05d}, {a_y=:+05d}, {a_z=:+05d}), gyro({g_x=:+05d}, {g_y=:+05d}, {g_z=:+05d}), "
+                f"T={temperature_c:+2.3f}, time_stamp(sec)={time_stamp_second:.6f}"
+            )
+        time.sleep(0.05)
+    shuttle.board.stop_polling_streaming()

examples/bmi323/bmi323_i2c_read_write.py

@@ -0,0 +1,59 @@
+import logging
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bmi323.bmi323_shuttle import BMI323Shuttle
+
+
+def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
+    logger = logging.getLogger()
+    logger.setLevel(level)
+    stdout_handler = logging.StreamHandler(sys.stdout)
+    log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d:  %(message)s"
+    log_formatter = logging.Formatter(log_format)
+    stdout_handler.setFormatter(log_formatter)
+    file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
+    file_handler.setFormatter(log_formatter)
+    logger.addHandler(stdout_handler)
+    logger.addHandler(file_handler)
+    return logger
+
+
+if __name__ == "__main__":
+    logger = setup_logging()
+    shuttle = BMI323Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_i2c()
+
+    logger.info(f"chip_id=0x{shuttle.sensor.chip_id:04X}")
+    logger.info(f"err_reg=0x{shuttle.sensor.err_reg:04X}")
+    logger.info(f"err_reg=0x{shuttle.sensor.status:04X}")
+
+    a_x, a_y, a_z = shuttle.sensor.acc_data
+    logger.info(f"acceleration=({a_x=:04X}, {a_y=:04X}, {a_z=:04X})")
+
+    g_x, g_y, g_z = shuttle.sensor.gyr_data
+    logger.info(f"angular_velocity=({g_x=:04X}, {g_y=:04X}, {g_z=:04X})")
+
+    logger.info(f"sensor_time={shuttle.sensor.sensor_time:04X}")
+
+    logger.info(f"acc_conf=0x{shuttle.sensor.acc_conf:04X}")
+    logger.info(f"gyr_conf=0x{shuttle.sensor.gyr_conf:04X}")
+
+    shuttle.sensor.acc_conf = 0x4027
+    shuttle.sensor.gyr_conf = 0x404B
+
+    logger.info(f"acc_conf=0x{shuttle.sensor.acc_conf:04X}")
+    logger.info(f"gyr_conf=0x{shuttle.sensor.gyr_conf:04X}")
+
+    logger.info(f"alt_acc_conf=0x{shuttle.sensor.alt_acc_conf:04X}")
+    logger.info(f"alt_gyr_conf=0x{shuttle.sensor.alt_gyr_conf:04X}")
+    time.sleep(0.1)
+    a_x, a_y, a_z = shuttle.sensor.acc_data
+    logger.info(f"acceleration=({a_x=}, {a_y=}, {a_z=})")
+
+    g_x, g_y, g_z = shuttle.sensor.gyr_data
+    logger.info(f"angular_velocity=({g_x=}, {g_y=}, {g_z=})")

examples/bmi323/bmi323_spi_interrupt_streaming.py

@@ -0,0 +1,49 @@
+import logging
+import struct
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bmi323.bmi323_shuttle import BMI323Shuttle
+
+
+def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
+    logger = logging.getLogger()
+    logger.setLevel(level)
+    stdout_handler = logging.StreamHandler(sys.stdout)
+    log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d:  %(message)s"
+    log_formatter = logging.Formatter(log_format)
+    stdout_handler.setFormatter(log_formatter)
+    file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
+    file_handler.setFormatter(log_formatter)
+    logger.addHandler(stdout_handler)
+    logger.addHandler(file_handler)
+    return logger
+
+
+if __name__ == "__main__":
+    logger = setup_logging()
+    # This example is for Application Board 3.1 hardware
+    shuttle = BMI323Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_spi()
+    _ = shuttle.board.read_spi(shuttle.CS, 0, 1)  # dummy read is required, do not delete
+
+    logger.info(f"acc_chip_id=0x{shuttle.sensor.chip_id:04X}")
+    assert shuttle.sensor.chip_id == 0x0043
+    shuttle.configure_interrupt_streaming()
+    shuttle.start_streaming()
+    time.sleep(0.1)
+    for idx in range(1000):
+        for streaming in shuttle.board.receive_interrupt_streaming_multiple(includes_mcu_timestamp=False):
+            sensor_id, packet, time_stamp, payload = streaming
+            if sensor_id == 1:
+                a_x, a_y, a_z = struct.unpack("<xhhh", payload)
+                logger.info(f"[{idx}][{packet}][a] {' ' * 30} a_x={a_x:04d}, a_y={a_y:04d}, a_z={a_z:04d} ")
+            elif sensor_id == 2:
+                g_x, g_y, g_z = struct.unpack("<xhhh", payload)
+                logger.info(f"[{idx}][{packet}][g] g_x={g_x:04d}, g_y={g_y:04d}, g_z={g_z:04d} ")
+        time.sleep(0.05)
+    shuttle.board.stop_interrupt_streaming()

examples/bmi323/bmi323_spi_polling_streaming.py

@@ -0,0 +1,51 @@
+import logging
+import struct
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bmi323.bmi323_shuttle import BMI323Shuttle
+
+
+def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
+    logger = logging.getLogger()
+    logger.setLevel(level)
+    stdout_handler = logging.StreamHandler(sys.stdout)
+    log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d:  %(message)s"
+    log_formatter = logging.Formatter(log_format)
+    stdout_handler.setFormatter(log_formatter)
+    file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
+    file_handler.setFormatter(log_formatter)
+    logger.addHandler(stdout_handler)
+    logger.addHandler(file_handler)
+    return logger
+
+
+if __name__ == "__main__":
+    logger = setup_logging()
+    # This example is for Application Board 3.1 hardware
+    shuttle = BMI323Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_spi()
+    _ = shuttle.board.read_spi(shuttle.CS, 0, 1)  # dummy read is required, do not delete
+
+    logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}")
+    assert shuttle.sensor.chip_id == 0x0043
+    shuttle.configure_polling_streaming()
+    shuttle.start_streaming()
+    time.sleep(0.1)
+    for idx in range(1000):
+        for streaming in shuttle.board.receive_polling_streaming_multiple():
+            sensor_id, payload = streaming
+            a_x, a_y, a_z, g_x, g_y, g_z, temperature, time_stamp = struct.unpack("<xhhhhhhHI", payload)
+            temperature_c = 23 + (temperature / 512)
+            time_stamp_second = time_stamp * 39.0625 / 1e6
+            logger.info(
+                f"[{idx=}], accel({a_x=:+05d}, {a_y=:+05d}, {a_z=:+05d}), gyro({g_x=:+05d}, {g_y=:+05d}, {g_z=:+05d}), "
+                f"T={temperature_c:+2.3f}, time_stamp(sec)={time_stamp_second:.6f}"
+            )
+
+        time.sleep(0.05)
+    shuttle.board.stop_polling_streaming()

examples/bmi323/bmi323_spi_read_write.py

@@ -0,0 +1,68 @@
+import logging
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bmi323.bmi323_shuttle import BMI323Shuttle
+
+
+def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
+    logger = logging.getLogger()
+    logger.setLevel(level)
+    stdout_handler = logging.StreamHandler(sys.stdout)
+    log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d:  %(message)s"
+    log_formatter = logging.Formatter(log_format)
+    stdout_handler.setFormatter(log_formatter)
+    file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
+    file_handler.setFormatter(log_formatter)
+    logger.addHandler(stdout_handler)
+    logger.addHandler(file_handler)
+    return logger
+
+
+if __name__ == "__main__":
+    logger = setup_logging()
+    # For using with Application board 3.0, replace the line below with:
+    # shuttle = BMI088Shuttle.on_hardware_v3_rev0()
+    shuttle = BMI323Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_spi()
+    _ = shuttle.board.read_spi(shuttle.CS, 0, 1)  # dummy read is required, do not delete
+
+    res = shuttle.board.read_spi(shuttle.CS, 0, 3)
+    logger.info(f"{res=}")
+
+    res = shuttle.board.read_spi(shuttle.CS, 0, 3)
+    logger.info(f"{res=}")
+
+    logger.info(f"chip_id=0x{shuttle.sensor.chip_id:04X}")
+    logger.info(f"err_reg=0x{shuttle.sensor.err_reg:04X}")
+    logger.info(f"err_reg=0x{shuttle.sensor.status:04X}")
+
+    a_x, a_y, a_z = shuttle.sensor.acc_data
+    logger.info(f"acceleration=({a_x=:04X}, {a_y=:04X}, {a_z=:04X})")
+
+    g_x, g_y, g_z = shuttle.sensor.gyr_data
+    logger.info(f"angular_velocity=({g_x=:04X}, {g_y=:04X}, {g_z=:04X})")
+
+    logger.info(f"sensor_time={shuttle.sensor.sensor_time:04X}")
+
+    logger.info(f"acc_conf=0x{shuttle.sensor.acc_conf:04X}")
+    logger.info(f"gyr_conf=0x{shuttle.sensor.gyr_conf:04X}")
+    # start accelerometer and gyro measurements
+    shuttle.sensor.acc_conf = 0x4027
+    shuttle.sensor.gyr_conf = 0x404B
+
+    logger.info(f"acc_conf=0x{shuttle.sensor.acc_conf:04X}")
+    logger.info(f"gyr_conf=0x{shuttle.sensor.gyr_conf:04X}")
+
+    logger.info(f"alt_acc_conf=0x{shuttle.sensor.alt_acc_conf:04X}")
+    logger.info(f"alt_gyr_conf=0x{shuttle.sensor.alt_gyr_conf:04X}")
+    time.sleep(0.1)
+    a_x, a_y, a_z = shuttle.sensor.acc_data
+    logger.info(f"acceleration=({a_x=}, {a_y=}, {a_z=})")
+
+    g_x, g_y, g_z = shuttle.sensor.gyr_data
+    logger.info(f"angular_velocity=({g_x=}, {g_y=}, {g_z=})")