✨ examples for bmi088 [#1]

Examples for BMO088 shuttle:
simple I2C / SPI read / write
polling streaming over I2C / SPI
interrupt streaming over I2C / SPI

examples/bmi088/bmi088_i2c_interrupt_streaming.py

@@ -0,0 +1,48 @@
+import logging
+import struct
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bmi088.bmi088_shuttle import BMI088Shuttle
+
+
+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 = BMI088Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_i2c()
+    logger.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
+    logger.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
+    assert shuttle.sensor.acc_chip_id == 0x1E
+    assert shuttle.sensor.gyro_chip_id == 0x0F
+    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("<hhh", payload)
+            if sensor_id == 1:
+                logger.info(f"[{idx}][a] {packet=:06d} 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/bmi088/bmi088_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.bmi088.bmi088_shuttle import BMI088Shuttle
+
+
+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 = BMI088Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_i2c()
+    logger.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
+    logger.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
+    assert shuttle.sensor.acc_chip_id == 0x1E
+    assert shuttle.sensor.gyro_chip_id == 0x0F
+    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
+            data_x, data_y, data_z = struct.unpack("<hhh", payload)
+            if sensor_id == 1:
+                logger.info(f"[{idx}][a] a_x={data_x:04d}, a_y={data_y:04d}, a_z={data_z:04d} ")
+            elif sensor_id == 2:
+                logger.info(f"[{idx}][g] g_x={data_x:04d}, g_y={data_y:04d}, g_z={data_z:04d} ")
+        time.sleep(0.05)
+    shuttle.board.stop_polling_streaming()

examples/bmi088_shuttle_board.py → examples/bmi088/bmi088_i2c_read_write.py

@@ -6,21 +6,24 @@
 from umrx_app_v3.shuttle_board.bmi088.bmi088_shuttle import BMI088Shuttle
 
 
-def setup_logging() -> logging.Logger:
+def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
     logger = logging.getLogger()
-    logger.setLevel(logging.DEBUG)
+    logger.setLevel(level)
     stdout_handler = logging.StreamHandler(sys.stdout)
-    stdout_handler.setFormatter(
-        logging.Formatter("(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d:  %(message)s")
-    )
+    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 = BMI088Shuttle.on_hardware_v3_rev1()
     shuttle.initialize()
     shuttle.check_connected_hw()
@@ -29,13 +32,6 @@ def setup_logging() -> logging.Logger:
     logger.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
     logger.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
 
-    time.sleep(0.1)
-    shuttle.configure_spi()
-    _ = shuttle.board.read_spi(shuttle.CSB1, 0, 1)  # first read is required, do not delete
-
-    logger.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
-    logger.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
-
     logger.info(f"acc_status=0x{shuttle.sensor.acc_status:02X}")
     logger.info(f"acc_fifo_config_1=0x{shuttle.sensor.acc_fifo_config_1:02X}")
 

examples/bmi088/bmi088_spi_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.bmi088.bmi088_shuttle import BMI088Shuttle
+
+
+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 = BMI088Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_spi()
+    _ = shuttle.board.read_spi(shuttle.CSB1, 0, 1)  # dummy read is required, do not delete
+
+    logger.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
+    logger.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
+    assert shuttle.sensor.acc_chip_id == 0x1E
+    assert shuttle.sensor.gyro_chip_id == 0x0F
+    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] 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("<hhh", 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/bmi088/bmi088_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.bmi088.bmi088_shuttle import BMI088Shuttle
+
+
+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 = BMI088Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_spi()
+    _ = shuttle.board.read_spi(shuttle.CSB1, 0, 1)  # dummy read is required, do not delete
+
+    logger.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
+    logger.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
+    assert shuttle.sensor.acc_chip_id == 0x1E
+    assert shuttle.sensor.gyro_chip_id == 0x0F
+    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
+            if sensor_id == 1:
+                a_x, a_y, a_z = struct.unpack("<xhhh", payload)
+                logger.info(f"[{idx}][a] 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("<hhh", payload)
+                logger.info(f"[{idx}][g] g_x={g_x:04d}, g_y={g_y:04d}, g_z={g_z:04d} ")
+        time.sleep(0.05)
+    shuttle.board.stop_polling_streaming()

examples/bmi088/bmi088_spi_read_write.py

@@ -0,0 +1,44 @@
+import logging
+import sys
+import time
+from pathlib import Path
+
+from umrx_app_v3.shuttle_board.bmi088.bmi088_shuttle import BMI088Shuttle
+
+
+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 = BMI088Shuttle.on_hardware_v3_rev1()
+    shuttle.initialize()
+    shuttle.check_connected_hw()
+
+    shuttle.configure_spi()
+    _ = shuttle.board.read_spi(shuttle.CSB1, 0, 1)  # dummy read is required, do not delete
+
+    logger.info(f"acc_chip_id=0x{shuttle.sensor.acc_chip_id:02X}")
+    logger.info(f"gyro_chip_id=0x{shuttle.sensor.gyro_chip_id:02X}")
+
+    logger.info(f"acc_status=0x{shuttle.sensor.acc_status:02X}")
+    logger.info(f"acc_fifo_config_1=0x{shuttle.sensor.acc_fifo_config_1:02X}")
+
+    logger.info(f"acc_conf=0x{shuttle.sensor.acc_conf:02X}")
+    shuttle.switch_on_accel()
+    time.sleep(0.1)
+    logger.info(f"acceleration={shuttle.sensor.acceleration}")
+    logger.info(f"gyro={shuttle.sensor.gyro_rate}")