repository·master·Indexed 42 days ago
https://github.com/lewisxhe/sensorlibA multi-platform C++ library providing drivers for over 44 sensor devices across 11 categories, including Touch, PMIC, and IMU. It supports I2C and SPI buses and is designed for use with Arduino, PlatformIO, and ESP-IDF. For ESP-IDF users, it offers multiple driver implementation modes: LL Driver (for ESP-IDF >= 5.0), Legacy Driver (for ESP-IDF < 5.0), and a flexible Read/Write/Hal callback approach.
The sensor hub supports different driver implementation patterns depending on your requirements:
The BMA456 family includes several variants with different feature sets for motion detection and intelligence:
When initializing a BHI260AP or BHA260 sensor, the driver performs a firmware upload to RAM and boots the kernel. Once successful, the sensor exposes a list of 'Virtual Sensors'. These virtual sensors provide processed data (like 'Gravity vector', 'Step counter', or 'Device orientation') rather than raw sensor readings.
Each virtual sensor in the list is identified by:
Example of a virtual sensor list output during initialization:
| Sensor ID | Sensor Name | ID | Ver | Min rate | Max rate |
|---|---|---|---|---|---|
| 1 | Accelerometer passthrough | 205 | 1 | 12.5000 | 400.0000 |
| 37 | Game rotation vector | 252 | 1 | 1.5625 | 400.0000 |
| 50 | Step detector | 248 | 1 | 1.0000 | 1.0000 |
The ESP-IDF sensor hub example supports several ways to interface with hardware via sensorlib:
As seen in the example output, using callback methods is a common way to implement I2C:
I (317) I2C: Implemented using read and write callback methods (Use higher version >= 5.0 API)
read and write callback methods. This abstraction allows the library to work seamlessly with the i2c_master component in newer ESP-IDF versions.The AXP517 PMIC supports USB-PD sink negotiation.
Critical Requirement: PD negotiation is interrupt-driven. You must connect the PMIC_IRQ pin to an MCU GPIO and pass that pin to begin(..., irqPin) or initPdSink(irqPin) before calling requestPd(). Without a valid IRQ pin, the TCPC RX FIFO cannot be serviced and PD voltage requests will fail.
To request a specific voltage range, use pmic.requestPd(min_mv, max_mv, &caps).
#include <Wire.h>
#include "PmicXPowers.hpp"
PmicAXP517 pmic;
AXP517PdNegotiator::SourceCaps caps;
static constexpr int PMIC_SDA = 3;
static constexpr int PMIC_SCL = 2;
static constexpr int PMIC_IRQ = 44; // Must be connected to PMIC_IRQ
void setup() {
Serial.begin(115200);
if (!pmic.begin(Wire, AXP517_SLAVE_ADDRESS, PMIC_SDA, PMIC_SCL, PMIC_IRQ)) {
Serial.println("AXP517 or PMIC_IRQ init failed");
while (1) delay(1000);
}
if (pmic.requestPd(9000, 6000, &caps)) {
Serial.println("9V PD contract ready");
}
}The ESP-IDF Sensor Hub examples demonstrate two different ways to interface with hardware drivers, primarily distinguished by the version of the ESP-IDF I2C driver used:
read and write callback methods. This is the recommended approach for newer ESP-IDF versions.W (333) i2c: This driver is an old driver, please migrate your application code to adapt driver/i2c_master.h.Both drivers support initializing sensors like the PCF8563 RTC and BMA423 accelerometer.
< 5.0 API).SensorLib does not include raw Bosch *.fw files. For BHI260/BHI360, the library uses generated firmware headers located in src/bosch/firmware/.
If you need to use a custom Bosch firmware image, you must convert it to a C/C++ header or a byte array and then pass it to the driver using the setFirmware() method.
sensorlib driver to communicate with the sensor.The sensor hub examples support different driver implementation patterns:
read, write, and HAL (Hardware Abstraction Layer) operations. This is useful when you need to map the library's communication requirements to your specific hardware abstraction layer or custom I2C/SPI implementation.