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🎉 add support for BMM350 [#16]
Add support for BMM350 magnetometer. Closes #16
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‎README.md

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Take a look at the additional [examples](./examples):
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* [bma400](examples/bma400)
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* [bma456](examples/bma456)
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* [bma530](examples/bma530)
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* [bma580](examples/bma580)
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* [bme280](examples/bme280)
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* [bmi088](examples/bmi088)
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* [bmi323](examples/bmi323)
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* [bmp390](examples/bmp390)
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* [bmp585](examples/bmp585)
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* [`bma400`](examples/bma400)
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* [`bma456`](examples/bma456)
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* [`bma530`](examples/bma530)
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* [`bma580`](examples/bma580)
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* [`bme280`](examples/bme280)
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* [`bmi088`](examples/bmi088)
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* [`bmi323`](examples/bmi323)
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* [`bmm350`](examples/bmm350)
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* [`bmp390`](examples/bmp390)
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* [`bmp585`](examples/bmp585)
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## Default firmware
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‎examples/README.md

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* [`bmi323/bmi323_spi_polling_streaming.py`](./bmi323/bmi323_spi_polling_streaming.py)
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* [`bmi323/bmi323_spi_interrupt_streaming.py`](./bmi323/bmi323_spi_interrupt_streaming.py)
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## [`bmm350`](https://www.bosch-sensortec.com/products/motion-sensors/magnetometers/bmm350/)
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The examples in the [`bmm350`](./bmm350) folder
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show different communication features for the
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[BMM350 shuttle](https://www.bosch-sensortec.com/media/boschsensortec/downloads/shuttle_board_flyer/application_board_3_1/bst-bmm350-sf000.pdf)
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board:
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* [`bmm350/bmm350_i2c_read_write.py`](./bmm350/bmm350_i2c_read_write.py)
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* [`bmm350/bmm350_i2c_polling_streaming.py`](./bmm350/bmm350_i2c_polling_streaming.py)
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* [`bmm350/bmm350_i2c_interrupt_streaming.py`](./bmm350/bmm350_i2c_interrupt_streaming.py)
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## [`bmp390`](https://www.bosch-sensortec.com/products/environmental-sensors/pressure-sensors/bmp390/)
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The examples in the [`bmp390`](./bmp390) folder

‎examples/bmm350/__init__.py

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‎examples/bmm350/bmm350_i2c_interrupt_streaming.py

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import logging
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import struct
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import sys
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import time
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from pathlib import Path
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from umrx_app_v3.sensors.bmm350 import BMM350
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from umrx_app_v3.shuttle_board.bmm350.bmm350_shuttle import BMM350Shuttle
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def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
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logger = logging.getLogger()
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logger.setLevel(level)
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stdout_handler = logging.StreamHandler(sys.stdout)
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log_format = "(%(asctime)s) [%(levelname)-8s] %(message)s"
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log_formatter = logging.Formatter(log_format)
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stdout_handler.setFormatter(log_formatter)
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file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
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file_handler.setFormatter(log_formatter)
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logger.addHandler(stdout_handler)
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logger.addHandler(file_handler)
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return logger
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if __name__ == "__main__":
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logger = setup_logging()
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shuttle = BMM350Shuttle.on_hardware_v3_rev1()
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shuttle.initialize()
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shuttle.check_connected_hw()
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shuttle.configure_i2c()
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logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}")
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assert shuttle.sensor.chip_id == 0x33
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_ = shuttle.sensor.compensate_magnetometer_and_temperature(0, 0, 0, 0) # cache OTP
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shuttle.close_otp()
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shuttle.configure_interrupt_streaming()
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shuttle.start_streaming()
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time.sleep(0.1)
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for idx in range(1000):
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for streaming in shuttle.board.receive_interrupt_streaming_multiple(includes_mcu_timestamp=False):
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sensor_id, packet, time_stamp, payload = streaming
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(
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m_x_xlsb,
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m_x_lsb,
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m_x_msb,
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m_y_xlsb,
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m_y_lsb,
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m_y_msb,
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m_z_xlsb,
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m_z_lsb,
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m_z_msb,
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temp_xlsb,
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temp_lsb,
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temp_msb,
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time_xlsb,
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time_lsb,
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time_msb,
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) = struct.unpack("<xxBBBBBBBBBBBBBBB", payload)
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m_x_raw = (m_x_msb << 16) | (m_x_lsb << 8) | m_x_xlsb
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m_y_raw = (m_y_msb << 16) | (m_y_lsb << 8) | m_y_xlsb
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m_z_raw = (m_z_msb << 16) | (m_z_lsb << 8) | m_z_xlsb
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m_x_signed, m_y_signed, m_z_signed = BMM350.sign_convert_magnetometer(m_x_raw, m_y_raw, m_z_raw)
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temp_raw = (temp_msb << 16) | (temp_lsb << 8) | temp_xlsb
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temp_signed = BMM350.sign_convert_24_bit(temp_raw)
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sensor_time = ((time_msb << 16) | (time_lsb << 8) | time_xlsb) * 39.0625e-6
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m_x, m_y, m_z, temp = shuttle.sensor.compensate_magnetometer_and_temperature(
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m_x_signed, m_y_signed, m_z_signed, temp_signed
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)
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logger.info(
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f"[{idx=:03d}], magnetometer(uT)=(x={m_x:+3.3f}, y={m_y:+3.3f}, z={m_z:+3.3f}), "
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f"temperature(C)={temp:.3f}, "
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f"time_stamp(s)={sensor_time:.3f}"
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)
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time.sleep(0.05)
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shuttle.board.stop_interrupt_streaming()

‎examples/bmm350/bmm350_i2c_polling_streaming.py

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import logging
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import struct
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import sys
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import time
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from pathlib import Path
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from umrx_app_v3.sensors.bmm350 import BMM350
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from umrx_app_v3.shuttle_board.bmm350.bmm350_shuttle import BMM350Shuttle
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def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
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logger = logging.getLogger()
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logger.setLevel(level)
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stdout_handler = logging.StreamHandler(sys.stdout)
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log_format = "(%(asctime)s) [%(levelname)-8s] %(message)s"
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log_formatter = logging.Formatter(log_format)
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stdout_handler.setFormatter(log_formatter)
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file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
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file_handler.setFormatter(log_formatter)
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logger.addHandler(stdout_handler)
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logger.addHandler(file_handler)
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return logger
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if __name__ == "__main__":
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logger = setup_logging()
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# This example is for Application Board 3.1 hardware
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shuttle = BMM350Shuttle.on_hardware_v3_rev1()
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shuttle.initialize()
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shuttle.check_connected_hw()
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shuttle.configure_i2c()
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logger.info(f"chip_id=0x{shuttle.sensor.chip_id:04X}")
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assert shuttle.sensor.chip_id == 0x33
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_ = shuttle.sensor.compensate_magnetometer_and_temperature(0, 0, 0, 0) # cache OTP
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shuttle.close_otp()
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shuttle.configure_polling_streaming()
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shuttle.start_streaming()
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time.sleep(0.1)
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for idx in range(1000):
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for streaming in shuttle.board.receive_polling_streaming_multiple():
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sensor_id, payload = streaming
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(
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m_x_xlsb,
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m_x_lsb,
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m_x_msb,
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m_y_xlsb,
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m_y_lsb,
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m_y_msb,
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m_z_xlsb,
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m_z_lsb,
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m_z_msb,
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temp_xlsb,
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temp_lsb,
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temp_msb,
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time_xlsb,
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time_lsb,
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time_msb,
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) = struct.unpack("<xxBBBBBBBBBBBBBBB", payload)
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m_x_raw = (m_x_msb << 16) | (m_x_lsb << 8) | m_x_xlsb
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m_y_raw = (m_y_msb << 16) | (m_y_lsb << 8) | m_y_xlsb
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m_z_raw = (m_z_msb << 16) | (m_z_lsb << 8) | m_z_xlsb
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m_x_signed, m_y_signed, m_z_signed = BMM350.sign_convert_magnetometer(m_x_raw, m_y_raw, m_z_raw)
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temp_raw = (temp_msb << 16) | (temp_lsb << 8) | temp_xlsb
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temp_signed = BMM350.sign_convert_24_bit(temp_raw)
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sensor_time = ((time_msb << 16) | (time_lsb << 8) | time_xlsb) * 39.0625e-6
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m_x, m_y, m_z, temp = shuttle.sensor.compensate_magnetometer_and_temperature(
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m_x_signed, m_y_signed, m_z_signed, temp_signed
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)
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logger.info(
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f"[{idx=:03d}], magnetometer(uT)=(x={m_x:+3.3f}, y={m_y:+3.3f}, z={m_z:+3.3f}), "
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f"temperature(C)={temp:.3f}, "
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f"time_stamp(s)={sensor_time:.3f}"
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)
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time.sleep(0.05)
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shuttle.board.stop_polling_streaming()

‎examples/bmm350/bmm350_i2c_read_write.py

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import logging
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import sys
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import time
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from pathlib import Path
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from umrx_app_v3.shuttle_board.bmm350.bmm350_shuttle import BMM350Shuttle
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def setup_logging(level: int = logging.DEBUG) -> logging.Logger:
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logger = logging.getLogger()
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logger.setLevel(level)
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stdout_handler = logging.StreamHandler(sys.stdout)
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log_format = "(%(asctime)s) [%(levelname)-8s] %(filename)s:%(lineno)d: %(message)s"
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log_formatter = logging.Formatter(log_format)
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stdout_handler.setFormatter(log_formatter)
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file_handler = logging.FileHandler(f"{Path(__file__).parent / Path(__file__).stem}.log", mode="w")
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file_handler.setFormatter(log_formatter)
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logger.addHandler(stdout_handler)
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logger.addHandler(file_handler)
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return logger
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if __name__ == "__main__":
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logger = setup_logging()
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shuttle = BMM350Shuttle.on_hardware_v3_rev1()
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shuttle.initialize()
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shuttle.check_connected_hw()
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shuttle.configure_i2c()
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logger.info(f"chip_id=0x{shuttle.sensor.chip_id:02X}")
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logger.info(f"err_reg=0x{shuttle.sensor.err_reg:02X}")
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logger.info(f"pmu_cmd_aggr_set=0x{shuttle.sensor.pmu_cmd_aggr_set:02X}")
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logger.info(f"pmu_cmd_axis_en=0x{shuttle.sensor.pmu_cmd_axis_en:02X}")
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logger.info(f"magnetometer_raw={shuttle.sensor.magnetometer_raw}")
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logger.info(f"temperature_raw={shuttle.sensor.temperature_raw:08X}")
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_ = shuttle.sensor.compensate_magnetometer_and_temperature(0, 0, 0, 0) # cache OTP
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shuttle.close_otp()
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shuttle.start_measurement()
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time.sleep(0.1)
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logger.info(f"pmu_cmd_status_0=0b{shuttle.sensor.pmu_cmd_status_0:08b}")
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logger.info(f"pmu_cmd_status_1=0b{shuttle.sensor.pmu_cmd_status_1:08b}")
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magnetometer_raw = shuttle.sensor.magnetometer_raw
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temperature_raw = shuttle.sensor.temperature_raw
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m_x, m_y, m_z, temp = shuttle.sensor.compensate_magnetometer_and_temperature(*magnetometer_raw, temperature_raw)
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logger.info(f"magnetometer(uT)=(x={m_x}, y={m_y}, z={m_z})")
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logger.info(f"temperature(C)={temp}")
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logger.info(f"sensor_time(s)={shuttle.sensor.sensor_time}")

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