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Add BMI160 support (#5143)
* Add BMI160 support * BMI160: use set_timeout for delay * Add support for old compilers Fix "warning: missing terminating ' character" * Increase power-on delay to be more conservative * Add helper for reading little-endian data over i2c * Replace configuration names with globals Note: for testing with external components, you will need to comment out the import & define your own CONF_GYROSCOPE_X, etc, in this file * Improve icons * Fix tests & lint
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7 changed files with 441 additions and 0 deletions
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@ -49,6 +49,7 @@ esphome/components/bl0942/* @dbuezas
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esphome/components/ble_client/* @buxtronix
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esphome/components/bluetooth_proxy/* @jesserockz
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esphome/components/bme680_bsec/* @trvrnrth
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esphome/components/bmi160/* @flaviut
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esphome/components/bmp3xx/* @martgras
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esphome/components/bmp581/* @kahrendt
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esphome/components/bp1658cj/* @Cossid
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esphome/components/bmi160/__init__.py
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esphome/components/bmi160/__init__.py
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CODEOWNERS = ["@flaviut"]
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esphome/components/bmi160/bmi160.cpp
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esphome/components/bmi160/bmi160.cpp
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#include "bmi160.h"
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#include "esphome/core/hal.h"
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#include "esphome/core/log.h"
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namespace esphome {
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namespace bmi160 {
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static const char *const TAG = "bmi160";
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const uint8_t BMI160_REGISTER_CHIPID = 0x00;
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const uint8_t BMI160_REGISTER_CMD = 0x7E;
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enum class Cmd : uint8_t {
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START_FOC = 0x03,
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ACCL_SET_PMU_MODE = 0b00010000, // last 2 bits are mode
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GYRO_SET_PMU_MODE = 0b00010100, // last 2 bits are mode
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MAG_SET_PMU_MODE = 0b00011000, // last 2 bits are mode
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PROG_NVM = 0xA0,
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FIFO_FLUSH = 0xB0,
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INT_RESET = 0xB1,
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SOFT_RESET = 0xB6,
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STEP_CNT_CLR = 0xB2,
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};
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enum class GyroPmuMode : uint8_t {
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SUSPEND = 0b00,
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NORMAL = 0b01,
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LOW_POWER = 0b10,
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};
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enum class AcclPmuMode : uint8_t {
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SUSPEND = 0b00,
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NORMAL = 0b01,
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FAST_STARTUP = 0b11,
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};
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enum class MagPmuMode : uint8_t {
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SUSPEND = 0b00,
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NORMAL = 0b01,
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LOW_POWER = 0b10,
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};
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const uint8_t BMI160_REGISTER_ACCEL_CONFIG = 0x40;
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enum class AcclFilterMode : uint8_t {
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POWER_SAVING = 0b00000000,
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PERF = 0b10000000,
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};
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enum class AcclBandwidth : uint8_t {
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OSR4_AVG1 = 0b00000000,
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OSR2_AVG2 = 0b00010000,
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NORMAL_AVG4 = 0b00100000,
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RES_AVG8 = 0b00110000,
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RES_AVG16 = 0b01000000,
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RES_AVG32 = 0b01010000,
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RES_AVG64 = 0b01100000,
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RES_AVG128 = 0b01110000,
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};
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enum class AccelOutputDataRate : uint8_t {
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HZ_25_32 = 0b0001, // 25/32 Hz
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HZ_25_16 = 0b0010, // 25/16 Hz
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HZ_25_8 = 0b0011, // 25/8 Hz
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HZ_25_4 = 0b0100, // 25/4 Hz
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HZ_25_2 = 0b0101, // 25/2 Hz
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HZ_25 = 0b0110, // 25 Hz
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HZ_50 = 0b0111, // 50 Hz
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HZ_100 = 0b1000, // 100 Hz
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HZ_200 = 0b1001, // 200 Hz
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HZ_400 = 0b1010, // 400 Hz
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HZ_800 = 0b1011, // 800 Hz
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HZ_1600 = 0b1100, // 1600 Hz
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};
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const uint8_t BMI160_REGISTER_ACCEL_RANGE = 0x41;
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enum class AccelRange : uint8_t {
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RANGE_2G = 0b0011,
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RANGE_4G = 0b0101,
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RANGE_8G = 0b1000,
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RANGE_16G = 0b1100,
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};
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const uint8_t BMI160_REGISTER_GYRO_CONFIG = 0x42;
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enum class GyroBandwidth : uint8_t {
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OSR4 = 0x00,
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OSR2 = 0x10,
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NORMAL = 0x20,
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};
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enum class GyroOuputDataRate : uint8_t {
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HZ_25 = 0x06,
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HZ_50 = 0x07,
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HZ_100 = 0x08,
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HZ_200 = 0x09,
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HZ_400 = 0x0A,
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HZ_800 = 0x0B,
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HZ_1600 = 0x0C,
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HZ_3200 = 0x0D,
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};
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const uint8_t BMI160_REGISTER_GYRO_RANGE = 0x43;
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enum class GyroRange : uint8_t {
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RANGE_2000_DPS = 0x0, // ±2000 °/s
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RANGE_1000_DPS = 0x1,
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RANGE_500_DPS = 0x2,
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RANGE_250_DPS = 0x3,
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RANGE_125_DPS = 0x4,
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};
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const uint8_t BMI160_REGISTER_DATA_GYRO_X_LSB = 0x0C;
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const uint8_t BMI160_REGISTER_DATA_GYRO_X_MSB = 0x0D;
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const uint8_t BMI160_REGISTER_DATA_GYRO_Y_LSB = 0x0E;
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const uint8_t BMI160_REGISTER_DATA_GYRO_Y_MSB = 0x0F;
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const uint8_t BMI160_REGISTER_DATA_GYRO_Z_LSB = 0x10;
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const uint8_t BMI160_REGISTER_DATA_GYRO_Z_MSB = 0x11;
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const uint8_t BMI160_REGISTER_DATA_ACCEL_X_LSB = 0x12;
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const uint8_t BMI160_REGISTER_DATA_ACCEL_X_MSB = 0x13;
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const uint8_t BMI160_REGISTER_DATA_ACCEL_Y_LSB = 0x14;
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const uint8_t BMI160_REGISTER_DATA_ACCEL_Y_MSB = 0x15;
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const uint8_t BMI160_REGISTER_DATA_ACCEL_Z_LSB = 0x16;
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const uint8_t BMI160_REGISTER_DATA_ACCEL_Z_MSB = 0x17;
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const uint8_t BMI160_REGISTER_DATA_TEMP_LSB = 0x20;
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const uint8_t BMI160_REGISTER_DATA_TEMP_MSB = 0x21;
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const float GRAVITY_EARTH = 9.80665f;
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void BMI160Component::internal_setup_(int stage) {
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switch (stage) {
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case 0:
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ESP_LOGCONFIG(TAG, "Setting up BMI160...");
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uint8_t chipid;
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if (!this->read_byte(BMI160_REGISTER_CHIPID, &chipid) || (chipid != 0b11010001)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Bringing accelerometer out of sleep...");
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if (!this->write_byte(BMI160_REGISTER_CMD, (uint8_t) Cmd::ACCL_SET_PMU_MODE | (uint8_t) AcclPmuMode::NORMAL)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Waiting for accelerometer to wake up...");
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// need to wait (max delay in datasheet) because we can't send commands while another is in progress
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// min 5ms, 10ms
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this->set_timeout(10, [this]() { this->internal_setup_(1); });
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break;
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case 1:
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ESP_LOGV(TAG, " Bringing gyroscope out of sleep...");
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if (!this->write_byte(BMI160_REGISTER_CMD, (uint8_t) Cmd::GYRO_SET_PMU_MODE | (uint8_t) GyroPmuMode::NORMAL)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Waiting for gyroscope to wake up...");
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// wait between 51 & 81ms, doing 100 to be safe
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this->set_timeout(10, [this]() { this->internal_setup_(2); });
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break;
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case 2:
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ESP_LOGV(TAG, " Setting up Gyro Config...");
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uint8_t gyro_config = (uint8_t) GyroBandwidth::OSR4 | (uint8_t) GyroOuputDataRate::HZ_25;
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ESP_LOGV(TAG, " Output gyro_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(gyro_config));
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if (!this->write_byte(BMI160_REGISTER_GYRO_CONFIG, gyro_config)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Setting up Gyro Range...");
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uint8_t gyro_range = (uint8_t) GyroRange::RANGE_2000_DPS;
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ESP_LOGV(TAG, " Output gyro_range: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(gyro_range));
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if (!this->write_byte(BMI160_REGISTER_GYRO_RANGE, gyro_range)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Setting up Accel Config...");
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uint8_t accel_config =
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(uint8_t) AcclFilterMode::PERF | (uint8_t) AcclBandwidth::RES_AVG16 | (uint8_t) AccelOutputDataRate::HZ_25;
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ESP_LOGV(TAG, " Output accel_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_config));
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if (!this->write_byte(BMI160_REGISTER_ACCEL_CONFIG, accel_config)) {
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this->mark_failed();
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return;
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}
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ESP_LOGV(TAG, " Setting up Accel Range...");
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uint8_t accel_range = (uint8_t) AccelRange::RANGE_16G;
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ESP_LOGV(TAG, " Output accel_range: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_range));
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if (!this->write_byte(BMI160_REGISTER_ACCEL_RANGE, accel_range)) {
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this->mark_failed();
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return;
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}
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this->setup_complete_ = true;
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}
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}
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void BMI160Component::setup() { this->internal_setup_(0); }
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void BMI160Component::dump_config() {
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ESP_LOGCONFIG(TAG, "BMI160:");
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LOG_I2C_DEVICE(this);
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if (this->is_failed()) {
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ESP_LOGE(TAG, "Communication with BMI160 failed!");
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}
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LOG_UPDATE_INTERVAL(this);
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LOG_SENSOR(" ", "Acceleration X", this->accel_x_sensor_);
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LOG_SENSOR(" ", "Acceleration Y", this->accel_y_sensor_);
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LOG_SENSOR(" ", "Acceleration Z", this->accel_z_sensor_);
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LOG_SENSOR(" ", "Gyro X", this->gyro_x_sensor_);
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LOG_SENSOR(" ", "Gyro Y", this->gyro_y_sensor_);
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LOG_SENSOR(" ", "Gyro Z", this->gyro_z_sensor_);
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LOG_SENSOR(" ", "Temperature", this->temperature_sensor_);
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}
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i2c::ErrorCode BMI160Component::read_le_int16_(uint8_t reg, int16_t *value, uint8_t len) {
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uint8_t raw_data[len * 2];
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// read using read_register because we have little-endian data, and read_bytes_16 will swap it
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i2c::ErrorCode err = this->read_register(reg, raw_data, len * 2, true);
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if (err != i2c::ERROR_OK) {
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return err;
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}
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for (int i = 0; i < len; i++) {
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value[i] = (int16_t) ((uint16_t) raw_data[i * 2] | ((uint16_t) raw_data[i * 2 + 1] << 8));
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}
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return err;
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}
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void BMI160Component::update() {
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if (!this->setup_complete_) {
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return;
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}
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ESP_LOGV(TAG, " Updating BMI160...");
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int16_t data[6];
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if (this->read_le_int16_(BMI160_REGISTER_DATA_GYRO_X_LSB, data, 6) != i2c::ERROR_OK) {
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this->status_set_warning();
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return;
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}
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float gyro_x = (float) data[0] / (float) INT16_MAX * 2000.f;
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float gyro_y = (float) data[1] / (float) INT16_MAX * 2000.f;
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float gyro_z = (float) data[2] / (float) INT16_MAX * 2000.f;
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float accel_x = (float) data[3] / (float) INT16_MAX * 16 * GRAVITY_EARTH;
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float accel_y = (float) data[4] / (float) INT16_MAX * 16 * GRAVITY_EARTH;
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float accel_z = (float) data[5] / (float) INT16_MAX * 16 * GRAVITY_EARTH;
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int16_t raw_temperature;
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if (this->read_le_int16_(BMI160_REGISTER_DATA_TEMP_LSB, &raw_temperature, 1) != i2c::ERROR_OK) {
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this->status_set_warning();
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return;
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}
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float temperature = (float) raw_temperature / (float) INT16_MAX * 64.5f + 23.f;
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ESP_LOGD(TAG,
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"Got accel={x=%.3f m/s², y=%.3f m/s², z=%.3f m/s²}, "
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"gyro={x=%.3f °/s, y=%.3f °/s, z=%.3f °/s}, temp=%.3f°C",
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accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z, temperature);
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if (this->accel_x_sensor_ != nullptr)
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this->accel_x_sensor_->publish_state(accel_x);
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if (this->accel_y_sensor_ != nullptr)
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this->accel_y_sensor_->publish_state(accel_y);
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if (this->accel_z_sensor_ != nullptr)
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this->accel_z_sensor_->publish_state(accel_z);
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if (this->temperature_sensor_ != nullptr)
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this->temperature_sensor_->publish_state(temperature);
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if (this->gyro_x_sensor_ != nullptr)
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this->gyro_x_sensor_->publish_state(gyro_x);
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if (this->gyro_y_sensor_ != nullptr)
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this->gyro_y_sensor_->publish_state(gyro_y);
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if (this->gyro_z_sensor_ != nullptr)
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this->gyro_z_sensor_->publish_state(gyro_z);
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this->status_clear_warning();
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}
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float BMI160Component::get_setup_priority() const { return setup_priority::DATA; }
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} // namespace bmi160
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} // namespace esphome
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esphome/components/bmi160/bmi160.h
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esphome/components/bmi160/bmi160.h
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#pragma once
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#include "esphome/core/component.h"
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#include "esphome/components/sensor/sensor.h"
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#include "esphome/components/i2c/i2c.h"
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namespace esphome {
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namespace bmi160 {
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class BMI160Component : public PollingComponent, public i2c::I2CDevice {
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public:
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void setup() override;
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void dump_config() override;
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void update() override;
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float get_setup_priority() const override;
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void set_accel_x_sensor(sensor::Sensor *accel_x_sensor) { accel_x_sensor_ = accel_x_sensor; }
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void set_accel_y_sensor(sensor::Sensor *accel_y_sensor) { accel_y_sensor_ = accel_y_sensor; }
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void set_accel_z_sensor(sensor::Sensor *accel_z_sensor) { accel_z_sensor_ = accel_z_sensor; }
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void set_temperature_sensor(sensor::Sensor *temperature_sensor) { temperature_sensor_ = temperature_sensor; }
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void set_gyro_x_sensor(sensor::Sensor *gyro_x_sensor) { gyro_x_sensor_ = gyro_x_sensor; }
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void set_gyro_y_sensor(sensor::Sensor *gyro_y_sensor) { gyro_y_sensor_ = gyro_y_sensor; }
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void set_gyro_z_sensor(sensor::Sensor *gyro_z_sensor) { gyro_z_sensor_ = gyro_z_sensor; }
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protected:
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sensor::Sensor *accel_x_sensor_{nullptr};
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sensor::Sensor *accel_y_sensor_{nullptr};
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sensor::Sensor *accel_z_sensor_{nullptr};
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sensor::Sensor *temperature_sensor_{nullptr};
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sensor::Sensor *gyro_x_sensor_{nullptr};
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sensor::Sensor *gyro_y_sensor_{nullptr};
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sensor::Sensor *gyro_z_sensor_{nullptr};
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void internal_setup_(int stage);
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bool setup_complete_{false};
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/** reads `len` 16-bit little-endian integers from the given i2c register */
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i2c::ErrorCode read_le_int16_(uint8_t reg, int16_t *value, uint8_t len);
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};
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} // namespace bmi160
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} // namespace esphome
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esphome/components/bmi160/sensor.py
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esphome/components/bmi160/sensor.py
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import esphome.codegen as cg
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import esphome.config_validation as cv
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from esphome.components import i2c, sensor
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from esphome.const import (
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CONF_ID,
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CONF_TEMPERATURE,
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CONF_ACCELERATION_X,
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CONF_ACCELERATION_Y,
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CONF_ACCELERATION_Z,
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CONF_GYROSCOPE_X,
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CONF_GYROSCOPE_Y,
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CONF_GYROSCOPE_Z,
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DEVICE_CLASS_TEMPERATURE,
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STATE_CLASS_MEASUREMENT,
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UNIT_METER_PER_SECOND_SQUARED,
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ICON_ACCELERATION_X,
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ICON_ACCELERATION_Y,
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ICON_ACCELERATION_Z,
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ICON_GYROSCOPE_X,
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ICON_GYROSCOPE_Y,
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ICON_GYROSCOPE_Z,
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UNIT_DEGREE_PER_SECOND,
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UNIT_CELSIUS,
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)
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DEPENDENCIES = ["i2c"]
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bmi160_ns = cg.esphome_ns.namespace("bmi160")
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BMI160Component = bmi160_ns.class_(
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"BMI160Component", cg.PollingComponent, i2c.I2CDevice
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)
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accel_schema = {
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"unit_of_measurement": UNIT_METER_PER_SECOND_SQUARED,
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"accuracy_decimals": 2,
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"state_class": STATE_CLASS_MEASUREMENT,
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}
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gyro_schema = {
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"unit_of_measurement": UNIT_DEGREE_PER_SECOND,
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"accuracy_decimals": 2,
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"state_class": STATE_CLASS_MEASUREMENT,
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}
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CONFIG_SCHEMA = (
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cv.Schema(
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{
|
||||
cv.GenerateID(): cv.declare_id(BMI160Component),
|
||||
cv.Optional(CONF_ACCELERATION_X): sensor.sensor_schema(
|
||||
icon=ICON_ACCELERATION_X,
|
||||
**accel_schema,
|
||||
),
|
||||
cv.Optional(CONF_ACCELERATION_Y): sensor.sensor_schema(
|
||||
icon=ICON_ACCELERATION_Y,
|
||||
**accel_schema,
|
||||
),
|
||||
cv.Optional(CONF_ACCELERATION_Z): sensor.sensor_schema(
|
||||
icon=ICON_ACCELERATION_Z,
|
||||
**accel_schema,
|
||||
),
|
||||
cv.Optional(CONF_GYROSCOPE_X): sensor.sensor_schema(
|
||||
icon=ICON_GYROSCOPE_X,
|
||||
**gyro_schema,
|
||||
),
|
||||
cv.Optional(CONF_GYROSCOPE_Y): sensor.sensor_schema(
|
||||
icon=ICON_GYROSCOPE_Y,
|
||||
**gyro_schema,
|
||||
),
|
||||
cv.Optional(CONF_GYROSCOPE_Z): sensor.sensor_schema(
|
||||
icon=ICON_GYROSCOPE_Z,
|
||||
**gyro_schema,
|
||||
),
|
||||
cv.Optional(CONF_TEMPERATURE): sensor.sensor_schema(
|
||||
unit_of_measurement=UNIT_CELSIUS,
|
||||
accuracy_decimals=0,
|
||||
device_class=DEVICE_CLASS_TEMPERATURE,
|
||||
state_class=STATE_CLASS_MEASUREMENT,
|
||||
),
|
||||
}
|
||||
)
|
||||
.extend(cv.polling_component_schema("60s"))
|
||||
.extend(i2c.i2c_device_schema(0x68))
|
||||
)
|
||||
|
||||
|
||||
async def to_code(config):
|
||||
var = cg.new_Pvariable(config[CONF_ID])
|
||||
await cg.register_component(var, config)
|
||||
await i2c.register_i2c_device(var, config)
|
||||
|
||||
for d in ["x", "y", "z"]:
|
||||
accel_key = f"acceleration_{d}"
|
||||
if accel_key in config:
|
||||
sens = await sensor.new_sensor(config[accel_key])
|
||||
cg.add(getattr(var, f"set_accel_{d}_sensor")(sens))
|
||||
accel_key = f"gyroscope_{d}"
|
||||
if accel_key in config:
|
||||
sens = await sensor.new_sensor(config[accel_key])
|
||||
cg.add(getattr(var, f"set_gyro_{d}_sensor")(sens))
|
||||
|
||||
if CONF_TEMPERATURE in config:
|
||||
sens = await sensor.new_sensor(config[CONF_TEMPERATURE])
|
||||
cg.add(var.set_temperature_sensor(sens))
|
|
@ -298,6 +298,9 @@ CONF_GLYPHS = "glyphs"
|
|||
CONF_GPIO = "gpio"
|
||||
CONF_GREEN = "green"
|
||||
CONF_GROUP = "group"
|
||||
CONF_GYROSCOPE_X = "gyroscope_x"
|
||||
CONF_GYROSCOPE_Y = "gyroscope_y"
|
||||
CONF_GYROSCOPE_Z = "gyroscope_z"
|
||||
CONF_HARDWARE_UART = "hardware_uart"
|
||||
CONF_HEAD = "head"
|
||||
CONF_HEARTBEAT = "heartbeat"
|
||||
|
@ -867,6 +870,9 @@ ICON_FLOWER = "mdi:flower"
|
|||
ICON_GAS_CYLINDER = "mdi:gas-cylinder"
|
||||
ICON_GAUGE = "mdi:gauge"
|
||||
ICON_GRAIN = "mdi:grain"
|
||||
ICON_GYROSCOPE_X = "mdi:axis-x-rotate-clockwise"
|
||||
ICON_GYROSCOPE_Y = "mdi:axis-y-rotate-clockwise"
|
||||
ICON_GYROSCOPE_Z = "mdi:axis-z-rotate-clockwise"
|
||||
ICON_HEATING_COIL = "mdi:heating-coil"
|
||||
ICON_KEY_PLUS = "mdi:key-plus"
|
||||
ICON_LIGHTBULB = "mdi:lightbulb"
|
||||
|
|
|
@ -915,6 +915,23 @@ sensor:
|
|||
temperature:
|
||||
name: MPU6886 Temperature
|
||||
i2c_id: i2c_bus
|
||||
- platform: bmi160
|
||||
address: 0x68
|
||||
acceleration_x:
|
||||
name: BMI160 Accel X
|
||||
acceleration_y:
|
||||
name: BMI160 Accel Y
|
||||
acceleration_z:
|
||||
name: BMI160 Accel z
|
||||
gyroscope_x:
|
||||
name: BMI160 Gyro X
|
||||
gyroscope_y:
|
||||
name: BMI160 Gyro Y
|
||||
gyroscope_z:
|
||||
name: BMI160 Gyro z
|
||||
temperature:
|
||||
name: BMI160 Temperature
|
||||
i2c_id: i2c_bus
|
||||
- platform: mmc5603
|
||||
address: 0x30
|
||||
field_strength_x:
|
||||
|
|
Loading…
Reference in a new issue