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Change set/get accelerometer and gyro offset API's to use floats values #128

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12 changes: 6 additions & 6 deletions libraries/CurieIMU/examples/RawImuDataSerial/RawImuDataSerial.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -72,12 +72,12 @@ void setup() {

// To manually configure offset compensation values,
// use the following methods instead of the autoCalibrate...() methods below
//CurieIMU.setAccelerometerOffset(X_AXIS,128);
//CurieIMU.setAccelerometerOffset(Y_AXIS,-4);
//CurieIMU.setAccelerometerOffset(Z_AXIS,127);
//CurieIMU.setGyroOffset(X_AXIS,129);
//CurieIMU.setGyroOffset(Y_AXIS,-1);
//CurieIMU.setGyroOffset(Z_AXIS, 254);
//CurieIMU.setAccelerometerOffset(X_AXIS,495.3);
//CurieIMU.setAccelerometerOffset(Y_AXIS,-15.6);
//CurieIMU.setAccelerometerOffset(Z_AXIS,491.4);
//CurieIMU.setGyroOffset(X_AXIS,7.869);
//CurieIMU.setGyroOffset(Y_AXIS,-0.061);
//CurieIMU.setGyroOffset(Z_AXIS,15.494);

Serial.println("About to calibrate. Make sure your board is stable and upright");
delay(5000);
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60 changes: 42 additions & 18 deletions libraries/CurieIMU/src/CurieIMU.cpp
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Expand Up @@ -332,53 +332,77 @@ bool CurieIMUClass::accelerometerOffsetEnabled()
return getAccelOffsetEnabled();
}

int CurieIMUClass::getGyroOffset(int axis)
float CurieIMUClass::getGyroOffset(int axis)
{
int bmiOffset;

if (axis == X_AXIS) {
return getXGyroOffset();
bmiOffset = getXGyroOffset();
} else if (axis == Y_AXIS) {
return getYGyroOffset();
bmiOffset = getYGyroOffset();
} else if (axis == Z_AXIS) {
return getZGyroOffset();
bmiOffset = getZGyroOffset();
} else {
return -1;
}

return -1;
return (bmiOffset * 0.061);
}

int CurieIMUClass::getAccelerometerOffset(int axis)
float CurieIMUClass::getAccelerometerOffset(int axis)
{
int bmiOffset;

if (axis == X_AXIS) {
return getXAccelOffset();
bmiOffset = getXAccelOffset();
} else if (axis == Y_AXIS) {
return getYAccelOffset();
bmiOffset = getYAccelOffset();
} else if (axis == Z_AXIS) {
return getZAccelOffset();
bmiOffset = getZAccelOffset();
} else {
return -1;
}

return -1;
return (bmiOffset * 3.9);
}

void CurieIMUClass::setGyroOffset(int axis, int offset)
void CurieIMUClass::setGyroOffset(int axis, float offset)
{
int bmiOffset = offset / 0.061;

if (bmiOffset < -512) {
bmiOffset = -512;
} else if (bmiOffset > 511) {
bmiOffset = 511;
}

if (axis == X_AXIS) {
setXGyroOffset(axis);
setXGyroOffset(bmiOffset);
} else if (axis == Y_AXIS) {
setYGyroOffset(axis);
setYGyroOffset(bmiOffset);
} else if (axis == Z_AXIS) {
setZGyroOffset(axis);
setZGyroOffset(bmiOffset);
}

setGyroOffsetEnabled(true);
}

void CurieIMUClass::setAccelerometerOffset(int axis, int offset)
void CurieIMUClass::setAccelerometerOffset(int axis, float offset)
{
int bmiOffset = offset / 3.9;

if (bmiOffset < -128) {
bmiOffset = -128;
} else if (bmiOffset > 127) {
bmiOffset = 127;
}

if (axis == X_AXIS) {
setXAccelOffset(axis);
setXAccelOffset(bmiOffset);
} else if (axis == Y_AXIS) {
setYAccelOffset(axis);
setYAccelOffset(bmiOffset);
} else if (axis == Z_AXIS) {
setZAccelOffset(axis);
setZAccelOffset(bmiOffset);
}

setAccelOffsetEnabled(true);
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11 changes: 7 additions & 4 deletions libraries/CurieIMU/src/CurieIMU.h
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Expand Up @@ -120,11 +120,14 @@ class CurieIMUClass : public BMI160Class {
bool gyroOffsetEnabled();
bool accelerometerOffsetEnabled();

int getGyroOffset(int axis);
int getAccelerometerOffset(int axis);
float getGyroOffset(int axis);
float getAccelerometerOffset(int axis);

void setGyroOffset(int axis, int offset);
void setAccelerometerOffset(int axis, int offset);
// supported values: -31.171 to 31.171 (degrees/second), in steps of 0.061 degrees/second
void setGyroOffset(int axis, float offset);

// supported values: -495.3 (mg) to 495.3 (mg), in steps of 3.9 mg
void setAccelerometerOffset(int axis, float offset);

// supported values:
// CURIE_IMU_FREEFALL: 3.91 to 1995.46 (mg), in steps of 7.81 mg
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