Add methods to get sensor configuration

Author: manchoz

examples/ReadSensorConfiguration/ReadSensorConfiguration.ino

@@ -0,0 +1,61 @@
+/*
+   This sketch shows how to retrieve actual configuration
+   - sample rate and latency – from sensors.
+*/
+
+#include "Arduino.h"
+#include "Arduino_BHY2.h"
+
+SensorXYZ accel(SENSOR_ID_ACC);
+SensorXYZ gyro(SENSOR_ID_GYRO);
+Sensor temp(SENSOR_ID_TEMP);
+Sensor gas(SENSOR_ID_GAS);
+SensorQuaternion rotation(SENSOR_ID_RV);
+
+SensorConfig cfg;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial);
+
+  BHY2.begin();
+
+  accel.begin();
+  gyro.begin();
+  temp.begin();
+  gas.begin();
+  rotation.begin();
+
+}
+
+void loop()
+{
+  static auto printTime = millis();
+
+  // Update function should be continuously polled
+  BHY2.update();
+
+  if (millis() - printTime >= 1000) {
+    printTime = millis();
+
+    static float rate;
+    static uint32_t latency;
+
+    cfg = accel.getConfiguration();
+    Serial.println(String("acceleration configuration - rate: ") + cfg.sample_rate + String("Hz - latency: ") + cfg.latency + String("ms - range: ") + cfg.range);
+
+    cfg = gyro.getConfiguration();
+    Serial.println(String("gyro configuration - rate: ") + cfg.sample_rate + String(" - latency: ") + cfg.latency + String("ms - range: ") + cfg.range);
+
+    cfg = temp.getConfiguration();
+    Serial.println(String("temperature configuration - rate: ") + cfg.sample_rate + String(" - latency: ") + cfg.latency + String("ms - range: ") + cfg.range);
+
+    cfg = gas.getConfiguration();
+    Serial.println(String("gas configuration - rate: ") + cfg.sample_rate + String(" - latency: ") + cfg.latency + String("ms - range: ") + cfg.range);
+
+    cfg = rotation.getConfiguration();
+    Serial.println(String("rotation configuration - rate: ") + cfg.sample_rate + String(" - latency: ") + cfg.latency + String("ms - range: ") + cfg.range);
+    Serial.println();
+  }
+}

src/BoschSensortec.cpp

@@ -116,6 +116,11 @@ void BoschSensortec::configureSensor(SensorConfigurationPacket& config)
   }
 }
 
+void BoschSensortec::getSensorConfiguration(uint8_t id, SensorConfig& virt_sensor_conf)
+{
+  bhy2_get_virt_sensor_cfg(id, &virt_sensor_conf, &_bhy2);
+}
+
 uint8_t BoschSensortec::availableSensorData()
 {
   return _sensorQueue.size();

src/BoschSensortec.h

@@ -35,6 +35,7 @@ class BoschSensortec {
   bool begin(); 
   void update();
   void configureSensor(SensorConfigurationPacket& config);
+  void getSensorConfiguration(uint8_t id, SensorConfig& virt_sensor_conf);
 
   void printSensors();
   bool hasSensor(uint8_t sensorId);

src/sensors/SensorClass.cpp

@@ -49,7 +49,16 @@ void SensorClass::configure(float rate, uint32_t latency)
 
 }
 
+const SensorConfig SensorClass::getConfiguration()
+{
+  SensorConfig config;
+  
+  sensortec.getSensorConfiguration(_id, config);
+
+  return config;
+}
+
 void SensorClass::end()
 {
   configure(0, 0);
-}
+}

src/sensors/SensorClass.h

@@ -21,6 +21,7 @@ class SensorClass {
    */
   bool begin(float rate = 1000, uint32_t latency = 1);
   void configure(float rate, uint32_t latency);
+  const SensorConfig getConfiguration();
   void end();
 
   virtual void setData(SensorDataPacket &data) = 0;
@@ -32,4 +33,4 @@ class SensorClass {
   bool _subscribed;
 };
 
-#endif
+#endif

src/sensors/SensorTypes.h

@@ -2,11 +2,14 @@
 #define SENSOR_TYPES_H_
 
 #include "stdint.h"
+#include "bosch/bhy2_defs.h"
 
 #define SENSOR_DATA_FIXED_LENGTH (10)
 
 #define SENSOR_LONG_DATA_FIXED_LENGTH (18)
 
+typedef bhy2_virt_sensor_conf SensorConfig;
+
 struct __attribute__((packed)) SensorConfigurationPacket {
   uint8_t sensorId;
   // sample rate is used also to enable/disable the sensor