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

CODEOWNERS

@@ -49,6 +49,7 @@ esphome/components/bl0942/* @dbuezas
 esphome/components/ble_client/* @buxtronix
 esphome/components/bluetooth_proxy/* @jesserockz
 esphome/components/bme680_bsec/* @trvrnrth
+esphome/components/bmi160/* @flaviut
 esphome/components/bmp3xx/* @martgras
 esphome/components/bmp581/* @kahrendt
 esphome/components/bp1658cj/* @Cossid

esphome/components/bmi160/__init__.py

@@ -0,0 +1 @@
+CODEOWNERS = ["@flaviut"]

esphome/components/bmi160/bmi160.cpp

@@ -0,0 +1,270 @@
+#include "bmi160.h"
+#include "esphome/core/hal.h"
+#include "esphome/core/log.h"
+
+namespace esphome {
+namespace bmi160 {
+
+static const char *const TAG = "bmi160";
+
+const uint8_t BMI160_REGISTER_CHIPID = 0x00;
+
+const uint8_t BMI160_REGISTER_CMD = 0x7E;
+enum class Cmd : uint8_t {
+  START_FOC = 0x03,
+  ACCL_SET_PMU_MODE = 0b00010000,  // last 2 bits are mode
+  GYRO_SET_PMU_MODE = 0b00010100,  // last 2 bits are mode
+  MAG_SET_PMU_MODE = 0b00011000,   // last 2 bits are mode
+  PROG_NVM = 0xA0,
+  FIFO_FLUSH = 0xB0,
+  INT_RESET = 0xB1,
+  SOFT_RESET = 0xB6,
+  STEP_CNT_CLR = 0xB2,
+};
+enum class GyroPmuMode : uint8_t {
+  SUSPEND = 0b00,
+  NORMAL = 0b01,
+  LOW_POWER = 0b10,
+};
+enum class AcclPmuMode : uint8_t {
+  SUSPEND = 0b00,
+  NORMAL = 0b01,
+  FAST_STARTUP = 0b11,
+};
+enum class MagPmuMode : uint8_t {
+  SUSPEND = 0b00,
+  NORMAL = 0b01,
+  LOW_POWER = 0b10,
+};
+
+const uint8_t BMI160_REGISTER_ACCEL_CONFIG = 0x40;
+enum class AcclFilterMode : uint8_t {
+  POWER_SAVING = 0b00000000,
+  PERF = 0b10000000,
+};
+enum class AcclBandwidth : uint8_t {
+  OSR4_AVG1 = 0b00000000,
+  OSR2_AVG2 = 0b00010000,
+  NORMAL_AVG4 = 0b00100000,
+  RES_AVG8 = 0b00110000,
+  RES_AVG16 = 0b01000000,
+  RES_AVG32 = 0b01010000,
+  RES_AVG64 = 0b01100000,
+  RES_AVG128 = 0b01110000,
+};
+enum class AccelOutputDataRate : uint8_t {
+  HZ_25_32 = 0b0001,  // 25/32 Hz
+  HZ_25_16 = 0b0010,  // 25/16 Hz
+  HZ_25_8 = 0b0011,   // 25/8 Hz
+  HZ_25_4 = 0b0100,   // 25/4 Hz
+  HZ_25_2 = 0b0101,   // 25/2 Hz
+  HZ_25 = 0b0110,     // 25 Hz
+  HZ_50 = 0b0111,     // 50 Hz
+  HZ_100 = 0b1000,    // 100 Hz
+  HZ_200 = 0b1001,    // 200 Hz
+  HZ_400 = 0b1010,    // 400 Hz
+  HZ_800 = 0b1011,    // 800 Hz
+  HZ_1600 = 0b1100,   // 1600 Hz
+};
+const uint8_t BMI160_REGISTER_ACCEL_RANGE = 0x41;
+enum class AccelRange : uint8_t {
+  RANGE_2G = 0b0011,
+  RANGE_4G = 0b0101,
+  RANGE_8G = 0b1000,
+  RANGE_16G = 0b1100,
+};
+
+const uint8_t BMI160_REGISTER_GYRO_CONFIG = 0x42;
+enum class GyroBandwidth : uint8_t {
+  OSR4 = 0x00,
+  OSR2 = 0x10,
+  NORMAL = 0x20,
+};
+enum class GyroOuputDataRate : uint8_t {
+  HZ_25 = 0x06,
+  HZ_50 = 0x07,
+  HZ_100 = 0x08,
+  HZ_200 = 0x09,
+  HZ_400 = 0x0A,
+  HZ_800 = 0x0B,
+  HZ_1600 = 0x0C,
+  HZ_3200 = 0x0D,
+};
+const uint8_t BMI160_REGISTER_GYRO_RANGE = 0x43;
+enum class GyroRange : uint8_t {
+  RANGE_2000_DPS = 0x0,  // ±2000 °/s
+  RANGE_1000_DPS = 0x1,
+  RANGE_500_DPS = 0x2,
+  RANGE_250_DPS = 0x3,
+  RANGE_125_DPS = 0x4,
+};
+
+const uint8_t BMI160_REGISTER_DATA_GYRO_X_LSB = 0x0C;
+const uint8_t BMI160_REGISTER_DATA_GYRO_X_MSB = 0x0D;
+const uint8_t BMI160_REGISTER_DATA_GYRO_Y_LSB = 0x0E;
+const uint8_t BMI160_REGISTER_DATA_GYRO_Y_MSB = 0x0F;
+const uint8_t BMI160_REGISTER_DATA_GYRO_Z_LSB = 0x10;
+const uint8_t BMI160_REGISTER_DATA_GYRO_Z_MSB = 0x11;
+const uint8_t BMI160_REGISTER_DATA_ACCEL_X_LSB = 0x12;
+const uint8_t BMI160_REGISTER_DATA_ACCEL_X_MSB = 0x13;
+const uint8_t BMI160_REGISTER_DATA_ACCEL_Y_LSB = 0x14;
+const uint8_t BMI160_REGISTER_DATA_ACCEL_Y_MSB = 0x15;
+const uint8_t BMI160_REGISTER_DATA_ACCEL_Z_LSB = 0x16;
+const uint8_t BMI160_REGISTER_DATA_ACCEL_Z_MSB = 0x17;
+const uint8_t BMI160_REGISTER_DATA_TEMP_LSB = 0x20;
+const uint8_t BMI160_REGISTER_DATA_TEMP_MSB = 0x21;
+
+const float GRAVITY_EARTH = 9.80665f;
+
+void BMI160Component::internal_setup_(int stage) {
+  switch (stage) {
+    case 0:
+      ESP_LOGCONFIG(TAG, "Setting up BMI160...");
+      uint8_t chipid;
+      if (!this->read_byte(BMI160_REGISTER_CHIPID, &chipid) || (chipid != 0b11010001)) {
+        this->mark_failed();
+        return;
+      }
+
+      ESP_LOGV(TAG, "  Bringing accelerometer out of sleep...");
+      if (!this->write_byte(BMI160_REGISTER_CMD, (uint8_t) Cmd::ACCL_SET_PMU_MODE | (uint8_t) AcclPmuMode::NORMAL)) {
+        this->mark_failed();
+        return;
+      }
+      ESP_LOGV(TAG, "  Waiting for accelerometer to wake up...");
+      // need to wait (max delay in datasheet) because we can't send commands while another is in progress
+      // min 5ms, 10ms
+      this->set_timeout(10, [this]() { this->internal_setup_(1); });
+      break;
+
+    case 1:
+      ESP_LOGV(TAG, "  Bringing gyroscope out of sleep...");
+      if (!this->write_byte(BMI160_REGISTER_CMD, (uint8_t) Cmd::GYRO_SET_PMU_MODE | (uint8_t) GyroPmuMode::NORMAL)) {
+        this->mark_failed();
+        return;
+      }
+      ESP_LOGV(TAG, "  Waiting for gyroscope to wake up...");
+      // wait between 51 & 81ms, doing 100 to be safe
+      this->set_timeout(10, [this]() { this->internal_setup_(2); });
+      break;
+
+    case 2:
+      ESP_LOGV(TAG, "  Setting up Gyro Config...");
+      uint8_t gyro_config = (uint8_t) GyroBandwidth::OSR4 | (uint8_t) GyroOuputDataRate::HZ_25;
+      ESP_LOGV(TAG, "  Output gyro_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(gyro_config));
+      if (!this->write_byte(BMI160_REGISTER_GYRO_CONFIG, gyro_config)) {
+        this->mark_failed();
+        return;
+      }
+      ESP_LOGV(TAG, "  Setting up Gyro Range...");
+      uint8_t gyro_range = (uint8_t) GyroRange::RANGE_2000_DPS;
+      ESP_LOGV(TAG, "  Output gyro_range: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(gyro_range));
+      if (!this->write_byte(BMI160_REGISTER_GYRO_RANGE, gyro_range)) {
+        this->mark_failed();
+        return;
+      }
+
+      ESP_LOGV(TAG, "  Setting up Accel Config...");
+      uint8_t accel_config =
+          (uint8_t) AcclFilterMode::PERF | (uint8_t) AcclBandwidth::RES_AVG16 | (uint8_t) AccelOutputDataRate::HZ_25;
+      ESP_LOGV(TAG, "  Output accel_config: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_config));
+      if (!this->write_byte(BMI160_REGISTER_ACCEL_CONFIG, accel_config)) {
+        this->mark_failed();
+        return;
+      }
+      ESP_LOGV(TAG, "  Setting up Accel Range...");
+      uint8_t accel_range = (uint8_t) AccelRange::RANGE_16G;
+      ESP_LOGV(TAG, "  Output accel_range: 0b" BYTE_TO_BINARY_PATTERN, BYTE_TO_BINARY(accel_range));
+      if (!this->write_byte(BMI160_REGISTER_ACCEL_RANGE, accel_range)) {
+        this->mark_failed();
+        return;
+      }
+
+      this->setup_complete_ = true;
+  }
+}
+
+void BMI160Component::setup() { this->internal_setup_(0); }
+void BMI160Component::dump_config() {
+  ESP_LOGCONFIG(TAG, "BMI160:");
+  LOG_I2C_DEVICE(this);
+  if (this->is_failed()) {
+    ESP_LOGE(TAG, "Communication with BMI160 failed!");
+  }
+  LOG_UPDATE_INTERVAL(this);
+  LOG_SENSOR("  ", "Acceleration X", this->accel_x_sensor_);
+  LOG_SENSOR("  ", "Acceleration Y", this->accel_y_sensor_);
+  LOG_SENSOR("  ", "Acceleration Z", this->accel_z_sensor_);
+  LOG_SENSOR("  ", "Gyro X", this->gyro_x_sensor_);
+  LOG_SENSOR("  ", "Gyro Y", this->gyro_y_sensor_);
+  LOG_SENSOR("  ", "Gyro Z", this->gyro_z_sensor_);
+  LOG_SENSOR("  ", "Temperature", this->temperature_sensor_);
+}
+
+i2c::ErrorCode BMI160Component::read_le_int16_(uint8_t reg, int16_t *value, uint8_t len) {
+  uint8_t raw_data[len * 2];
+  // read using read_register because we have little-endian data, and read_bytes_16 will swap it
+  i2c::ErrorCode err = this->read_register(reg, raw_data, len * 2, true);
+  if (err != i2c::ERROR_OK) {
+    return err;
+  }
+  for (int i = 0; i < len; i++) {
+    value[i] = (int16_t) ((uint16_t) raw_data[i * 2] | ((uint16_t) raw_data[i * 2 + 1] << 8));
+  }
+  return err;
+}
+
+void BMI160Component::update() {
+  if (!this->setup_complete_) {
+    return;
+  }
+
+  ESP_LOGV(TAG, "    Updating BMI160...");
+  int16_t data[6];
+  if (this->read_le_int16_(BMI160_REGISTER_DATA_GYRO_X_LSB, data, 6) != i2c::ERROR_OK) {
+    this->status_set_warning();
+    return;
+  }
+
+  float gyro_x = (float) data[0] / (float) INT16_MAX * 2000.f;
+  float gyro_y = (float) data[1] / (float) INT16_MAX * 2000.f;
+  float gyro_z = (float) data[2] / (float) INT16_MAX * 2000.f;
+  float accel_x = (float) data[3] / (float) INT16_MAX * 16 * GRAVITY_EARTH;
+  float accel_y = (float) data[4] / (float) INT16_MAX * 16 * GRAVITY_EARTH;
+  float accel_z = (float) data[5] / (float) INT16_MAX * 16 * GRAVITY_EARTH;
+
+  int16_t raw_temperature;
+  if (this->read_le_int16_(BMI160_REGISTER_DATA_TEMP_LSB, &raw_temperature, 1) != i2c::ERROR_OK) {
+    this->status_set_warning();
+    return;
+  }
+  float temperature = (float) raw_temperature / (float) INT16_MAX * 64.5f + 23.f;
+
+  ESP_LOGD(TAG,
+           "Got accel={x=%.3f m/s², y=%.3f m/s², z=%.3f m/s²}, "
+           "gyro={x=%.3f °/s, y=%.3f °/s, z=%.3f °/s}, temp=%.3f°C",
+           accel_x, accel_y, accel_z, gyro_x, gyro_y, gyro_z, temperature);
+
+  if (this->accel_x_sensor_ != nullptr)
+    this->accel_x_sensor_->publish_state(accel_x);
+  if (this->accel_y_sensor_ != nullptr)
+    this->accel_y_sensor_->publish_state(accel_y);
+  if (this->accel_z_sensor_ != nullptr)
+    this->accel_z_sensor_->publish_state(accel_z);
+
+  if (this->temperature_sensor_ != nullptr)
+    this->temperature_sensor_->publish_state(temperature);
+
+  if (this->gyro_x_sensor_ != nullptr)
+    this->gyro_x_sensor_->publish_state(gyro_x);
+  if (this->gyro_y_sensor_ != nullptr)
+    this->gyro_y_sensor_->publish_state(gyro_y);
+  if (this->gyro_z_sensor_ != nullptr)
+    this->gyro_z_sensor_->publish_state(gyro_z);
+
+  this->status_clear_warning();
+}
+float BMI160Component::get_setup_priority() const { return setup_priority::DATA; }
+
+}  // namespace bmi160
+}  // namespace esphome

esphome/components/bmi160/bmi160.h

@@ -0,0 +1,44 @@
+#pragma once
+
+#include "esphome/core/component.h"
+#include "esphome/components/sensor/sensor.h"
+#include "esphome/components/i2c/i2c.h"
+
+namespace esphome {
+namespace bmi160 {
+
+class BMI160Component : public PollingComponent, public i2c::I2CDevice {
+ public:
+  void setup() override;
+  void dump_config() override;
+
+  void update() override;
+
+  float get_setup_priority() const override;
+
+  void set_accel_x_sensor(sensor::Sensor *accel_x_sensor) { accel_x_sensor_ = accel_x_sensor; }
+  void set_accel_y_sensor(sensor::Sensor *accel_y_sensor) { accel_y_sensor_ = accel_y_sensor; }
+  void set_accel_z_sensor(sensor::Sensor *accel_z_sensor) { accel_z_sensor_ = accel_z_sensor; }
+  void set_temperature_sensor(sensor::Sensor *temperature_sensor) { temperature_sensor_ = temperature_sensor; }
+  void set_gyro_x_sensor(sensor::Sensor *gyro_x_sensor) { gyro_x_sensor_ = gyro_x_sensor; }
+  void set_gyro_y_sensor(sensor::Sensor *gyro_y_sensor) { gyro_y_sensor_ = gyro_y_sensor; }
+  void set_gyro_z_sensor(sensor::Sensor *gyro_z_sensor) { gyro_z_sensor_ = gyro_z_sensor; }
+
+ protected:
+  sensor::Sensor *accel_x_sensor_{nullptr};
+  sensor::Sensor *accel_y_sensor_{nullptr};
+  sensor::Sensor *accel_z_sensor_{nullptr};
+  sensor::Sensor *temperature_sensor_{nullptr};
+  sensor::Sensor *gyro_x_sensor_{nullptr};
+  sensor::Sensor *gyro_y_sensor_{nullptr};
+  sensor::Sensor *gyro_z_sensor_{nullptr};
+
+  void internal_setup_(int stage);
+  bool setup_complete_{false};
+
+  /** reads `len` 16-bit little-endian integers from the given i2c register */
+  i2c::ErrorCode read_le_int16_(uint8_t reg, int16_t *value, uint8_t len);
+};
+
+}  // namespace bmi160
+}  // namespace esphome

esphome/components/bmi160/sensor.py

@@ -0,0 +1,102 @@
+import esphome.codegen as cg
+import esphome.config_validation as cv
+from esphome.components import i2c, sensor
+from esphome.const import (
+    CONF_ID,
+    CONF_TEMPERATURE,
+    CONF_ACCELERATION_X,
+    CONF_ACCELERATION_Y,
+    CONF_ACCELERATION_Z,
+    CONF_GYROSCOPE_X,
+    CONF_GYROSCOPE_Y,
+    CONF_GYROSCOPE_Z,
+    DEVICE_CLASS_TEMPERATURE,
+    STATE_CLASS_MEASUREMENT,
+    UNIT_METER_PER_SECOND_SQUARED,
+    ICON_ACCELERATION_X,
+    ICON_ACCELERATION_Y,
+    ICON_ACCELERATION_Z,
+    ICON_GYROSCOPE_X,
+    ICON_GYROSCOPE_Y,
+    ICON_GYROSCOPE_Z,
+    UNIT_DEGREE_PER_SECOND,
+    UNIT_CELSIUS,
+)
+
+DEPENDENCIES = ["i2c"]
+
+bmi160_ns = cg.esphome_ns.namespace("bmi160")
+BMI160Component = bmi160_ns.class_(
+    "BMI160Component", cg.PollingComponent, i2c.I2CDevice
+)
+
+accel_schema = {
+    "unit_of_measurement": UNIT_METER_PER_SECOND_SQUARED,
+    "accuracy_decimals": 2,
+    "state_class": STATE_CLASS_MEASUREMENT,
+}
+gyro_schema = {
+    "unit_of_measurement": UNIT_DEGREE_PER_SECOND,
+    "accuracy_decimals": 2,
+    "state_class": STATE_CLASS_MEASUREMENT,
+}
+
+CONFIG_SCHEMA = (
+    cv.Schema(
+        {
+            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))

esphome/const.py

@@ -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"

tests/test1.yaml

@@ -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: