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Issue #149: Provide scaled IMU data #243

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Issue #149: Provide scaled IMU data #243

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22 changes: 3 additions & 19 deletions libraries/CurieIMU/examples/Accelerometer/Accelerometer.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -23,16 +23,10 @@ void setup() {
}

void loop() {
int axRaw, ayRaw, azRaw; // raw accelerometer values
float ax, ay, az;
float ax, ay, az; //scaled accelerometer values

// read raw accelerometer measurements from device
CurieIMU.readAccelerometer(axRaw, ayRaw, azRaw);

// convert the raw accelerometer data to G's
ax = convertRawAcceleration(axRaw);
ay = convertRawAcceleration(ayRaw);
az = convertRawAcceleration(azRaw);
// read accelerometer measurements from device, scaled to the configured range
CurieIMU.readAccelerometerScaled(ax, ay, az);

// display tab-separated accelerometer x/y/z values
Serial.print("a:\t");
Expand All @@ -44,16 +38,6 @@ void loop() {
Serial.println();
}

float convertRawAcceleration(int aRaw) {
// since we are using 2G range
// -2g maps to a raw value of -32768
// +2g maps to a raw value of 32767

float a = (aRaw * 2.0) / 32768.0;

return a;
}

/*
Copyright (c) 2016 Intel Corporation. All rights reserved.

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22 changes: 3 additions & 19 deletions libraries/CurieIMU/examples/Gyro/Gyro.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -23,16 +23,10 @@ void setup() {
}

void loop() {
int gxRaw, gyRaw, gzRaw; // raw gyro values
float gx, gy, gz;
float gx, gy, gz; //scaled Gyro values

// read raw gyro measurements from device
CurieIMU.readGyro(gxRaw, gyRaw, gzRaw);

// convert the raw gyro data to degrees/second
gx = convertRawGyro(gxRaw);
gy = convertRawGyro(gyRaw);
gz = convertRawGyro(gzRaw);
// read gyro measurements from device, scaled to the configured range
CurieIMU.readGyroScaled(gx, gy, gz);

// display tab-separated gyro x/y/z values
Serial.print("g:\t");
Expand All @@ -44,16 +38,6 @@ void loop() {
Serial.println();
}

float convertRawGyro(int gRaw) {
// since we are using 250 degrees/seconds range
// -250 maps to a raw value of -32768
// +250 maps to a raw value of 32767

float g = (gRaw * 250.0) / 32768.0;

return g;
}

/*
Copyright (c) 2016 Intel Corporation. All rights reserved.

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3 changes: 3 additions & 0 deletions libraries/CurieIMU/keywords.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -59,11 +59,14 @@ setStepCountEnabled KEYWORD1
resetStepCount KEYWORD1

readMotionSensor KEYWORD1
readMotionSensorScaled KEYWORD1
readAcceleration KEYWORD1
readRotation KEYWORD1

readAccelerometer KEYWORD1
readAccelerometerScaled KEYWORD1
readGyro KEYWORD1
readGyroScaled KEYWORD1
readTemperature KEYWORD1

shockDetected KEYWORD1
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3 changes: 3 additions & 0 deletions libraries/CurieIMU/src/BMI160.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,9 @@ THE SOFTWARE.

#include "Arduino.h"

#define BMI160_SENSOR_RANGE 65535.0f
#define BMI160_SENSOR_LOW 32768.0f

#define BMI160_SPI_READ_BIT 7

#define BMI160_RA_CHIP_ID 0x00
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92 changes: 92 additions & 0 deletions libraries/CurieIMU/src/CurieIMU.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -232,14 +232,19 @@ void CurieIMUClass::setGyroRange(int range)

if (range >= 2000) {
bmiRange = BMI160_GYRO_RANGE_2000;
gyro_range = 2000.0f;
} else if (range >= 1000) {
bmiRange = BMI160_GYRO_RANGE_1000;
gyro_range = 1000.0f;
} else if (range >= 500) {
bmiRange = BMI160_GYRO_RANGE_500;
gyro_range = 500.0f;
} else if (range >= 250) {
bmiRange = BMI160_GYRO_RANGE_250;
gyro_range = 250.0f;
} else {
bmiRange = BMI160_GYRO_RANGE_125;
gyro_range = 125.0f;
}

setFullScaleGyroRange(bmiRange);
Expand Down Expand Up @@ -277,12 +282,16 @@ void CurieIMUClass::setAccelerometerRange(int range)

if (range <= 2) {
bmiRange = BMI160_ACCEL_RANGE_2G;
accel_range = 2.0f;
} else if (range <= 4) {
bmiRange = BMI160_ACCEL_RANGE_4G;
accel_range = 4.0f;
} else if (range <= 8) {
bmiRange = BMI160_ACCEL_RANGE_8G;
accel_range = 8.0f;
} else {
bmiRange = BMI160_ACCEL_RANGE_16G;
accel_range = 16.0f;
}

setFullScaleAccelRange(bmiRange);
Expand Down Expand Up @@ -1556,6 +1565,18 @@ void CurieIMUClass::setStepDetectionMode(int mode)
BMI160Class::setStepDetectionMode((BMI160StepMode)mode);
}

float CurieIMUClass::convertRaw(int16_t raw, float range_abs)
{
float slope;
float val;

/* Input range will be -32768 to 32767
* Output range must be -range_abs to range_abs */
val = (float) raw;
slope = (range_abs * 2.0f) / BMI160_SENSOR_RANGE;
return -(range_abs) + slope * (val + BMI160_SENSOR_LOW);
}

void CurieIMUClass::readMotionSensor(int& ax, int& ay, int& az, int& gx, int& gy, int& gz)
{
short sax, say, saz, sgx, sgy, sgz;
Expand All @@ -1570,6 +1591,21 @@ void CurieIMUClass::readMotionSensor(int& ax, int& ay, int& az, int& gx, int& gy
gz = sgz;
}

void CurieIMUClass::readMotionSensorScaled(float& ax, float& ay, float& az,
float& gx, float& gy, float& gz)
{
int16_t sax, say, saz, sgx, sgy, sgz;

getMotion6(&sax, &say, &saz, &sgx, &sgy, &sgz);

ax = convertRaw(sax, accel_range);
ay = convertRaw(say, accel_range);
az = convertRaw(saz, accel_range);
gx = convertRaw(sgx, gyro_range);
gy = convertRaw(sgy, gyro_range);
gz = convertRaw(sgz, gyro_range);
}

void CurieIMUClass::readAccelerometer(int& x, int& y, int& z)
{
short sx, sy, sz;
Expand All @@ -1581,6 +1617,17 @@ void CurieIMUClass::readAccelerometer(int& x, int& y, int& z)
z = sz;
}

void CurieIMUClass::readAccelerometerScaled(float& x, float& y, float& z)
{
int16_t sx, sy, sz;

getAcceleration(&sx, &sy, &sz);

x = convertRaw(sx, accel_range);
y = convertRaw(sy, accel_range);
z = convertRaw(sz, accel_range);
}

void CurieIMUClass::readGyro(int& x, int& y, int& z)
{
short sx, sy, sz;
Expand All @@ -1592,6 +1639,17 @@ void CurieIMUClass::readGyro(int& x, int& y, int& z)
z = sz;
}

void CurieIMUClass::readGyroScaled(float& x, float& y, float& z)
{
int16_t sx, sy, sz;

getRotation(&sx, &sy, &sz);

x = convertRaw(sx, gyro_range);
y = convertRaw(sy, gyro_range);
z = convertRaw(sz, gyro_range);
}

int CurieIMUClass::readAccelerometer(int axis)
{
if (axis == X_AXIS) {
Expand All @@ -1605,6 +1663,23 @@ int CurieIMUClass::readAccelerometer(int axis)
return 0;
}

float CurieIMUClass::readAccelerometerScaled(int axis)
{
int16_t raw;

if (axis == X_AXIS) {
raw = getAccelerationX();
} else if (axis == Y_AXIS) {
raw = getAccelerationY();
} else if (axis == Z_AXIS) {
raw = getAccelerationZ();
} else {
return 0;
}

return convertRaw(raw, accel_range);
}

int CurieIMUClass::readGyro(int axis)
{
if (axis == X_AXIS) {
Expand All @@ -1618,6 +1693,23 @@ int CurieIMUClass::readGyro(int axis)
return 0;
}

float CurieIMUClass::readGyroScaled(int axis)
{
int16_t raw;

if (axis == X_AXIS) {
raw = getRotationX();
} else if (axis == Y_AXIS) {
raw = getRotationY();
} else if (axis == Z_AXIS) {
raw = getRotationZ();
} else {
return 0;
}

return convertRaw(raw, gyro_range);
}

int CurieIMUClass::readTemperature()
{
return getTemperature();
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11 changes: 10 additions & 1 deletion libraries/CurieIMU/src/CurieIMU.h
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Original file line number Diff line number Diff line change
Expand Up @@ -187,11 +187,15 @@ class CurieIMUClass : public BMI160Class {
void setStepDetectionMode(int mode);

void readMotionSensor(int& ax, int& ay, int& az, int& gx, int& gy, int& gz);
void readMotionSensorScaled(float& ax, float& ay, float& az, float& gx, float& gy, float& gz);
void readAccelerometer(int& x, int& y, int& z);
void readAccelerometerScaled(float& x, float& y, float& z);
void readGyro(int& x, int& y, int& z);

void readGyroScaled(float& x, float& y, float& z);
int readAccelerometer(int axis);
float readAccelerometerScaled(int axis);
int readGyro(int axis);
float readGyroScaled(int axis);
int readTemperature();

bool shockDetected(int axis, int direction);
Expand All @@ -205,6 +209,9 @@ class CurieIMUClass : public BMI160Class {
private:
int serial_buffer_transfer(uint8_t *buf, unsigned tx_cnt, unsigned rx_cnt);

float accel_range;
float gyro_range;

float getFreefallDetectionThreshold();
void setFreefallDetectionThreshold(float threshold);
float getShockDetectionThreshold();
Expand All @@ -231,6 +238,8 @@ class CurieIMUClass : public BMI160Class {
int getDoubleTapDetectionDuration();
void setDoubleTapDetectionDuration(int duration);

float convertRaw(int16_t raw, float range_abs);

void enableInterrupt(int feature, bool enabled);

void (*_user_callback)(void);
Expand Down