🎉 BMA456 support

Closes #12

examples/bma456/bma456_i2c_interrupt_streaming.py

@@ -0,0 +1,51 @@
+import logging
+import struct
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bma456.bma456_shuttle import BMA456Shuttle
+
+
+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 = BMA456Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+    shuttle.configure_i2c()
+    logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}")
+    assert shuttle.sensor.chip_id == 0x16
+    shuttle.sensor.pwr_conf = 0x00
+    shuttle.sensor.init_ctrl = 0x00
+    shuttle.write_mm_config_file()
+    time.sleep(0.01)
+    shuttle.sensor.init_ctrl = 0x01
+    shuttle.configure_interrupt_streaming()
+    shuttle.start_streaming()
+    time.sleep(0.1)
+    logger.info("configuration complete, start streaming now")
+    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
+            a_x, a_y, a_z, t_0, t_1, t_2 = struct.unpack("<hhhBBB", payload)
+            sensor_time = ((t_2 << 16) | (t_1 << 8) | t_0) * 39.0625e-6
+            logger.info(
+                f"[{idx=:03d}], acceleration(a_x={a_x:+5d}, a_y={a_y:+5d}, a_z={a_z:+5d}), "
+                f"time_stamp(s)={sensor_time:.3f}"
+            )
+        time.sleep(0.05)
+    shuttle.board.stop_interrupt_streaming()

examples/bma456/bma456_i2c_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.bma456.bma456_shuttle import BMA456Shuttle
+
+
+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 = BMA456Shuttle.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 == 0x16
+    shuttle.sensor.pwr_conf = 0x00
+    shuttle.sensor.init_ctrl = 0x00
+    shuttle.write_mm_config_file()
+    time.sleep(0.01)
+    shuttle.sensor.init_ctrl = 0x01
+    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, t_0, t_1, t_2 = struct.unpack("<hhhBBB", payload)
+            sensor_time = ((t_2 << 16) | (t_1 << 8) | t_0) * 39.0625e-6
+            logger.info(
+                f"[{idx=:03d}], acceleration(a_x={a_x:+5d}, a_y={a_y:+5d}, a_z={a_z:+5d}), "
+                f"time_stamp(s)={sensor_time:.3f}"
+            )
+        time.sleep(0.05)
+    shuttle.board.stop_polling_streaming()

examples/bma456/bma456_i2c_read_write.py

@@ -0,0 +1,48 @@
+import logging
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bma456.bma456_shuttle import BMA456Shuttle
+
+
+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 = BMA456Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_i2c()
+
+    logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}")
+    logger.info(f"err_reg=0x{shuttle.sensor.err_reg:02X}")
+    logger.info(f"status=0x{shuttle.sensor.status:02X}")
+    logger.info(f"pwr_conf=0x{shuttle.sensor.pwr_conf:02X}")
+
+    logger.info(f"acceleration={shuttle.sensor.acc_data}")
+    logger.info(f"sensor_time={shuttle.sensor.sensor_time}")
+    logger.info(f"internal_status={shuttle.sensor.internal_status}")
+    shuttle.sensor.pwr_conf = 0x00
+    shuttle.sensor.init_ctrl = 0x00
+    shuttle.write_mm_config_file()
+    time.sleep(0.01)
+    shuttle.sensor.init_ctrl = 0x01
+    shuttle.switch_on_accel()
+    time.sleep(0.05)
+    logger.info(f"internal_status={shuttle.sensor.internal_status}")
+    logger.info(f"acceleration={shuttle.sensor.acc_data}")
+    logger.info(f"sensor_time={shuttle.sensor.sensor_time}")

examples/bma456/bma456_spi_interrupt_streaming.py

@@ -0,0 +1,53 @@
+import logging
+import struct
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bma456.bma456_shuttle import BMA456Shuttle
+
+
+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 = BMA456Shuttle.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 == 0x16
+    shuttle.sensor.pwr_conf = 0x00
+    shuttle.sensor.init_ctrl = 0x00
+    shuttle.write_mm_config_file()
+    time.sleep(0.01)
+    shuttle.sensor.init_ctrl = 0x01
+    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
+            a_x, a_y, a_z, t_0, t_1, t_2 = struct.unpack("<xhhhBBB", payload)
+            sensor_time = ((t_2 << 16) | (t_1 << 8) | t_0) * 39.0625e-6
+            logger.info(
+                f"[{idx=:03d}], acceleration(a_x={a_x:+5d}, a_y={a_y:+5d}, a_z={a_z:+5d}), "
+                f"time_stamp(s)={sensor_time:.3f}"
+            )
+        time.sleep(0.05)
+    shuttle.board.stop_interrupt_streaming()

examples/bma456/bma456_spi_polling_streaming.py

@@ -0,0 +1,53 @@
+import logging
+import struct
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bma456.bma456_shuttle import BMA456Shuttle
+
+
+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 = BMA456Shuttle.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 == 0x16
+    shuttle.sensor.pwr_conf = 0x00
+    shuttle.sensor.init_ctrl = 0x00
+    shuttle.write_mm_config_file()
+    time.sleep(0.01)
+    shuttle.sensor.init_ctrl = 0x01
+    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, t_0, t_1, t_2 = struct.unpack("<xhhhBBB", payload)
+            sensor_time = ((t_2 << 16) | (t_1 << 8) | t_0) * 39.0625e-6
+            logger.info(
+                f"[{idx=:03d}], acceleration(a_x={a_x:4d}, a_y={a_y:4d}, a_z={a_z:4d}), "
+                f"time_stamp(s)={sensor_time:.3f}"
+            )
+        time.sleep(0.05)
+    shuttle.board.stop_polling_streaming()

examples/bma456/bma456_spi_read_write.py

@@ -0,0 +1,49 @@
+import logging
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bma456.bma456_shuttle import BMA456Shuttle
+
+
+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 = BMA456Shuttle.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}")
+    logger.info(f"err_reg=0x{shuttle.sensor.err_reg:02X}")
+    logger.info(f"status=0x{shuttle.sensor.status:02X}")
+    logger.info(f"pwr_conf=0x{shuttle.sensor.pwr_conf:02X}")
+
+    logger.info(f"acceleration={shuttle.sensor.acc_data}")
+    logger.info(f"sensor_time={shuttle.sensor.sensor_time}")
+    logger.info(f"internal_status={shuttle.sensor.internal_status}")
+    shuttle.sensor.pwr_conf = 0x00
+    shuttle.sensor.init_ctrl = 0x00
+    shuttle.write_mm_config_file()
+    time.sleep(0.01)
+    shuttle.sensor.init_ctrl = 0x01
+    shuttle.switch_on_accel()
+    time.sleep(0.05)
+    logger.info(f"internal_status={shuttle.sensor.internal_status}")
+    logger.info(f"acceleration={shuttle.sensor.acc_data}")
+    logger.info(f"sensor_time={shuttle.sensor.sensor_time}")